CN216742658U

CN216742658U - Miniaturized cycloid decelerator

Info

Publication number: CN216742658U
Application number: CN202220104537.2U
Authority: CN
Inventors: 叶华平; 施正泽
Original assignee: Hsoar Group Co ltd
Current assignee: Hsoar Group Co ltd
Priority date: 2022-01-14
Filing date: 2022-01-14
Publication date: 2022-06-14
Anticipated expiration: 2032-01-14

Abstract

The utility model relates to a miniaturized cycloidal speed reducer, wherein an input shaft is provided with an eccentric disc which is arranged in parallel with a driving disc, a rear cover and an output disc, one side of the eccentric disc, which faces the driving disc, is provided with an eccentric ring groove which is eccentrically arranged, when the input shaft rotates at a high speed, the eccentric ring groove on the eccentric disc drives the driving disc to eccentrically rotate through input balls, the driving disc is then linked with an output shaft to rotate and output through a cycloidal speed reducer, the input shaft does not need to penetrate through the rear cover and the output shaft in the whole process, only a plurality of ball fixing holes are formed in the surface of the driving disc, the input shaft can drive the driving disc to rotate through the input balls, the whole volume of the whole cycloidal speed reducer can be miniaturized, the market demand is met, and the applicability of products is improved.

Description

Miniaturized cycloid decelerator

Technical Field

The utility model relates to the field of speed reducers, in particular to a miniaturized cycloidal speed reducer.

Background

At present, transmission devices applied to precise servo mechanisms of robots, precise machine tools, aerospace and the like are required to have the characteristics of high transmission precision, high transmission rigidity, large transmission ratio, high transmission efficiency, small volume, light weight, small transmission return difference, small rotational inertia of rotating parts and the like. Although the vector cycloid speed reduction transmission in the existing transmission mechanism has many advantages, under the condition that a client requires miniaturization of the whole machine, the original transmission device can not be reduced in the whole structure all the time because an input shaft needs to penetrate through a rear cover and an output shaft, and particularly the existing structure is not high in speed reduction ratio, so that the high transmission ratio can not be guaranteed while miniaturization is achieved.

SUMMERY OF THE UTILITY MODEL

The present invention has been made to solve the above-described problems of the prior art, and an object of the present invention is to provide a compact cycloid reduction gear.

In order to realize the purpose, the utility model provides the following technical scheme: the utility model provides a miniaturized cycloid decelerator, includes the organism, with the back lid of organism connection, input shaft, set up driving-disc, the output shaft in the organism, be equipped with the output dish that sets up side by side with driving-disc and back lid on the output shaft, the driving-disc sets up between output dish and back lid, be equipped with between driving-disc and output dish and the back lid and drive output shaft pivoted cycloid speed reduction mechanism when the input shaft rotates, its characterized in that: the input shaft is provided with an eccentric disc which is arranged in parallel with the driving disc at one end facing the driving disc, the surface of one side of the eccentric disc facing the driving disc is provided with an eccentric ring groove which is eccentrically arranged along the circumferential direction of the eccentric disc, one side of the driving disc facing the eccentric ring groove is provided with a plurality of ball fixing holes, input balls are loaded in the ball fixing holes and are contained in the eccentric ring groove, and when the input shaft rotates, the input balls drive the driving disc to eccentrically rotate and drive the output shaft to rotate through the cycloid speed reducing mechanism.

Adopt above-mentioned technical scheme, be equipped with on the input shaft with the driving-disc, back lid and the eccentric disc that the output disc set up side by side, make the eccentric disc set up the eccentric annular of eccentric settings towards one side of driving-disc, when the input shaft rotates at a high speed, eccentric annular on the eccentric disc will also drive the eccentric rotation of driving-disc through the input ball, the driving-disc is again through the output shaft rotation output that links of cycloidal reduction gears speed reduction expert, whole process input shaft need not run through back lid and output shaft, only need set up a plurality of ball fixed orifices on the driving-disc surface, just enable the input shaft and drive the driving-disc rotation through the input ball, make whole cycloidal speed reducer whole volume can realize the miniaturization, satisfy the demand in market, improve the suitability of product.

The above-mentioned miniaturized cycloid speed reduction device can be further configured as follows: the cycloid speed reducing mechanism comprises a first-stage central wheel cycloid groove formed by a hypocycloid curve arranged along the circumferential direction of the rear cover on the surface of one side of the rear cover facing the driving disc, a second-stage central wheel cycloid groove formed by a hypocycloid curve arranged along the circumferential direction of the output disc on the surface of one side of the output disc facing the driving disc, a first-stage planet wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the driving disc on the surface of one side of the driving disc facing the rear cover, a second-stage planet wheel cycloid groove formed by an epicycloid curve arranged along the circumferential direction of the driving disc on the surface of one side of the driving disc facing the output disc, a first ball and a second ball, wherein the first ball can be placed between the rear cover and the driving disc in a rolling manner so as to be partially matched with the first-stage central wheel cycloid groove of the rear cover and partially matched with the first-stage planet wheel cycloid groove of the driving disc, the second ball bearing can be placed between the output disc and the driving disc in a rolling mode so as to be partially matched with the second-stage central wheel cycloid groove of the output disc and partially matched with the second-stage planet wheel cycloid groove of the driving disc, the input shaft drives the driving disc to rotate eccentrically through the input ball bearing, and the first ball bearing and the second ball bearing are linked with the output shaft to rotate.

By adopting the technical scheme, an epicycloid curve of a driving disc of the cycloidal speed reducer, which faces to one end surface of the rear cover, forms a first-stage planet wheel cycloid groove and is matched with a first ball to complete a shock wave function, an epicycloid curve, which faces to one side of the output disc, forms a second-stage planet wheel cycloid groove and is matched with a second ball to complete an output function, namely, one side corresponding to the cycloid groove of the hypocycloid curve is required to be a cycloid groove of an epicycloid curve stroke, so that two groups of high-speed-ratio speed reduction devices, namely, an inner group, an outer group, an inner group and an outer group, can be formed, wherein the number of the cycloid grooves formed by hypocycloids is 2 more than that of the cycloid groove formed by epicycloids, when the rear cover is fixed, the driving disc is driven by an eccentric part to generate shock waves to push the first ball and the second ball, the first ball is positioned on the cycloid curved surface of the first-stage center wheel cycloid groove and the second-stage planet wheel cycloid groove, a function reducing relation exists between the two first balls and the second balls, speed is divided, speed is reduced and output is achieved, namely the input shaft is input at a high speed, the eccentric disc drives the driving disc to rotate eccentrically, and then the first balls and the second balls are driven to rotate reversely while rotating along with the input shaft, so that the speed reducing device with the small size and the high speed ratio is formed, and the ball cycloid is adopted in the speed reducing device, so that zero backlash operation and cycloid motion trajectory are achieved, and dead-angle-free operation is achieved.

The above-mentioned miniaturized cycloid speed reduction device may further be configured as follows: the cycloid speed reducing mechanism comprises a first-stage central wheel cycloid groove formed by an epicycloid curve arranged on the surface of one side, facing the driving disc, of the rear cover along the circumferential direction of the rear cover, a second-stage central wheel cycloid groove formed by an epicycloid curve arranged on the surface of one side, facing the driving disc, of the output disc along the circumferential direction of the output disc, a first-stage planet wheel cycloid groove formed by a hypocycloid curve arranged on the surface of one side, facing the driving disc, of the driving disc along the circumferential direction of the driving disc, a second-stage planet wheel cycloid groove formed by a hypocycloid curve arranged on the surface of one side, facing the output disc, of the driving disc along the circumferential direction of the driving disc, a first ball and a second ball, wherein the first ball can be placed between the rear cover and the driving disc in a rolling manner so as to be partially matched with the first-stage central wheel cycloid groove of the rear cover and partially matched with the first-stage planet wheel cycloid groove of the driving disc, the second ball bearing can be placed between the output disc and the driving disc in a rolling mode so as to be partially matched with the second-stage central wheel cycloid groove of the output disc and partially matched with the second-stage planet wheel cycloid groove of the driving disc, the input shaft drives the driving disc to rotate eccentrically through the input ball bearing, and the first ball bearing and the second ball bearing are linked with the output shaft to rotate.

By adopting the technical scheme, the hypocycloid curve of the driving disc of the vector cycloid speed reducer, which faces to the surface of one end of the rear cover, forms a first-stage planet wheel cycloid groove and is matched with a first ball to complete a shock wave function, the hypocycloid curve, which faces to one side of the output disc, forms a second-stage planet wheel cycloid groove and is matched with a second ball to complete an output function, namely, one side corresponding to the cycloid groove of the hypocycloid curve is required to be a cycloid groove of an epicycloid curve stroke, so that two groups of high-speed-ratio speed reducers, namely, an inner group, an outer group, an inner group and an outer group, can be formed, wherein the number of the cycloid groove formed by hypocycloid is 2 more than that formed by epicycloid, when the rear cover is fixed, the driving disc is driven by an eccentric part to generate shock waves to push the first and the second balls, and the first ball is positioned on the cycloid curved surface of the first-stage center wheel cycloid groove and the first-stage planet wheel cycloid groove, the second ball is arranged on the cycloid curved surface of the stroke of the second-stage central wheel cycloid groove and the stroke of the second-stage planet wheel cycloid groove, a function reducing relation exists between the first ball and the second ball, the speed is divided, the speed is reduced and output, namely the input shaft is input at a high speed, the driving disc is driven to eccentrically rotate through the eccentric disc, and then the first ball and the second ball are driven to reversely rotate along with the rotation of the input shaft, so that the speed reducing device with the small size and the large speed ratio is formed.

The above-mentioned miniaturized cycloid speed reduction device can be further configured as follows: the outer peripheral surface of the input shaft is sleeved with an input bearing, and the outer peripheral surface of the input bearing is abutted to the rear cover.

By adopting the technical scheme, the input shaft is enabled to be propped against the rear cover to rotate through the input bearing by arranging the input bearing, so that the friction force is reduced, and the transmission rate of the input shaft is improved.

The above-mentioned miniaturized cycloid speed reduction device may further be configured as follows: the outer peripheral surface of the output shaft is sleeved with an output bearing, and the outer peripheral surface of the output bearing is abutted to the machine body.

By adopting the technical scheme, the output bearing is arranged, so that the output shaft is abutted to the machine body to rotate through the output bearing, the friction force is reduced, and the transmission rate of the output shaft is improved.

The above-mentioned miniaturized cycloid speed reduction device can be further configured as follows: and an adjusting nut is arranged at one end of the machine body, which is far away from the rear cover, is in threaded connection with the machine body and is matched with the rear cover to limit the output disc, the driving disc and the eccentric disc in the machine body, so that pressure is applied to the output disc, the driving disc and the eccentric disc through an output bearing.

By adopting the technical scheme, after the speed reducer works for a long time, the balls are easy to wear and shrink, so that the transmission is unstable, a certain pre-pressure is applied to the transmission of the output disc, the driving disc and the eccentric disc by arranging the adjusting nut, the multi-tooth meshing transmission can be ensured, the transmission precision and the transmission rigidity are improved, and the transmission return difference is eliminated.

The above-mentioned miniaturized cycloid speed reduction device may further be configured as follows: and a framework oil seal is arranged between the output shaft and the adjusting nut.

Adopt above-mentioned technical scheme, through setting up the skeleton oil blanket, avoid the inside liquid medium of decelerator to flow, the skeleton oil blanket can also prevent that the dust of outside from getting into simultaneously, improves decelerator's stability.

The utility model is further described below with reference to the accompanying drawings.

Drawings

FIG. 1 is a cross-sectional view of an embodiment of the present invention.

Fig. 2 is an exploded view of an embodiment of the present invention.

Fig. 3 is an exploded view of an embodiment of the present invention, fig. 2.

FIG. 4 is a schematic diagram of the connection between the driving disk, the output shaft and the rear cover according to the embodiment of the present invention.

FIG. 5 is a schematic view of the connection between the driving disk, the output shaft and the rear cover according to the embodiment of the present invention 2.

FIG. 6 is a perspective view of an input shaft according to an embodiment of the present invention.

Detailed Description

As shown in fig. 1-6, a miniaturized cycloidal speed reducer comprises a machine body 1, a rear cover 2 connected with the machine body 1, an input shaft 3, a driving disc 4 and an output shaft 5 arranged in the machine body 1, wherein the output shaft 5 is provided with an output disc 51 arranged in parallel with the driving disc 4 and the rear cover 2, the driving disc 4 is arranged between the output disc 51 and the rear cover 2, a cycloidal speed reducer driving the output shaft 5 to rotate when the input shaft 3 rotates is arranged between the driving disc 4 and the output disc 51 and the rear cover 2, one end of the input shaft 3 facing the driving disc 4 is provided with an eccentric disc 31 arranged in parallel with the driving disc 4, the surface of one side of the eccentric disc 31 facing the driving disc 4 is provided with an eccentric ring groove 32 eccentrically arranged along the circumference of the eccentric disc 31, one side of the driving disc 4 facing the eccentric ring groove 32 is provided with a plurality of ball fixing holes 41, and input balls 6 are loaded in the ball fixing holes 41, the input balls 6 are all accommodated in the eccentric ring grooves 32, when the input shaft 3 rotates, the input balls 6 drive the driving disc 4 to eccentrically rotate and drive the output shaft 5 to rotate through the cycloid speed reducing mechanism, the cycloid speed reducing mechanism comprises a first-stage central wheel cycloid groove 21 formed by a hypocycloid curve arranged along the circumferential direction of the rear cover 2 on the surface of one side of the rear cover 2 facing the driving disc 4, a second-stage central wheel cycloid groove 52 formed by a hypocycloid curve arranged along the circumferential direction of the output disc 51 on the surface of one side of the output disc 51 facing the driving disc 4, a first-stage planet wheel cycloid groove 42 formed by an epicycloid curve arranged along the circumferential direction of the driving disc 4 on the surface of one side of the driving disc 4 facing the rear cover 2, a second-stage planet wheel cycloid groove 43 formed by an epicycloid curve arranged along the circumferential direction of the driving disc 4 on the surface of one side of the driving disc 4 facing the output disc 51, a first ball 7 and a second ball 8, the first ball 7 is rollably placed between the rear cover 2 and the driving disk 4 so as to partially match with the first-stage central wheel cycloid groove 21 of the rear cover 2 and partially match with the first-stage planet wheel cycloid groove 42 of the driving disk 4, the second ball 8 is rollably placed between the output disk 4 and the driving disk 51 so as to partially match with the second-stage central wheel cycloid groove 52 of the output disk 51 and partially match with the second-stage planet wheel cycloid 43 groove of the driving disk 4, the input shaft 3 drives the driving disk 4 to eccentrically rotate through the input ball 6 and is linked with the output shaft 5 to rotate through the first ball 7 and the second ball 8, the outer peripheral surface of the input shaft 3 is sleeved with an input bearing 33, the outer peripheral surface of the input bearing 33 is abutted against the rear cover 2, the outer peripheral surface of the output shaft 5 is sleeved with an output bearing 53, the outer peripheral surface of the output bearing 53 is abutted against the machine body 1, one end, far away from the rear cover 2, of the machine body 1 is provided with an adjusting nut 9, the adjusting nut 9 is in threaded connection with the machine body 1 and is matched with the rear cover 2 to limit the output disc 51, the driving disc 4 and the eccentric disc 31 in the machine body 1, then the output bearing 53 applies pressure to the output disc 51, the driving disc 4 and the eccentric disc 31, and a framework oil seal 54 is arranged between the output shaft 5 and the adjusting nut 9.

Claims

1. The utility model provides a miniaturized cycloid decelerator, includes the organism, with the back lid of organism connection, input shaft, set up driving-disc, the output shaft in the organism, be equipped with the output dish that sets up side by side with driving-disc and back lid on the output shaft, the driving-disc sets up between output dish and back lid, be equipped with between driving-disc and output dish and the back lid and drive output shaft pivoted cycloid speed reduction mechanism when the input shaft rotates, its characterized in that: the input shaft is provided with an eccentric disc which is arranged in parallel with the driving disc at one end facing the driving disc, the surface of one side of the eccentric disc facing the driving disc is provided with an eccentric ring groove which is eccentrically arranged along the circumferential direction of the eccentric disc, one side of the driving disc facing the eccentric ring groove is provided with a plurality of ball fixing holes, input balls are loaded in the ball fixing holes and are contained in the eccentric ring groove, and when the input shaft rotates, the input balls drive the driving disc to eccentrically rotate and drive the output shaft to rotate through the cycloid speed reducing mechanism.

2. A miniaturized cycloidal reduction gear according to claim 1, further characterized in that: the cycloid speed reducing mechanism comprises a first-stage central wheel cycloid groove formed by a hypocycloid curve arranged on the surface of one side of the rear cover facing the driving disc along the circumferential direction of the rear cover, a second-stage central wheel cycloid groove formed by a hypocycloid curve arranged on the surface of one side of the output disc facing the driving disc along the circumferential direction of the output disc, a first-stage planet wheel cycloid groove formed by an epicycloid curve arranged on the surface of one side of the driving disc facing the rear cover along the circumferential direction of the driving disc, a second-stage planet wheel cycloid groove formed by an epicycloid curve arranged on the surface of one side of the driving disc facing the circumferential direction of the driving disc along the circumferential direction of the driving disc, a first ball and a second ball, wherein the first ball can be placed between the rear cover and the driving disc in a rolling manner so as to be partially matched with the first-stage central wheel cycloid groove of the rear cover and partially matched with the first-stage planet wheel cycloid groove of the driving disc, the second ball bearing can be placed between the output disc and the driving disc in a rolling mode so as to be partially matched with the second-stage central wheel cycloid groove of the output disc and partially matched with the second-stage planet wheel cycloid groove of the driving disc, the input shaft drives the driving disc to rotate eccentrically through the input ball bearing, and the first ball bearing and the second ball bearing are linked with the output shaft to rotate.

3. A miniaturized cycloidal reduction gear according to claim 1, further characterized in that: the cycloid speed reducing mechanism comprises a first-stage central wheel cycloid groove formed by an epicycloid curve arranged on the surface of one side, facing the driving disc, of the rear cover along the circumferential direction of the rear cover, a second-stage central wheel cycloid groove formed by an epicycloid curve arranged on the surface of one side, facing the driving disc, of the output disc along the circumferential direction of the output disc, a first-stage planet wheel cycloid groove formed by a hypocycloid curve arranged on the surface of one side, facing the driving disc, of the driving disc along the circumferential direction of the driving disc, a second-stage planet wheel cycloid groove formed by a hypocycloid curve arranged on the surface of one side, facing the output disc, of the driving disc along the circumferential direction of the driving disc, a first ball and a second ball, wherein the first ball can be placed between the rear cover and the driving disc in a rolling manner so as to be partially matched with the first-stage central wheel cycloid groove of the rear cover and partially matched with the first-stage planet wheel cycloid groove of the driving disc, the second ball bearing can be placed between the output disc and the driving disc in a rolling mode so as to be partially matched with the second-stage central wheel cycloid groove of the output disc and partially matched with the second-stage planet wheel cycloid groove of the driving disc, the input shaft drives the driving disc to rotate eccentrically through the input ball bearing, and the first ball bearing and the second ball bearing are linked with the output shaft to rotate.

4. A miniaturized cycloidal reduction gear according to claim 1, 2 or 3, characterized in that: the outer peripheral surface of the input shaft is sleeved with an input bearing, and the outer peripheral surface of the input bearing is abutted to the rear cover.

5. A miniaturized gerotor reduction device according to claim 1, 2 or 3, characterized in that: the outer peripheral surface of the output shaft is sleeved with an output bearing, and the outer peripheral surface of the output bearing is abutted to the machine body.

6. A miniaturized cycloidal reduction gear according to claim 5, further characterized in that: and an adjusting nut is arranged at one end of the machine body, which is far away from the rear cover, is in threaded connection with the machine body and is matched with the rear cover to limit the output disc, the driving disc and the eccentric disc in the machine body, so that pressure is applied to the output disc, the driving disc and the eccentric disc through an output bearing.

7. A miniaturized cycloidal reduction gear according to claim 6, further characterized in that: and a framework oil seal is arranged between the output shaft and the adjusting nut.