CN220687946U - Cycloidal pin gear speed reducer with large reduction ratio - Google Patents

Abstract

The utility model relates to a cycloidal pin gear speed reducer with a large reduction ratio, which is characterized in that a plurality of pin pins are arranged in a shell to form a circle, a plurality of layers of speed reducing groups are arranged in the pin rings, each layer of speed reducing group comprises a cycloidal gear for reducing the rotating speed and an output disc which is driven by the cycloidal gear and rotates at the same low rotating speed, the output disc outputs the low rotating speed to the cycloidal gear at the upper stage through an eccentric shaft, further speed reduction is obtained, and the like until the eccentric shaft at the uppermost layer is inserted into and drives an output shaft, and the low rotating speed obtained after the multi-stage speed reduction is output outwards. The cycloidal pin gear speed reducer has the advantages that the cycloidal pin gears and the output disc are overlapped and share the same circle of pin, so that the thickness is greatly reduced, the volume is reduced, and the operation reliability is improved while the large reduction ratio is obtained. Meanwhile, the volume of the speed reducer is reduced, the application scene of the speed reducer is also increased, and the method has higher practical significance.

Description

Cycloidal pin gear speed reducer with large reduction ratio

Technical Field

The utility model belongs to the technical field of mechanical speed reduction, and particularly relates to a cycloidal pin gear speed reducer with a large speed reduction ratio.

Background

The speed reducer is used as a speed reduction transmission device between the prime motor and the working machine, plays roles of matching the rotating speed and transmitting the torque between the prime motor and the working machine or the actuating mechanism, and is widely applied to modern machinery. Common speed reducers can be divided into gear speed reducers, worm speed reducers and planetary gear speed reducers according to transmission types; the speed reducer can be divided into a single-stage speed reducer and a multi-stage speed reducer according to different transmission stages; the gear shape can be divided into a cylindrical gear reducer, a conical gear reducer and a conical-cylindrical gear reducer; according to the arrangement form of transmission, the speed reducer can be divided into an expansion speed reducer, a split-flow speed reducer and a coaxial speed reducer. Each has various characteristics and advantages and is applicable to scenes.

The cycloidal pin gear speed reducer is a speed reducing transmission device which adopts a planetary transmission principle and adopts cycloidal pin gear meshing, the prime motor drives an input shaft to rotate at high speed, and the input shaft drives cycloidal gears to oscillate and rotate between a circle of pin pins at the periphery through eccentric gears. When the input shaft rotates one circle with the eccentric wheel, the cycloidal wheel will oscillate once between two far pins because of the tooth profile curve of the cycloidal wheel and its limitation by the pins, and each tooth of the cycloidal wheel will also rotate one pin. In other words, the input shaft rotates one revolution, the eccentric wheel also rotates one revolution, and the cycloid wheel is driven to oscillate once and rotate one tooth in the opposite direction, so that the speed is reduced. And then the low-speed autorotation motion of the cycloid gear is transmitted to an output shaft by the aid of an output mechanism and is output, so that a lower output rotating speed is obtained. Among the existing various speed reducers, the cycloidal pin gear speed reducer has the advantages of high transmission efficiency, small volume, low noise, reliable use and long service life, and is widely applied.

The current cycloidal pin gear speed reducer can achieve tens of times of speed reduction in one-stage speed reduction. If multistage transmission is adopted, a plurality of cycloidal pin gear speed reducers are connected in series, the speed reduction multiple rises exponentially and can reach tens of thousands of times.

However, the cycloidal pin gear speed reducers are connected in series, the volume is greatly increased, and the working reliability is rapidly reduced. A step of

Accordingly, there is a need for further improvements and enhancements in the art.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, an object of the present utility model is to provide a cycloidal pin gear speed reducer with a large reduction ratio, so as to solve the technical drawbacks of the prior art that in order to obtain a large reduction ratio, only a plurality of cycloidal pin gear speed reducers can be connected in series, resulting in an increase in volume, but a decrease in reliability.

The utility model discloses a cycloidal pin gear speed reducer with a large speed reduction ratio, which comprises a shell, a multi-layer speed reduction group arranged in the shell, and a circle of pin arranged at the periphery of the speed reduction group; wherein,

the speed reduction group comprises a cycloidal gear and an output disc which is arranged above the cycloidal gear and is close to concentric with the cycloidal gear: the cycloidal gear comprises a central hole arranged in the middle, teeth arranged on the periphery and a plurality of stud holes distributed around the central hole in a circle; the number of teeth is less than the number of pins;

the output disc comprises an output disc surface which is approximately parallel to the cycloid wheel, an eccentric shaft which is fixed at the position near the center but not at the center of the upper surface of the output disc surface, and a group of small pins which are distributed on the lower surface of the output disc surface along the circumferential direction, wherein the small pins are downwards inserted into the corresponding pin holes; the eccentric shaft is inserted upwards into the central hole of the cycloid gear in the last layer of reduction group;

an input shaft connected with an external high rotating speed is inserted into the central hole in the lowest layer of the speed reduction group through an eccentric wheel, and the eccentric wheel extrudes and drives the cycloid wheel to oscillate and rotate between the pin pins when rotating;

the small pin is in loose fit with the pin hole; the eccentric shaft/eccentric wheel is in loose fit with the central hole;

the eccentric shaft in the uppermost layer of the speed reducing group is inserted into and drives an output shaft to rotate, so as to output low rotation speed.

The utility model relates to a cycloidal pin gear speed reducer with a large reduction ratio, which is characterized in that a plurality of pin pins are arranged in a shell to form a circle, a plurality of layers of speed reducing groups are arranged in the pin rings, each layer of speed reducing group comprises a cycloidal gear for reducing the rotating speed and an output disc which is driven by the cycloidal gear and rotates at the same low rotating speed, the output disc outputs the low rotating speed to the cycloidal gear at the upper stage through an eccentric shaft, further speed reduction is obtained, and the like until the eccentric shaft at the uppermost layer is inserted into and drives an output shaft, and the low rotating speed obtained after the multi-stage speed reduction is output outwards. The cycloidal pin gear speed reducer has the advantages that the cycloidal pin gears and the output disc are overlapped and share the same circle of pin, so that the thickness is greatly reduced, the volume is reduced, and the operation reliability is improved while the large reduction ratio is obtained. Meanwhile, the volume of the speed reducer is reduced, the application scene of the speed reducer is also increased, and the method has higher practical significance.

Preferably, the number of teeth is one less than the number of pin. The reduction ratio of the cycloidal pin gear speed reducer is equal to the difference of the number of teeth divided by the number of teeth and the number of pins, so the reduction ratio can be further improved by setting the difference to one.

Preferably, the pin comprises a pin shaft which is positioned at the center and fixed on the shell, and a pin sleeve which is sleeved on the periphery of the pin shaft. Considering that sliding friction exists between the pin and the teeth, the pin is easy to damage, so that the pin is arranged into two parts, and the pin is more convenient to replace and saves materials.

More preferably, the needle hub is rotatable about the needle shaft. The pin sleeve is rotatable around the pin shaft, so that the pin sleeve can synchronously rotate along with the abutted teeth, and friction damage of the teeth to the pin sleeve is reduced.

Further preferably, a segmented pin bush which can rotate around the pin shaft is arranged corresponding to each layer of cycloidal gears. Because the rotating speeds of all layers of cycloidal gears are different, the pin sleeve is arranged in a segmented mode, and damage of teeth to the pin sleeve is further reduced.

Still further preferably, the segmented pin sleeve is secured to the pin shaft by a bearing. The friction force between the sectional pin sleeve and the pin shaft can be greatly reduced by arranging the bearing, so that the sectional pin sleeve rotates along with the rotation of the teeth more easily, the mutual displacement and friction between the teeth and the sectional pin sleeve are reduced, the replacement times of the sectional pin sleeve are reduced, and the service life of the pin is prolonged.

Preferably, the height of the pin is not lower than the height of all cycloidal gears after being overlapped. Therefore, all cycloidal gears can be ensured to participate in the deceleration process, and the deceleration effect is ensured.

Preferably, the eccentric shaft is inserted directly into the central bore or through an output bearing. The output bearing is arranged on the eccentric shaft, so that the friction force generated when the eccentric shaft drives the upper cycloid gear to rotate is reduced, and the friction loss between the eccentric shaft and the arc-shaped wall surface of the central hole can be greatly reduced due to the fact that the eccentric shaft and the arc-shaped wall surface of the central hole roll and translate simultaneously and the output bearing is increased.

Preferably, the tooth profile of the tooth is an equidistant short-amplitude epicycloid. The epicycloidal tooth profile is used for helping to keep the angular speed of the rotation of the teeth constant, thereby ensuring the constant output rotating speed.

The working method of the speed reducer comprises the following steps:

a. the input shaft drives the eccentric wheel to rotate at a high speed for one circle, the eccentric wheel drives the cycloidal gear at the lowest layer to oscillate once between two opposite pin pins, and each tooth rotates through one pin adjacent to each tooth;

b. the pin holes drive the small pins, the lowest output disc and the eccentric shafts on the small pins and the lowest output disc to rotate at the same angular speed;

c. the eccentric shaft rotates to drive the cycloidal gear on the upper layer to rotate; until the eccentric shaft rotates for a circle, the cycloidal gear on the upper layer oscillates once between two opposite pin pins, each tooth bypasses the corresponding pin, and the cycloidal gear on the upper layer rotates through one pin;

d. and c, repeating the step until the uppermost output disc rotates and drives the output shaft to output the speed after the speed is reduced.

The conception, specific structure, and technical effects of the present utility model will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present utility model.

Drawings

FIG. 1 is an overall view of the internal structure of the cycloidal pin gear speed reducer with a large reduction ratio of the utility model;

FIG. 2 is a schematic longitudinal section of the cycloidal pin gear speed reducer with large reduction ratio of the utility model;

FIG. 3 is a schematic diagram of a reduction group of the cycloidal pin gear speed reducer with a large reduction ratio according to the utility model;

FIG. 4 is a schematic cross-sectional view of the cycloidal pin gear speed reducer with a large reduction ratio of the present utility model;

fig. 5 is a schematic diagram showing a preferred structure of a pin of the cycloidal pin gear speed reducer with a large reduction ratio according to the present utility model.

In the figure, 10-chassis; 100-an input shaft; 120-eccentric wheel; 200-cycloidal gears; 210-a central aperture; 220-teeth; 240-stud holes; 300-pin; 310-pin shaft; 320-pin sleeve; 321-a segmented pin sleeve; 400-output tray; 410-output disk surface; 420-eccentric shaft; 425-output bearings; 430—small pins; 431-small column pin shaft; 432-small pin sleeve; 500-output shaft.

Description of the embodiments

The utility model provides a cycloidal pin gear speed reducer with a large reduction ratio, which is used for making the purposes, the technical scheme and the effects of the cycloidal pin gear speed reducer clearer and more definite, and the cycloidal pin gear speed reducer is further described in detail below by referring to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

The utility model provides a cycloidal pin gear speed reducer with a large reduction ratio, wherein the overall structure of working parts in a shell is shown in fig. 1 (the shell 10 mainly playing a role of integration and protection is removed in fig. 1 for fully displaying the internal structure), and the shell 10 can be seen in fig. 2) comprises a plurality of layers of cycloidal gears 200 which are stacked up and down. The cycloidal gear 200 is provided with a plurality of pin 300 at its outer circumference, and the cycloidal gear 200 can oscillate and rotate back and forth in the circle surrounded by the pin 300. The input shaft 100 is connected to a rotating shaft of an external high-rotation-speed device, and drives the cycloid gear 200 to oscillate and rotate through the eccentric gear 120 inserted into the middle of the cycloid gear 200, thereby decelerating the input rotation speed, driving the output disc 400 to rotate at the same rotation speed, and outputting the decelerated rotation speed through the output shaft 500, thereby completing the deceleration operation.

As shown in fig. 2, the cycloidal gears 200 are arranged nearly concentrically, and the radii of the cycloidal gears 200 are equal, so that it is convenient to uniformly arrange a circle of several upright pin 300 on the outer circumference of the cycloidal gear 200, the number of the pin 300 being one more than the number of teeth of the cycloidal gear 200. Wherein the height of the pin 300 is not lower than the height of all the cycloidal gears 200 after being overlapped one above the other, so as to ensure that each layer of cycloidal gears 200 has a part of teeth 220 which can be abutted against the corresponding side surface adjacent to the pin 300 in rotation. In a preferred embodiment, the pin 300 includes a pin shaft 301 centrally mounted on the housing 10 and a pin sleeve 320 disposed about the pin shaft 310, the pin sleeve 320 being formed of a wear resistant material and/or the pin sleeve 320 being rotatable about the pin shaft 310, such as by a bearing structure, the pin sleeve 320 being rotatably disposed about the pin shaft 310, in view of the relative displacement between the pin 300 and the adjacent teeth 220.

With continued reference to fig. 2, a layer of parallel output discs 400 is concentrically disposed between each two layers of cycloid gears 200, and the output discs 400 are driven by the lower cycloid gears 200 to rotate at the same speed as the lower cycloid gears 200, and simultaneously transmit the rotation speed as an input rotation speed to the upper cycloid gears 200 for further deceleration. The diameter of the output disc 400 is not greater than the diameter of the cycloidal gear 200 so that the peripheral pin 300 is not contacted.

As shown in fig. 3, the cycloidal gear 200 includes a larger opening-center hole 210 having a center portion nearly concentrically arranged, and a tooth 220 having a round periphery, both sides of the tooth 220 being cycloidal-shaped. The number of teeth of the cycloid gear 200 is preferably an odd number, so as to facilitate processing and improve production efficiency.

Specifically, when the cycloidal pin gear speed reducer works, the input shaft 100 rotates at a high speed under the external drive, drives the eccentric wheel 120 to rotate in the central hole 210 of the cycloidal gear 200, and simultaneously crawls along the circumferential wall surface of the central hole 210, drives the cycloidal gear 200 to oscillate between two pin pins 300 opposite to each other and rotate around the center of the cycloidal gear 200, so as to realize speed reduction; the cycloidal gear 200 after deceleration drives the output disc 400 above to rotate at the rotation speed after deceleration, and outputs one-stage deceleration, thus forming a group of deceleration groups. Fig. 3 shows a reduction group of the present utility model comprising an output disc 400 and a cycloidal gear 200, which are stacked one above the other. The output disc 400 specifically includes an output disc surface 410 disposed approximately parallel to the cycloid gear 200, an eccentric shaft 420 fixed at a position near the center but not at the center of the upper surface of the output disc surface 410, and a set of pins 430 distributed circumferentially on the lower surface of the output disc surface 410, wherein each pin 430 is inserted into a corresponding pin hole 240 on the cycloid gear 200 from above during installation. Considering that the cycloidal gear 200 simultaneously performs oscillation and rotation, the pin hole 240 has an opening diameter larger than that of the small pin 430 to provide a certain translational movement space (oscillation space) with respect to the small pin 430, but not so large that the small pin 430 is significantly impacted, and the small pin 430 may be damaged by the excessive impact force. In addition, the small pin 300 is preferably configured such that a small pin sleeve 432 is rotatably sleeved on the small pin shaft 431, so that after the small pin 430 is inserted into the pin hole 240, the small pin sleeve 432 can rotate around the small pin shaft 431, and under the pushing and driving of the pin hole 240, the pin 430 also moves along with the cycloidal gear 200 synchronously in a translation manner along the circumferential direction, so as to drive the output disk surface 410 to rotate at the same low rotation speed as the cycloidal gear 200. In this way, the cycloidal gear 200 at the lower layer rotates, and the small pins 430 are driven to translate circumferentially through the pin holes 240 distributed on the cycloidal gear, so that the output disc surface 410 at the upper layer is driven to rotate at the same rotation speed; the eccentric shaft 420 above the output disc surface 410 is directly inserted into the central hole 210 of the cycloid wheel 200 of the previous layer or inserted into the central hole through the output bearing 425, and the cycloid wheel 200 of the previous layer is driven to oscillate and rotate simultaneously while creeping along the circumferential edge of the central hole 210 while rotating, so that further deceleration is obtained, and the like. Wherein the output bearing 425 is preferably a deep groove ball bearing for better withstanding radial loads or combined loads acting both radially and axially.

Specifically, in operation, the input shaft 100 at the lowest layer rotates one revolution driven by the high-speed rotation, and the eccentric 120 rotates one revolution in synchronization; or the lower cycloid gear 200 rotates one turn, and the eccentric shaft 420 is driven to rotate synchronously one turn, as shown in fig. 4, because the eccentric gear 120 (eccentric shaft 420) and the cycloid gear 200 are abutted against each other along a part of the circumferential wall surface of the central hole 210, the cycloid gear 200 will complete one reciprocating translation under the pushing of the eccentric gear 120 (eccentric shaft 420), that is, oscillate once between the two pin 300 which are opposite and furthest apart, and simultaneously each tooth 220 of the cycloid gear 200 rotates relatively and advances one lattice along the adjacent pin 300. In this way, the rotation speed of the upper stage driving input high speed including the rotation speed of the input shaft 100 or the lower output disc 400 is reduced by a multiple of the number of teeth of the cycloid gear 200, and the cycloid gear 200 after the rotation speed reduction drives the small pins 430 inserted therein to move along the circumference through the pin holes 240, so as to drive the upper output disc 400 to rotate at the same low speed, and the lower stage reduction group is driven by the upper eccentric shaft 420 of the output disc 400 (the upper stage reduction group in fig. 1) to further reduce the speed.

The speed reducer can be provided with a plurality of layers of speed reducing groups in an up-down superposition manner, and each stage of speed reduction can reduce the rotating speed once according to the number of teeth of the cycloidal gear 200, so that the two layers of speed reducing groups are assembled up and down, and the square of the number of teeth is reduced by the two stages of speed reduction superposition; correspondingly, three times of deceleration reduces the number of teeth by three times, and so on. Therefore, the reduction ratio can be increased exponentially and rapidly on the basis of compact volume by only overlapping the multi-layer reduction groups up and down.

Considering that the rotation speeds of the cycloid gears 200 in the upper and lower multi-layer reduction groups are different, the linear and angular speeds of the teeth 220 in each layer are different when the cycloid gears are advanced circumferentially around the pin 300, and the relative movement speeds of the teeth 220 in each layer abutting against the pin 300 are also different. In a preferred embodiment, as shown in fig. 5, the pin bushing 320 is also corresponding to each layer of cycloidal gears 200, and divided into upper and lower layers of segmented pin bushing 321, each of which can rotate independently around the pin shaft 310, for example, according to the position of each layer of cycloidal gears 200, the bearing which rotates independently is provided, so that different rotation speeds of the cycloidal gears 200 on different levels can be adapted, so as to reduce wear of the pin bushing 320 due to unsynchronized teeth 220 of each layer, further reduce wear of the pin bushing 320 on the pin shaft 310, and prolong the service life of the pin 300.

When the speed reducer works, the basic steps are as follows:

a. the input shaft 100 drives the eccentric wheel 120 to rotate at a high speed for one circle, the eccentric wheel 120 drives the cycloidal gear 200 at the lowest layer to oscillate once between two opposite pin 300, and each tooth 220 rotates through one pin 300 adjacent to each other;

b. the pin holes 240 drive the small pins 430 and the lowermost output disc 400 and the eccentric shafts 420 thereon to rotate at the same angular velocity;

c. the eccentric shaft 420 rotates to drive the cycloid gear 200 on the upper layer to oscillate and rotate; until the eccentric shaft 420 rotates one circle, the cycloidal gear 200 of the upper layer oscillates once between the two opposite pin 300, each tooth 220 bypasses the corresponding pin 300, and the cycloidal gear 200 of the upper layer rotates one pin 300, thereby obtaining further deceleration; wherein the rotation direction of the cycloid gear 200 is opposite to the rotation direction of the eccentric shaft 420;

d. step c is repeated until the uppermost output disc 400 rotates and drives the output shaft 500 to output the final rotation speed after deceleration.

The foregoing describes in detail preferred embodiments of the present utility model. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the utility model by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (9)

1. The cycloidal pin gear speed reducer with the large speed reduction ratio is characterized by comprising a shell, a plurality of layers of speed reduction groups arranged in the shell, and a circle of pin pins arranged on the periphery of the speed reduction groups; wherein,

the speed reduction group comprises a cycloidal gear and an output disc which is arranged above the cycloidal gear and is close to concentric with the cycloidal gear: the cycloidal gear comprises a central hole arranged in the middle, teeth arranged on the periphery and a plurality of stud holes distributed around the central hole in a circle; the number of teeth is less than the number of pins;

the output disc comprises an output disc surface which is approximately parallel to the cycloid wheel, an eccentric shaft which is fixed at the position near the center but not at the center of the upper surface of the output disc surface, and a group of small pins which are distributed on the lower surface of the output disc surface along the circumferential direction, wherein the small pins are downwards inserted into the corresponding pin holes; the eccentric shaft is inserted upwards into the central hole of the cycloid gear in the last layer of reduction group;

an input shaft connected with an external high rotating speed is inserted into the central hole in the lowest layer of the speed reduction group through an eccentric wheel, and the eccentric wheel extrudes and drives the cycloid wheel to oscillate and rotate between the pin pins when rotating;

the small pin is in loose fit with the pin hole; the eccentric shaft/eccentric wheel is in loose fit with the central hole;

the eccentric shaft in the uppermost layer of the speed reducing group is inserted into and drives an output shaft to rotate, and is used for outputting low rotation speed.

2. The speed reducer of claim 1, wherein the number of teeth is one less than the number of pin.

3. A speed reducer according to claim 1 or 2, wherein the pin comprises a pin shaft which is centrally located and fixed to the housing, and a pin sleeve which is fitted over the outer periphery of the pin shaft.

4. A speed reducer according to claim 3, wherein the pin sleeve is rotatable about the pin axis.

5. The speed reducer of claim 4, wherein a segmented pin sleeve rotatable about the pin shaft is provided for each layer of cycloidal gears.

6. The speed reducer of claim 5, wherein the segmented pin sleeve is secured to the pin shaft by a bearing.

7. The speed reducer according to claim 1 or 2, wherein the pin is not lower in height than the height of all cycloidal gears after being superimposed one on another.

8. A reducer according to claim 1 or 2, wherein the eccentric shaft is inserted directly into the central bore or through an output bearing.

9. A speed reducer according to claim 1 or 2, wherein the tooth profile of the teeth is an equidistant short-amplitude epicycloid.