CN2315354Y - Cycloidal steel ball speed reducer - Google Patents
Cycloidal steel ball speed reducer Download PDFInfo
- Publication number
- CN2315354Y CN2315354Y CN 97250236 CN97250236U CN2315354Y CN 2315354 Y CN2315354 Y CN 2315354Y CN 97250236 CN97250236 CN 97250236 CN 97250236 U CN97250236 U CN 97250236U CN 2315354 Y CN2315354 Y CN 2315354Y
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- steel ball
- gear
- cycloidal
- cycloid
- transmission
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Abstract
The utility model relates to a cycloidal speed reducer with a steel ball, which comprises an eccentric shaft on an input shaft and an eccentric balance block, wherein, a cycloidal gear is arranged out of the eccentric shaft; one side of the cycloidal gear is connected with a rotation preventing mechanism used in the inner side surfaces of an end cover; the cycloidal gear is provided with a steel ball wheel which is connected with an output shaft into a whole; the other side of the cycloidal gear is processed with an external gear with a cycloid circular-arc tooth surface; the external gear and an internal gear with the steel ball on the steel ball wheel form internal meshing transmission. A gear pair has large comprehensive contacting curvature radius and small slip ratio which are favorable for increasing and keeping transmission accuracy and life time; the utility model can ensure multi-teeth meshing transmission by that an axial pre-compact nut applies pre-stressing force on transmission, eliminating the return difference of transmission with large transmission ratio. The utility model can be used in precise mechanical transmission devices, such as a robot, etc.
Description
The utility model relates to other friction gearings of conveying rotary motion, is a kind of cycloidal ball retarder.
The transmission device that is applied to elaborate servo mechanisms such as robot, precision machine tool, Aero-Space has required high transmission accuracy, high transmission stiffness, and velocity ratio is big, transmission efficiency height, characteristics such as volume is little, in light weight, and the transmission return difference is little, and the rotary inertia of rotating component is little.Cycloid pinwheel planetary gear transmission system in the existing driving mechanism, though have many advantages, processed complex and transmission accuracy are not high, the transmission return difference is big; It is big that worm drive has a velocity ratio, but transmission efficiency is low; Harmonic driving can satisfy above-mentioned requirements preferably, but harmonic driving relies on the distortion transferring power and the motion of flexbile gear, and flexbile gear material requirements height and life-span are shorter." differential speed reducer of gearless " patent (application number 86104457) of and for example Japanese Kamo Seko Co., Ltd. in China's application, adopting a pair of dish that is processed with the dish of hypocycloid raceway respectively and is processed with the epicycloid raceway is the engagement driving pair, two coil relatively and put into the transmission steel ball in raceway, it has utilized the advantage of cycloid transmission, and steel ball energy shuttling movement, but velocity ratio is less, raceway is semi-circle or two semi-circle, and have two kinds of raceways of curtate hypocycloid and curtate epicycloid, processing difficulties.
The purpose of this utility model is: adopt the cycloidal ball retarder of steel ball internal gear and cycloid external gear formation, can satisfy the transmission device of above-mentioned precision optical machinery requirement.
For achieving the above object, the technical solution adopted in the utility model is: it comprises the eccentric shaft on the one section input shaft that is contained in end cap and the casing, the eccentric shaft equilibrium block is housed on the eccentric shaft, eccentric shaft is equipped with cycloid wheel outward, be connected with anti-rotation mechanism between cycloid wheel one side and rubbing surface of end cover, the steel ball wheel that fuses with output shaft is arranged, between the big end of casing one end and output shaft pre-load nut is housed, the cycloid wheel opposite side has the external gear of cycloid circular-arc tooth surface and steel ball and takes turns the steel ball internal gear that the steel ball of a side dense arrangement on a circumference form and form interior engagement driving.
The utility model is compared with background technique, and the useful effect that is had is:
1. owing to adopted solid matter is formed on the circumference highi degree of accuracy to harden the standard steel ball, can obtain high-precision internal gear as the flank of tooth of internal gear, and surface abrasion resistance and help keeping transmission accuracy;
2. external gear is the curtate cyclod circular-arc tooth surface, and to contact composite curve radius big with the gear of steel ball internal gear, and the sliding ratio of cycloidal gear is little, and to improving and keeping the precision and the transmission life-span of transmission very favourable, the flank of tooth is easy to process;
3. by pre-load nut transmission is applied certain precompression, guarantee multiple tooth engagement driving, improve transmission accuracy and transmission rigidity and eliminate the transmission return difference.
4. this structure is the K-H-V driving type, gear range 20～120.
Therefore, the utility model can be promoted the use of in the demanding transmission devices of precision optical machinery such as robot, precision machine tool, Aero-Space.
Description of drawings:
Fig. 1, structural representation of the present utility model;
Fig. 2, cross skateboard figure;
Fig. 3, cross slide plate A are to view;
Fig. 4, cross slide plate B are to view;
Fig. 5, another kind of structural representation of the present utility model.
Below in conjunction with accompanying drawing, provide details of the present utility model by description to embodiment.
Cycloidal ball retarder as shown in Figure 1, it comprises the eccentric shaft 17 on the one section input shaft 1 that is contained in end cap 2 and the casing 12, eccentric shaft equilibrium block 16 is housed on the eccentric shaft 17, the eccentric shaft 17 outer cycloid wheel 6 that are equipped with, be connected with anti-rotation mechanism between cycloid wheel 6 one sides and end cap 2 inner side surfaces, the steel ball wheel 20 that fuses with output shaft 15 is arranged, in steel ball wheel 20 bearings 10 that are bearing in casing 12 holes.Input shaft 1 is bearing in the bearing 3 of end cap 2 and steel ball and takes turns in the bearing 9 in 20 holes, and the eccentric shaft 17 on the input shaft 1 is bearing in the bearing 7 in cycloid wheel 6 holes.Between the big end of casing 12 1 ends and output shaft 15 pre-load nut 13 is housed, takes turns 20 pairs of transmissions by bearing 11, the steel ball of output shaft 15 and apply certain pretightening force, guarantee multiple tooth engagement driving, 14 is the seal ring on the bearing 11.Cycloid wheel 6 opposite sides have the external gear of cycloid circular-arc tooth surface 18 and steel ball and take turns the steel ball internal gear that the steel ball 8 of 20 1 side dense arrangement on a circumference form and form interior engagement driving, and steel ball 8 usefulness steel balls fixedly flanging 19 are pushed down.
Above-described anti-rotation mechanism is the cross sled mechanism, as Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, it comprises cross slide plate 5, at the one group of group leader's groove 21 that can put steel ball 4 that has of a parallel sided of cross slide plate 5, have another group leader groove 22 perpendicular in the another side of cross slide plate 5 with elongated slot 21.Have on end cap 2 inner side surfaces and cross slide plate 5 one side views, position, size, the identical elongated slot of direction, have on cycloid wheel 6 one sides and cross slide plate 5 another side shapes, position, size, the identical elongated slot of direction, form crosshead shoe between end cap 2, cross slide plate 5 and the cycloid wheel 6 and connect.
It is that the standard steel ball dense arrangement of d is on the standard pitch circle circumference of D at diameter that the gear of steel ball internal gear adopts diameter, and the pass of the number Z of steel ball and steel ball gear standard pitch diameter D is D=d/Sin (π/Z).Cycloid circular-arc tooth surface 18 is the curtate cyclod circular-arc tooth surface.The few tooth of the number of teeth of the gear ratio steel ball internal gear of cycloid external gear.
Be illustrated in figure 5 as another embodiment of the present utility model: it also can be equipped with steel ball wheel 23 outside eccentric shaft 17, steel ball is taken turns 23 1 sides and is connected with anti-rotation bindiny mechanism with the inner side surface of end cap 2, the cycloid wheel 26 that fuses with output shaft 15 is arranged, steel ball is taken turns the steel ball internal gear of steel ball 8 compositions of 23 opposite side dense arrangement on a circumference and the external gear that cycloid wheel 26 1 sides have cycloid circular-arc tooth surface 25 forms interior engagement driving, and steel ball 8 usefulness steel balls fixedly flanging 24 are pushed down.
Cycloidal ball transmission principle of the present utility model and cycloid pinwheel planetary gear transmission system principle are similar, just because steel ball is a spheroid, in different cross section perpendicular to axis, the steel ball cross section is a circle that becomes diameter, according to equidistant conjugate curved surface principle, in each cross section, steel ball gear and cycloid wheel all meet the gear engagement fundamental theorem.
Working principle of the present utility model is as follows: be example with Fig. 1, when input shaft 1 is done rotation motion, the eccentric shaft 17 that links to each other with input shaft 1 turns round synchronously, by eccentric shaft bearing 7 center of cycloid wheel 6 being done with offset a is the circular movement of radius, the anti-rotation mechanism of being made up of cross slide plate 5, steel ball 4,4 ' has limited cycloid wheel and has only done translation and do not do rotation motion around self axis, by the interior engagement of cycloidal gear and steel ball wheel, promote steel ball wheel 20 and do the reversed turning motion around output shaft 15.
When cycloid crop rotation translation, its velocity ratio is: i=ω
1/ ω
2=-(Z-1) is when steel ball crop rotation translation, and its velocity ratio is: i=ω
1/ ω
2=+Z
Claims (5)
1. cycloidal ball retarder, it is characterized in that: it comprises the eccentric shaft [17] on the one section input shaft [1] that is contained in end cap [2] and the casing [12], eccentric shaft equilibrium block [16] is housed on the eccentric shaft [17], the outer cycloid wheel [6] that is equipped with of eccentric shaft [17], be connected with anti-rotation mechanism between cycloid wheel [6] one sides and end cap [2] inner side surface, the steel ball wheel [20] that fuses with output shaft [15] is arranged, between the big end of casing [12] one ends and output shaft [15] pre-load nut [13] is housed, cycloid wheel [6] opposite side has the external gear of cycloid circular-arc tooth surface [18] and the steel ball internal gear of steel ball [8] composition of steel ball wheel [20] one side dense arrangement on a circumference forms interior engagement driving.
2. cycloidal ball retarder according to claim 1, it is characterized in that: described anti-rotation mechanism is the cross sled mechanism, it comprises and parallelly on the side of cross slide plate [5] has the one group of group leader's groove [21] that can put steel ball [4], have and another perpendicular group leader's groove [22] of elongated slot [21] in the another side of cross slide plate [5], have on end cap [2] inner side surface and cross slide plate [5] one side views, the position, the identical elongated slot of direction, have on cycloid wheel [6] one sides and cross slide plate [5] another side shape, the position, the identical elongated slot of direction, end cap [2], forming the cross slide plate between cross slide plate [5] and the cycloid wheel [6] connects.
3. cycloidal ball retarder according to claim 1, it is characterized in that: it is that the standard steel ball dense arrangement of d is on the standard pitch circle circumference of D at diameter that the gear of steel ball internal gear adopts diameter, and the pass of the number Z of steel ball and steel ball gear standard pitch diameter D is D=d/Sin (π/Z).
4. cycloidal ball retarder according to claim 1 is characterized in that: cycloid circular-arc tooth surface [18] is the curtate cyclod circular-arc tooth surface.
5. cycloidal ball retarder according to claim 1 is characterized in that: the few tooth of the number of teeth of the gear ratio steel ball internal gear of cycloid external gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 97250236 CN2315354Y (en) | 1997-11-21 | 1997-11-21 | Cycloidal steel ball speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 97250236 CN2315354Y (en) | 1997-11-21 | 1997-11-21 | Cycloidal steel ball speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2315354Y true CN2315354Y (en) | 1999-04-21 |
Family
ID=33956897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 97250236 Expired - Fee Related CN2315354Y (en) | 1997-11-21 | 1997-11-21 | Cycloidal steel ball speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2315354Y (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103883693A (en) * | 2014-03-19 | 2014-06-25 | 江苏泰隆减速机股份有限公司 | Double-stage rigid tooth surface cycloid steel ball planetary gear reducer |
| CN103883683A (en) * | 2014-03-19 | 2014-06-25 | 江苏泰隆减速机股份有限公司 | Single-stage rigid tooth surface cycloid steel ball planetary gear reducer |
| CN104832632A (en) * | 2015-02-25 | 2015-08-12 | 佛山市诺尔贝机器人技术有限公司 | Anti-autorotation compression device of single-crankshaft cycloid speed reducer |
| CN104964011A (en) * | 2015-06-25 | 2015-10-07 | 广州启帆工业机器人有限公司 | Cross slide block driving speed reducer for multi-joint robot |
| CN105782354A (en) * | 2015-01-13 | 2016-07-20 | 纳博特斯克有限公司 | Gear device |
| WO2017152430A1 (en) * | 2016-03-09 | 2017-09-14 | 江苏泰隆减速机股份有限公司 | Two-stage serial cycloid ball reducer |
| CN109538706A (en) * | 2018-12-29 | 2019-03-29 | 王小三 | A kind of helical teeth planetary gear ball Combined speed reducer |
| CN109707802A (en) * | 2019-02-25 | 2019-05-03 | 燕山大学 | A kind of twin-stage integrated planar movable teeth reducer based on saddle coupling |
| CN109878323A (en) * | 2019-04-09 | 2019-06-14 | 上海道简机电科技有限公司 | Drive integrated form integrated wheel |
| CN111664229A (en) * | 2020-07-13 | 2020-09-15 | 珠海格力电器股份有限公司 | Reduction gear and robot |
| CN117052850A (en) * | 2023-09-12 | 2023-11-14 | 广东粤凯科技装备制造有限公司 | Swing ball speed reducer |
-
1997
- 1997-11-21 CN CN 97250236 patent/CN2315354Y/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103883683A (en) * | 2014-03-19 | 2014-06-25 | 江苏泰隆减速机股份有限公司 | Single-stage rigid tooth surface cycloid steel ball planetary gear reducer |
| CN103883693A (en) * | 2014-03-19 | 2014-06-25 | 江苏泰隆减速机股份有限公司 | Double-stage rigid tooth surface cycloid steel ball planetary gear reducer |
| CN105782354A (en) * | 2015-01-13 | 2016-07-20 | 纳博特斯克有限公司 | Gear device |
| CN105782354B (en) * | 2015-01-13 | 2019-12-10 | 纳博特斯克有限公司 | Gear device |
| CN104832632B (en) * | 2015-02-25 | 2018-01-09 | 佛山市诺尔贝机器人技术有限公司 | A kind of anti-rotation pressing device of single axle cycloid speed reducer |
| CN104832632A (en) * | 2015-02-25 | 2015-08-12 | 佛山市诺尔贝机器人技术有限公司 | Anti-autorotation compression device of single-crankshaft cycloid speed reducer |
| CN104964011A (en) * | 2015-06-25 | 2015-10-07 | 广州启帆工业机器人有限公司 | Cross slide block driving speed reducer for multi-joint robot |
| WO2017152430A1 (en) * | 2016-03-09 | 2017-09-14 | 江苏泰隆减速机股份有限公司 | Two-stage serial cycloid ball reducer |
| CN109538706A (en) * | 2018-12-29 | 2019-03-29 | 王小三 | A kind of helical teeth planetary gear ball Combined speed reducer |
| CN109707802A (en) * | 2019-02-25 | 2019-05-03 | 燕山大学 | A kind of twin-stage integrated planar movable teeth reducer based on saddle coupling |
| CN109707802B (en) * | 2019-02-25 | 2020-12-22 | 燕山大学 | Two-stage integrated plane oscillating tooth speed reducer based on guide frame coupling |
| CN109878323A (en) * | 2019-04-09 | 2019-06-14 | 上海道简机电科技有限公司 | Drive integrated form integrated wheel |
| CN111664229A (en) * | 2020-07-13 | 2020-09-15 | 珠海格力电器股份有限公司 | Reduction gear and robot |
| CN117052850A (en) * | 2023-09-12 | 2023-11-14 | 广东粤凯科技装备制造有限公司 | Swing ball speed reducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |