JP7203966B2 - Cycloid gear and reducer - Google Patents

Description

This application claims priority from Chinese Patent Application No. 201811418923.3, entitled "Cycloidal Gear and Reducer", filed on Nov. 26, 2018, the entire content of which is incorporated herein by reference. It is captured.

The present application relates to the field of speed reducers, and in particular to cycloidal gears and speed reducers.

The RV reducer is one of the core parts that drive the robot. Compared with other speed reduction methods, the RV speed reducer has the advantages of large speed reduction ratio, coaxial drive, high driving accuracy, high rigidity, compact structure, and is widely used in electronic, aerospace, robotics, etc. Widely applied in industry. The RV speed reducer has a complicated structure and consists of a cycloidal gear, a crankshaft, a pin gear case, a planetary frame, a rigid disk, and the like. Among them, the cycloidal gear is an important component of the RV reducer.

Based on the characteristics of the RV reducer driven by cycloidal pin gear, in order to ensure that it receives force uniformly and drives stably, the commonly used robot RV reducer has two cycloidal gears. Use in pairs. One of the end faces of each cycloid gear contacts the end face of the other cycloid gear, and the other contacts the end face of the outer ring of the main bearing. Then, when the RV speed reducer operates, there is a phase difference between the initial positions of the two cycloidal gears, and the cycloidal gears make eccentric motions, so that the two end surfaces of each pair that contact each other slide against each other.

In an RV reducer, lubricant is contained within the housing to reduce wear on the internal components, and moves within the housing as the pin and cycloidal gears undergo relative rotation. Then, the lubricant exists across all the teeth of the cycloidal gear. The gap between the end face of the cycloidal gear and the end face of the outer ring of the main bearing and the end faces of the two cycloidal gears in contact with each other are extremely small, so that when relative motion occurs, the lubricant is pushed out, thereby causing the end faces to contact each other. It will cause dry friction between them, increase the wear rate of the end face of the cycloidal gear, and ultimately reduce the driving accuracy and service life of the cycloidal gear.

An object of the present application is to provide a cycloidal gear and a speed reducer, and to improve the problem that the wear of the end face of the cycloidal gear is relatively large when the speed reducer operates.

The present application is implemented as follows.

A cycloidal gear comprising a cycloidal gear body, a concave groove, a first oil passage and a second oil passage being provided on an end surface of the cycloidal gear main body, the first oil passage being provided surrounding the concave groove, Both ends of the second oil passage communicate with the first oil passage and the groove, respectively.

In one embodiment, both end surfaces of the cycloid gear body are provided with the groove, the first oil passage and the second oil passage, and the groove and the first oil passage are provided on both end surfaces of the cycloid gear body. Both the oil passage and the second oil passage are installed facing each other.

In one embodiment, the cycloidal gear body is further provided with an oil passage hole, the oil passage hole penetrates both end surfaces of the cycloid gear body, and the oil passage hole is formed on both end surfaces of the cycloid gear body. 1 intersect each oil passage.

In one embodiment, both ends of the second oil passage communicate with the oil passage hole and the groove, respectively.

In one embodiment, the cycloidal gear body is provided with an eccentric shaft hole penetrating both end surfaces of the cycloidal gear body, the eccentric shaft hole is located in the concave groove, and the second oil passage is the oil passage. It is remote from one end of the bore and communicates with the eccentric shaft bore.

In one embodiment, there are two eccentric shaft holes, the two eccentric shaft holes are symmetrical with respect to the axis of the cycloid gear body, and the number of the oil passage holes is the same as the number of the eccentric shaft holes, The centers of the two eccentric shaft holes and the two oil passage holes are located on the same straight line, and the two oil passage holes are symmetrical with respect to the axis along which the cycloidal gear body revolves.

In one embodiment, the second oil passage extends along the radial direction of the cycloidal gear body.

In one embodiment, the first oil passage has an annular shape, and the first oil passage has a revolution axis of the cycloid gear as a center of a circle.

In one embodiment, the eccentricity when the cycloidal gear body revolves is e, and the diameter of the oil passage hole is greater than 4e.

In one embodiment, the minimum distance between each oil passage hole and the outer contour of the cycloidal gear body is less than 4e in the radial direction of the cycloidal gear body.

In one embodiment, the cycloidal gear body is further provided with several stud holes, the stud holes pass through both end faces of the cycloidal gear body, and at least one of the stud holes is located in the cycloidal gear body. It intersects the first oil passages on both end faces of the gear body.

A speed reducer, the speed reducer comprising the cycloidal gear according to any one of the above items.

The beneficial effects of the present application are as follows. The present application obtains a cycloidal gear by the above design, and the end surface of the cycloidal gear body is provided with a groove. is an end face surrounding the perimeter of the At the same time, a first oil passage and a second oil passage are provided on the end face around the groove, the first oil passage is set around the groove, that is, it is set on the end face around the groove, and the second oil passage communicates the concave grooves with the first oil passage. Due to the presence of the groove, the lubricant is stored in the groove, and the second oil passage can drain the lubricant in the groove to the first oil passage. Since the first oil passage is installed on the end face around the concave groove, the lubricant in the first oil passage contacts the end face of the cycloidal gear body after the first oil passage is fully filled with lubricant. It plays a role of lubricating between the end faces of the parts, prevents the occurrence of dry friction between the end faces of the cycloidal gear body and the contacting members, and can suppress wear on the end faces of the cycloidal gear body. .

In order to more clearly describe the technical solutions of the embodiments or the prior art of the present application, a brief description will be given below using the drawings required in the description of the embodiments or the prior art. are merely examples of the present application, and those skilled in the art can conceive of other drawings based on the disclosed drawings without creative effort.

1 is a structural schematic diagram of a cycloidal gear according to an embodiment of the present application; FIG. 1 is a structural schematic diagram of a speed reducer according to an embodiment of the present application; FIG.

Hereinafter, the technical solutions of the embodiments of the present application will be clearly and completely described with reference to the drawings of the embodiments of the present application. Apparently, the described embodiments are merely some embodiments of the present application and not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by persons skilled in the art without the need for inventive effort shall fall within the protection scope of the present application.

In describing the present invention, as understood, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "top", "bottom", " Front, Back, Left, Right, Vertical, Horizontal, Top, Bottom, Inside, Outside, Clockwise, Counterclockwise, etc. is the orientation or positional relationship shown in the drawings and is merely to facilitate or simplify the description of the invention, and any device or element shown necessarily has a specific orientation. It does not express or imply that it must be configured or operated in any particular orientation and, as such, should not be construed as limiting the invention.

Also, the terms "first" and "second" are merely descriptive and do not express or imply relative importance or imply the number of technical features shown. should not be understood as Thus, the features defined by "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "plurality" means two or more, unless expressly and specifically limited to otherwise.

In the present invention, terms such as "attachment", "coupling", "connection", and "fixation" should be understood in a broad sense unless otherwise clearly defined or limited. It may be a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium. It may be a connection, an internal communication between two elements, or an interaction relationship between two elements. A person skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific situation.

In the present invention, unless expressly defined or limited to the contrary, reference to a first feature being "above" or "below" a second feature may include direct contact between the first and second features. It may include contacting through other features between the second features without direct contact. And that the first feature is "above", "above" and "upper surface" of the second feature includes that the first feature is directly above and obliquely above the second feature, or is higher than the second feature. References to a first feature being "below", "below" and "below" a second feature include that the first feature is directly below and diagonally below the second feature, or horizontally above the first feature. is less than the second feature.

Example 1
As shown in FIG. 1, the cycloidal gear according to the present embodiment includes a cycloidal gear body 1, and grooves 5, first oil passages 2 and second oil passages 3 are provided in the end face of the cycloidal gear body 1. , the first oil passage 2 surrounds the groove 5, and both ends of the second oil passage 3 communicate with the first oil passage 2 and the groove 5, respectively. The groove 5 is a circular groove 5 whose center is the axis of the cycloidal gear, and both the first oil passage 2 and the second oil passage 3 have a groove structure with an open upper end. That is, the openings of the first oil passage 2 and the second oil passage 3 are positioned at the end face of the cycloidal gear body 1 .

Regarding the cycloidal gear according to the present embodiment, since the grooves 5 are provided in the end face of the cycloidal gear body 1, the portion of the end face of the cycloidal gear body 1 that actually contacts other parts after being mounted in the reduction gear is It is an end surface surrounding the groove 5 . At the same time, the first oil passage 2 and the second oil passage 3 are provided around the groove 5 , and the first oil passage 2 surrounds the groove 5 , that is, the groove 5 is surrounded by the end surface. The second oil passage 3 communicates the groove 5 with the first oil passage 2 . Since the concave groove 5 exists, the lubricant is stored in the concave groove 5 , and the second oil passage 3 can drain the lubricant in the concave groove 5 to the first oil passage 2 . Since the first oil passage 2 is installed on the end face around the groove 5 , the lubricant in the first oil passage 2 will flow through the cycloid gear body 1 after the first oil passage 2 is filled with lubricant. It plays a role of lubricating between the end face and the end face of the contacting part, prevents the occurrence of dry friction between the end face of the cycloid gear body 1 and the contacting member, and prevents the end face of the cycloid gear body 1 from occurring. Abrasion can be suppressed.

Furthermore, in one embodiment, grooves 5, first oil passages 2 and second oil passages 3 are provided on both end surfaces of the cycloidal gear body 1, and grooves 5 and second oil passages 5 on both end surfaces of the cycloid gear body 1 are provided. Both the first oil passage 2 and the second oil passage 3 are installed facing each other. In actual application, both the two end surfaces of the cycloidal gear body 1 slide against each other with respect to the contacting work. An oil passage 2 and a second oil passage 3 are provided. Then, after the cycloidal gear body 1 is installed in the speed reducer, both the end face of the cycloidal gear body 1 contacting the adjacent cycloidal gear and the end face contacting the main bearing 8 can be lubricated with a lubricant, thereby lubricating the cycloidal gear body. Suppress wear to 1.

Furthermore, in one embodiment, the cycloid gear body 1 is further provided with an oil passage hole 4 , the oil passage hole 4 penetrates both end faces of the cycloid gear body 1 , and the oil passage hole 4 is formed on both end faces of the cycloid gear body 1 . It intersects with each of the upper first oil passages 2 . The oil passage 4 can communicate with the two first oil passages 2 on both end surfaces of the cycloidal gear body 1 to form a radial passage. Since the speed reducer may be placed at various angles in actual applications, the cycloidal gear body 1 is not necessarily in a horizontal state. , the position distribution becomes uneven, and the amount of lubricant on both end faces of the cycloidal gear body 1 may differ. If the amount of lubricant is too small, the lubrication effect is affected. In this embodiment, the oil passage holes 4 are provided to form radial passages communicating with the first oil passages 2 on both end faces, allowing the lubricant in the two first oil passages 2 to flow with each other, To prevent too little lubricant in the first oil passage 2 of a certain end face.

Furthermore, in one embodiment, both ends of the second oil passage 3 communicate with the oil passage hole 4 and the groove 5, respectively. Specifically, the oil passage hole 4 is provided at the connection point of the first oil passage 2 and the second oil passage 3, and the first oil passage 2 and the second oil passage 3 on the two end surfaces of the cycloid gear body 1 are connected. Communicate with each other to further improve the effect of draining the lubricant from the radial passages, allow the lubricant in the grooves 5 of the two end faces to flow through the second oil passage 3 and the oil passage hole 4, and can further improve the fluidity of

Furthermore, in one embodiment, the cycloidal gear body 1 is provided with an eccentric shaft hole 6 penetrating both end faces of the cycloidal gear body 1, the eccentric shaft hole 6 is positioned in the groove 5, and the second oil passage 3 is It is far away from one end of the oil passage hole 4 and communicates with the eccentric shaft hole 6 . There are two eccentric shaft holes 6, the two eccentric shaft holes 6 are symmetrical with respect to the axis of the cycloid gear body 1, the number of the oil passage holes 4 is the same as the number of the eccentric shaft holes 6, and the two eccentric shaft holes 6 and the centers of the two oil passage holes 4 are located on the same straight line, the two oil passage holes 4 are symmetrical with respect to the axis along which the cycloid gear body 1 revolves, and the second oil passage 3 extends through the cycloid gear body 1. It extends along the radial direction.

The cycloidal gear body 1 is provided with an eccentric shaft hole 6 for mounting the eccentric shaft 9, and since two eccentric shafts 9 must be installed in many reduction gears, in this embodiment, the cycloidal gear body 1 , two eccentric shaft holes 6 are installed. Since lubricant is also present between the inner wall of the eccentric shaft hole 6 and the outer peripheral surface of the eccentric shaft 9, one end of the second oil passage 3 far away from the first oil passage 2 communicates with the eccentric shaft hole 6. , the second oil passage 3 drains the lubricant in the eccentric shaft hole 6 into the first oil passage 2, further increases the lubricant in the first oil passage 2, and lubricates the end face of the cycloidal gear body 1. The effect can be further improved. In this embodiment, each eccentric shaft hole 6 is provided with one oil passage hole 4 and a second oil passage 3 corresponding to each of the eccentric shaft holes 6. The second oil passage 3 extends along the radial direction of the cycloid gear body 1. , and the two eccentric shaft holes 6 and the two oil passage holes 4 are positioned on the same straight line. With this arrangement, when the cycloidal gear body 1 rotates eccentrically, the lubricant flows more effectively from the second oil passage 3 into the oil passage hole 4 due to the action of inertia, further improving the flow effect of the lubricant. be able to. At the same time, in order to further improve the drainage effect of the second oil passage 3, the depth of the second oil passage 3 is greater than the depth of the groove 5, specifically, the depth of the groove 5 of the second oil passage 3 is positioned on the ground of the groove 5 and is recessed downward.

Furthermore, in order to allow the lubricant to flow more smoothly within the first oil passage 2, in one embodiment, the first oil passage 2 has an annular shape, and the first oil passage 2 is centered around the revolution axis of the cycloidal gear. and Even if the cycloidal gear body 1 moves eccentrically during operation, the locus of motion exhibits a circular shape. can be made to flow. In other embodiments, the first oil passage 2 may be set in other shapes such as polygons.

Furthermore, in one embodiment, the cycloidal gear body 1 is further provided with several stud holes 7 , the stud holes 7 pass through both end faces of the cycloidal gear body 1 , and at least one stud hole 7 intersects the first oil passages 2 on both end faces of the cycloidal gear body 1 . In actual application, there is also lubricant in the stud hole 7, and the stud hole 7 intersects the first oil passage 2, so that the lubricant in the stud hole 7 flows into the first oil passage 2. By allowing the lubricant to flow in, the lubricant in the first oil passage 2 is further increased, and the lubricating effect of the end face of the cycloidal gear body 1 can be further improved.

Furthermore, in one embodiment, the amount of eccentricity when the cycloidal gear body 1 revolves is e, and the diameter of the oil passage hole 4 is larger than 4e. In the radial direction of the cycloidal gear body 1, the minimum distance between each oil passage hole 4 and the outer contour of the cycloidal gear body 1 is smaller than 4e. When two eccentric wheel bodies are used in pairs, the two eccentric wheel bodies rotate to different angles along the eccentric shaft 9 and slide relatively. Specifically, when the eccentric shaft 9 rotates 0°, the two eccentric ring bodies are completely overlapped, and the oil passage holes 4 installed in the corresponding two eccentric ring bodies are also completely overlapped, that is, the two oil passages The holes 4 communicate with each other so that the lubricant can smoothly flow between the two oil passage holes 4 . In the process of rotating the eccentric shaft 9 from 0° to 180°, the two eccentric wheel bodies slide relative to each other and gradually leave a certain distance. be. In this embodiment, since the diameter of the oil passage hole 4 is larger than 4e, even if the distance between the two eccentric ring bodies is the largest, the oil passage holes 4 on the two eccentric ring bodies are still partially overlapped, The two oil passages 4 are kept in communication so that the lubricant flows normally between the two oil passages 4 . As can be seen from the above description, the maximum distance that the two cycloidal gear bodies 1 move relative to each other is 4e, and in this embodiment, the minimum distance between each oil passage hole 4 and the outer contour of the cycloidal gear body 1 is less than 4e. Therefore, if the distance over which two cycloid gear bodies 1 move relative to each other is greater than the distance between the oil passage hole 4 and the outer contour of the cycloid gear body 1, the oil passage hole 4 is completely blocked by the end face of the other cycloid gear body 1. and allows the oil passage hole 4 to communicate with the space outside the outer peripheral surface of the cycloid gear body 1, thereby allowing the oil passage hole 4 to guide the lubricant in this space into the first oil passage 2, To improve the lubricating effect to the end face of the cycloidal gear body 1. - 特許庁

As shown in FIG. 2, embodiments of the present application further provide a speed reducer comprising the cycloidal gear of any one embodiment above. Specifically, the speed reducer according to the embodiments of the present application may be an RV speed reducer.

Each technical feature of the embodiments described above may be combined arbitrarily. In order to simplify the explanation, not all possible combinations of technical features of the above embodiments are described, but unless contradictory, any combination of these technical features is within the scope described in this specification. should be considered to be.

The above-described examples represent only some embodiments of the present application, and the descriptions thereof are more specific and detailed, but should not be understood as limiting the protection scope of the present application. It should be noted that those skilled in the art can make further variations and improvements without departing from the concept of the present application, which are all within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims (11)

A cycloidal gear,
A cycloidal gear body is provided with a concave groove, a first oil passage and a second oil passage in an end surface of the cycloidal gear main body, the first oil passage is provided surrounding the concave groove, and the second oil passage is provided. Both ends communicate with the first oil passage and the concave groove, respectively, and the concave groove, the first oil passage and the second oil passage are provided on both end surfaces of the cycloid gear body, The cycloidal gear , wherein the concave groove on both end faces, the first oil passage and the second oil passage are all installed facing each other. The cycloid gear body is further provided with an oil passage hole, the oil passage hole penetrating both end surfaces of the cycloid gear body, and the oil passage holes being the first oil passages on both end surfaces of the cycloid gear body. 2. The cycloidal gear according to claim 1 , wherein the cycloidal gear intersects with . 3. The cycloidal gear according to claim 2 , wherein both ends of said second oil passage communicate with said oil passage hole and said concave groove, respectively. The cycloidal gear body is provided with an eccentric shaft hole passing through both end surfaces of the cycloidal gear body, the eccentric shaft hole is located in the groove, and the second oil passage is far from one end of the oil passage hole. 4. The cycloidal gear of claim 3 , wherein the cycloidal gear is spaced apart and communicates with the eccentric shaft hole. There are two eccentric shaft holes, the two eccentric shaft holes are symmetrical with respect to the axis of the cycloid gear body, the number of the oil passage holes is the same as the number of the eccentric shaft holes, and the two eccentric shafts 5. The cycloidal gear according to claim 4 , wherein the center of the hole and the two oil passage holes are located on the same straight line, and the two oil passage holes are symmetrical with respect to the axis along which the cycloid gear body revolves. . 6. The cycloidal gear according to claim 5 , wherein the second oil passage extends along the radial direction of the cycloidal gear body. 6. The cycloid gear according to claim 5 , wherein the first oil passage has an annular shape, and the revolution axis of the cycloid gear is the center of the circle of the first oil passage. 6. The cycloidal gear according to claim 5 , wherein the amount of eccentricity when said cycloidal gear body revolves is e, and the diameter of said oil passage hole is greater than 4e. 9. The cycloidal gear according to claim 8 , wherein a minimum distance between each oil passage hole and the outer contour of the cycloidal gear body in the radial direction of the cycloidal gear body is less than 4e. The cycloidal gear body is further provided with a plurality of stud holes, the stud holes passing through both end faces of the cycloid gear body, and at least one stud hole extending through both end faces of the cycloid gear body. 3. The cycloidal gear according to claim 2 , which crosses the upper first oil passage. A speed reducer comprising the cycloidal gear according to any one of claims 1 to 10 .

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