TW201827729A - Ball body speed reducing device - Google Patents

Abstract

A ball body speed reducing device which is constructed by the cycloidal principle, and with the rolling steel ball to replace the rigid gear, and retain the standard circule arc between rolling steel ball, so that the formation of a short amplitude cycloid profile of the rolling steel ball gear, and by means of the rotation of the crank-haft, so that the rolling steel ball gear engagement the Internal tooth arc groove on the inner side of the flange, and a plurality of the rolling steel ball on the bracket, follow the shake to produce swing movement but no rotation itself, and use the shell or the flange which in any one, or with the assembly which connected with the aforementioned load as an output shaft, precise revolution angular velocity movement.

Description

 Sphere reduction gear  

The invention relates to a ball deceleration device; in particular to a ball deceleration device, the excitation ring is arranged in a short steel ball groove of the machine wall, so that a simple harmonic motion is generated, and the outer cycloid of the body is pushed and twisted. Steel ball pocket, output equal speed track.

The Japanese version of the KAMO brand of spherical reducer, the transmission principle, is the steel ball sandwiched between two circular plates, one circular plate fixed, the other circular plate eccentric swing, the steel ball will be based on the eccentricity, drawn in the fixed circular plate For the cycloidal trajectory, please refer to the fourth figure. An oscillating trajectory is drawn on the oscillating disc, and the two trajectories are overlapped. Please refer to the fifth figure. The sphere is in a fixed position, and the rolling mode can be contacted to achieve the purpose of running deceleration. The oscillating disc is a single row of eccentric excitement, which produces a self-rotating swing. In order to eliminate the self-rotation swing, a ball rail side plate is usually added to the side of the oscillating disc, and according to the precision requirement, there is a pre-pressure adjustment backlash locking device, usually a reducer. The body is always long, single eccentric excitement, high-speed operation is easy to unbalance the vibration of the twins, the pre-pressing elastic adjustment effect is not good, the combination of steel balls is less, the allowable torque is not enough, only suitable for the light load and low speed ratio of the two differential transmission.

Another Japanese FANUC brand tool holder ball deceleration device, this is another kind of ball deceleration device, please refer to the second figure, rotate the bevel gear 3011 fixed by the bracket 3010, the reverse side of the bevel gear has an elliptical groove track 2313, please Referring to the third figure, a disk steel ball 2212 in the fixed-axis steel ball groove 2311 is driven, and the disk of the disk fluctuates with the elliptical groove track 2313, and the cycloidal groove 2312 of the body 3012 is pushed to drive the output circle of the body. The plate 3014 is suitable for the tool change mechanism of the tool magazine or the large-diameter deceleration device. Due to the foregoing device, the steel ball 2212 is axially twisted by the elliptical groove track 2313, and the elliptical groove track 2313 is not easy to be processed, and the ellipse is long. The difference between the axis and the short axis is cumbersome, and the simple harmonic motion of the operation is asymmetric, vibration or noise is large, only suitable for special places, and low-speed ratio two-tooth differential transmission, high-speed ratio transmission is difficult to control, back pressure locking adjustment device, Still in the center position, the adjustment effect is not good.

It is known that the conventional ball reduction device is light and thin, the steel ball is combined with low backlash, and the mechanism is simple. If the transmission structure is optimized to make the transmission reach the precise stage, it is a good transmission reduction device. In the above prior art, the present invention develops a ball deceleration device for improving the aforementioned transmission boring and optimizing the steel ball merging structure. First, the shock absorber is modified into a double eccentric crankshaft, please refer to the ninth diagram, the power direct drive, avoiding the single Eccentric imbalance, or shock wave operation of elliptical groove track, asymmetrical harmonic motion, second, two sets of ball speed reduction mechanism, symmetrically arranged on both sides of the casing, please refer to the first figure, mechanism balance, and more steel balls Participating in undulating operation, stress dispersion, allowing the load strength to naturally increase to adapt to high-load transmission, and third, effectively optimizing the pre-pressure adjustment device, and arranging the ball reduction mechanisms arranged on both sides of the casing to form a group of bolts Simultaneously rotating the rotating body, the group of bolts can be used for pre-pressure adjustment, which is simple and effective. Please refer to the first figure to change the sun bolt of the traditional mechanism. In the way of locking the center of the shaft, since the steel balls are not twisted at the center position, it is easy and effective to adjust the transmission precision of the steel ball, and the traditional structure can be reduced, and the length of the body can be reduced. Fourth, with double-wave excitation, please refer to In the nine-figure, the steel ball is placed in the cavity, and a symmetrical 180-degree harmonic motion is performed. The steel ball motion transmission is used instead of merely splicing the groove track, and the steel ball is decelerated in a non-moving manner, so that it can be used for a tooth difference or a high speed ratio. The deceleration transmission, the five or two sets of ball speed reduction mechanisms are symmetrically arranged on both sides of the casing, and are separated by a steel ball spacer ring in the middle. The steel ball spacer ring is arranged in a ring of steel balls, and the plate of the steel ball can be freely rotated. The first and eighth figures prevent the planet disc from being stuck due to back pressure adjustment.

The ball deceleration device of the invention adopts two sets of speed reduction mechanisms, which are arranged symmetrically on both sides of the casing, and the mechanism is balanced, and can be rotated inside or outside, double eccentric body shock wave, strong and powerful, balance of motion, using ordinary shape steel balls The groove rail is easy and precise to manufacture, double eccentrically oscillated, has no fixed circular plate or a member that gives an eccentrically oscillating circular plate, the structure simplifies the shortening of the body, and the number of the steel ball hole slots and the outer cycloidal groove wave number of the structure of the present invention, If the difference is 2, it is suitable for single-segment ratio of 15 or less. If the difference is 1, it is suitable for single-stage speed ratio of 15~120 or multi-stage combination. It is more advanced and practical than traditional technology.

The effect of the invention can provide the precise non-backlash transmission of the steel ball, optimize the spherical body speed reduction mechanism, strengthen the transmission function, and output the precise constant velocity trajectory, which is the maximum effect and purpose of the invention.

2011‧‧‧Shell

2012‧‧‧ wearing body

2211‧‧‧ planet disc

2212‧‧‧ steel balls

2213‧‧‧Eccentric bearing

2214‧‧‧Preloadable bearings

2215‧‧‧ Oil seal

2216‧‧‧Support bearing

2217‧‧‧Steel ball spacer ring

2219‧‧‧ Input shaft

2220‧‧‧ keyway

2311‧‧‧Steel ball slot

2312‧‧‧Outer cycloidal slot

2313‧‧‧Steel Ball Channel

3010‧‧‧ bracket

3011‧‧‧Bevel gear

3012‧‧‧ wearing body

3013‧‧‧Outer ring oil seal

3014‧‧‧Output round board

3015‧‧‧Fixed shaft

3016‧‧ angular contact bearings

3017‧‧‧Sun Nuts

3018‧‧‧stop ring

PCD‧‧‧ circle diameter

E‧‧‧eccentricity

The first figure is a schematic diagram of the combined structure of the transmission structure of the present invention

The second picture is a schematic view of the profile of the previous tool changer

The third picture is the schematic diagram of the cycloidal capacity of the previous tool changer

The fourth figure is a schematic diagram of the trajectory of the inner cycloid of the ball transmission.

The fifth figure is a schematic diagram of the overlapping of the two cycloidal drive trajectories.

Figure 6 is a schematic diagram showing the plane of the body bracket of the present invention.

Figure 7 is a schematic diagram of the plane of the output flange part of the present invention

Figure 8 is a schematic perspective view of the spacer ring part of the present invention

Figure 9 is a schematic cross-sectional view showing the assembly of the groove side plate of the present invention

In an embodiment of the present invention, a generally preferred device is provided in the casing 2011 with an input shaft 2219 and two sets of ball deceleration mechanisms. Referring to the first figure, the ball deceleration mechanism has a rigid bead groove 2311, see In the sixth figure, a ring of rigid beads 2212 is supported in the inner ring of the casing 2011, and between the planetary disk 2211 and the wearing body 2012. The inner planetary disk 2211 has a steel ball groove 2311, see the ninth figure, and the outer side. The wearing body 2012 has an outer cycloidal groove 2312. Referring to the seventh figure, the cymbal member jointly kneads the disk 2212, and the rigid groove of the planetary disk 2211 is formed by the rotation of the eccentric body formed on the input shaft 2219. The rail 2313 fits and excites a steel ball in the rigid bead groove 2311 to generate a simple harmonic motion, and pushes the cycloidal slot 2312 of the wearing body 2012 to output a constant velocity trajectory. The two sets of spherical speed reduction mechanisms are symmetrically arranged in the casing. On the side, a group of bolts are used to adjust the backlash and then fixed to form a swivel that can be rotated synchronously. The bearing and the two sides of the body are pre-stressed with bearings 2214 2215 to connect the outer oil seal 2215, two rows of planet discs. There is a steel ball spacer ring 2217 between 2211, please refer to FIG, an inner ring of ball column 2212, the group is supported by bolts to isolate the two sets of spheres reduction device see 8. FIG.

Claims (7)

 A ball body reduction device has an input shaft and two sets of ball speed reduction mechanisms in the casing, the ball body speed reduction mechanism has steel ball pockets of equidistant rings arranged in the inner ring of the machine wall, and respectively place a steel ball The outer wear body milling has an outer cycloidal groove, the inner planetary disc is milled with a steel ball groove rail, and the concrete member is combined with the aforementioned one steel ball, and the rotation of the input shaft eccentric body makes the steel ball groove rail of the planetary disc Exciting the aforementioned one of the steel balls to generate a simple harmonic motion, causing any one of the casing or the body to rotate, and any one of the aforementioned rotations or a member connected thereto is regarded as an output shaft, and the two sets of ball reduction devices are Symmetrically arranged on both sides of the casing, separated by a steel ball spacer ring in the middle, and pre-compressed with a group of bolts, and then connected into a rotating body that can rotate synchronously.    The spherical body reduction device of claim 1, wherein the planetary ball groove of the planetary disk is a closed and circular semi-circular groove track, and the depth volume is at most about one-third of the usage of the steel ball. .    For example, in the sphere deceleration device of claim 1, wherein the steel ball groove in the ring body is a semi-circular short through hole at both ends, and the length should be twice the eccentricity + the diameter of the steel ball, the thickness volume, Up to about one-third of the use of steel balls.    For example, the spherical body reduction device of the first application patent scope, wherein the outer side of the body is outside the cycloidal groove, is a semi-circular outer cycloidal trajectory, the amplitude of which is at least eccentric to a crankshaft, and the depth volume is at most about the use of steel balls. One part of the aliquot is one or two from the number of steel ball pockets in the casing, the difference between the low reduction ratio and the number is two, and the high reduction ratio is used as one.    The spherical body reduction device according to claim 1, wherein the eccentric body crankshaft is 180 degrees out of phase, formed on a hollow type input shaft, and the eccentric crankshaft is provided with a rotatable planetary disc, and is supported by the eccentric bearing. The body-worn, two-row planetary discs are arranged between the grooves of the two rows of steel ball pockets of the casing body, and the inner diameter or width should be avoided by the planetary disc and the steel ball spacer ring. The bead spacer ring and the inner ring thereof A plate of steel balls having a thickness slightly smaller than the diameter of the steel ball is supported by the above-mentioned one bolt.    For example, the spherical body reduction device of the first application patent scope, wherein the pitch diameter of the cycloidal groove, the steel ball groove, and the steel ball groove of the common twisted steel ball are the same, and the component transmission surface of the steel ball is at least Keep a distance of 0.3-0.5 mm to avoid contact.    For example, the spherical body reduction device of the first application patent scope, wherein the casing and the two sides of the body are provided with a sliding promotion body, which is supported by a bearing for pre-pressure adjustment, and a leakage-proof oil seal is arranged outside the bearing.