TW202113250A - Eccentric oscillating speed reducer - Google Patents

Abstract

An eccentric oscillating speed reducing device comprises: a housing inner gear, an eccentric outer gear, two rotating bodies, and a multiple eccentric cams; the eccentric outer gear and the eccentric cam are formed according to a double arc eccentric curve, and have a characteristics with a long axis and a short axis curve, the rotation of the cam input shaft causes the center gear to mesh with the eccentric cams of the eccentric outer gear to rotate synchronously, so that the eccentric outer gear of the inner gear of the meshing housing is eccentrically oscillated, and the long shaft end meshes and the short shaft end leaves, it is a rigid drive, It automatically reduces the number of gears, further shortening the axial length of the body, streamlining the transmission structure, and reducing manufacturing costs, it is a new thin eccentric oscillating speed reducer.

Description

Eccentric swing speed reducer

The present invention is related to a deceleration device. A double-arc eccentric cam is used to eccentrically swing the double-arc eccentric external gear meshing with the internal gear of the housing.

The previous technology of the eccentric oscillating speed reducer is well known to the public. Please refer to Figures 2 and 4, including: the inner wall of the housing 209 is arranged with a cylindrical pin 29 forming a housing internal gear 208, which is internally connected with a plurality of grooves The external teeth 281 are arranged on the outer periphery of the swing gear 102, the number of external teeth is slightly less than the number of internal teeth by two; a plurality of eccentric crankshafts 200 are inserted into each cam hole 101, and the swing gear 102 swings eccentrically by rotation; and The first and second rotating bodies 206, 207 rotatably support the two eccentric crankshafts 200 of the plurality of eccentric shaft bodies 20, and have a plurality of supporting columns 40, the plurality of supporting columns 40 and the second rotating body 207 is integrally formed and inserted into each cam hole 101 with a clearance fit; a plurality of transmission gears 32 are respectively connected to one axial end of each eccentric shaft body 20. The eccentric shaft body 20 has two eccentric crankshafts 200. The rotation of the sun gear 31 of the gear input shaft 30 rotates in the same phase, so that the swing gear 102 meshing with the internal gear 208 of the housing swings eccentrically.

The above-mentioned eccentric oscillating deceleration device uses the sun gear 31 to mesh with the transmission gear 32, which is transmitted to each eccentric shaft body 20 after deceleration in the front stage, so that the two eccentric crankshafts 200 of each eccentric body shaft 20 cause the oscillating gears 101 and 102 to oscillate and mesh The housing internal gear 208 generates a relative angular velocity deviation, and the housing 209 of the housing internal gear 208, or the first and second rotating bodies 206, 207 The body rotates and pulls out.

However, the previous technical condition is a two-stage reduction ratio. It is necessary to consider the axial length, the requirements of the reduction ratio, and the load of the torque increase component. Not only does the axial length have no room for reduction, but at least two gears are required for dynamic balance. This is the problem that the present invention hopes to overcome.

To this end, the present invention provides a thin and light eccentric oscillating deceleration device, which reduces the number of oscillating gears to restrain the length of the axial direction, and uses a double-arc eccentric cam with more precise geometric accuracy and simpler processing. The eccentric external gear formed by the double-arc eccentric curve is achieved, and the number of through holes for the different functions of the eccentric external gear is reduced to enhance its rigidity and increase the demand for high reduction ratio and high torque compression. For example, the design of using ball arc grooves to replace the eccentric shaft body .

The invention has: a housing internal gear; an eccentric external gear; an eccentric cam. The aforementioned eccentric external gear and the eccentric cam are formed by a double-arc eccentric curve, which has the characteristics of a long shaft and a short shaft, and is located at both ends of the long shaft. Gear meshing, the gears at both ends of the short shaft are separated, and at least the meshing of both ends is always maintained, and a disc of eccentric external gears can achieve dynamic balance, even if the reduction ratio is still low and medium; and the first and second rotating bodies, which The plurality of eccentric cams are rotatably supported, so that the eccentric external gear meshing with the internal gear of the housing oscillates eccentrically.

The present invention is a thin and light eccentric oscillating deceleration device, which can provide a double-arc eccentric external gear with long and short shafts to suppress the number of gears, and a steel ball arc groove oscillating meshing output mechanism to increase the compression resistance of the eccentric external gear The rigidity will be explained in detail below.

10‧‧‧Eccentric external gear

20‧‧‧Eccentric shaft

21‧‧‧Cylinder Roller Bearing

23‧‧‧Small bolt

29‧‧‧Cylindrical pin

30‧‧‧Gear input shaft

31‧‧‧Sun gear

32‧‧‧Passive gear

39‧‧‧Shaft sleeve

40‧‧‧Support column

100‧‧‧External gear

101‧‧‧Cam hole

102‧‧‧Swing gear

103‧‧‧Internal teeth

104‧‧‧Input shaft hole

105‧‧‧Eccentric shaft hole

106‧‧‧Column through hole

107‧‧‧Steel ball hole

200‧‧‧Eccentric crankshaft

201‧‧‧Eccentric Cam

202‧‧‧Needle roller

203‧‧‧Needle roller inner ring

204‧‧‧Angle radial ball bearing

205‧‧‧Oil Seal

206‧‧‧The first rotating body

207‧‧‧Second Rotating Body

208‧‧‧Internal gear of housing

209‧‧‧Shell

210‧‧‧Gap A

211‧‧‧Ball Bearing

212‧‧‧Hole buckle

213‧‧‧Plugin

281‧‧‧ Groove external tooth

282‧‧‧Double arc eccentric curve track

283‧‧‧Spacer ring

287‧‧‧Roller bearing

288‧‧‧Shaft buckle

289‧‧‧Cam input shaft

300‧‧‧Steel Ball

301‧‧‧Steel Ball Arc Groove

e‧‧‧Eccentricity

pcd‧‧‧Pitch circle diameter

The first figure is one of the longitudinal sectional views of the eccentric oscillating speed reducer of the present invention.

The second figure is a longitudinal cross-sectional view of the prior art eccentric oscillating speed reducer.

The third figure is a schematic cross-sectional view of the present invention along the X-X arrow position in the first figure.

The fourth figure is a schematic cross-sectional view of the present invention along the Y-Y arrow position in the second figure.

The fifth figure is a detailed schematic diagram of the present invention along the position of the A arrow in the third figure.

The sixth figure is a schematic cross-sectional view of the eccentric external gear of the present invention.

The seventh figure is the second longitudinal cross-sectional view of the eccentric oscillating speed reducer of the present invention.

The eighth figure is a schematic cross-sectional view of the present invention along the position of the Z-Z arrow in the seventh figure.

The following is based on the first and third figures to illustrate the implementation of the first embodiment of the present invention, which can be used in an eccentric swing speed reducer for robots, etc., using a cylindrical housing 209, and is positioned in the axial direction of its inner wall. A plurality of internal teeth 103 from the ring row are respectively connected by an internal circular arc to the housing internal gear 208 with the internal teeth 103 extending in the axial direction. Among them, the number of teeth of the internal teeth 103 is slightly more than that of the external teeth of 100, at least 2 teeth. Rigid transmission with multiple teeth difference.

The number of internal teeth 103 that can be configured in embodiment 1 is up to 150 teeth. Because the following eccentric external gear 10 meshes with the internal gear 208 of the housing, there is a spur gear reducer. The reduction ratio is 1~7. If the two stages are combined When the speed is low, a very high reduction ratio can be obtained. The larger the reduction ratio, the smaller the eccentricity, the smaller the impact vibration, the larger the relative allowable torque, and the greater the loss of components. Therefore, rigid transmission is one of the key options in this embodiment. It is suitable for eccentric oscillating speed reducer with high reduction ratio transmission.

As mentioned above, the eccentric external gear 10 is the main transmission part. It is based on rigid transmission. The external teeth 100 are respectively milled on the outer periphery of the double-arc eccentric curve, and the external teeth 100 are connected with the inner circular arc to form a rigid body. Referring to the sixth figure, the double-arc eccentric curve 282 is two half-arcs separated by 2e, which are formed by connecting two half-arcs with a straight line, where e is the eccentricity, so The axis in the eccentric direction is the long axis, and the axis in the linear direction is the short axis. The long axis and the short axis are two eccentric distances apart. This double-arc eccentric external gear, hereinafter referred to as eccentric external gear 10, is the number of external teeth in the figure. A total of 12 teeth, each arc occupies 6 teeth, indicating that these eccentric external gears 10 are composed of the two-disk swing gear 102 of the prior art, and have the characteristics of symmetrical meshing of the two-disk swing gear 102. The present invention uses this eccentricity The external gear 10 replaces the two-disk oscillating gear 102 used in the prior art. The axial length can be greatly reduced. It resembles an elliptic curve meshing pattern. Please refer to the third figure. At both ends of the short shaft in the linear direction, the gears leave at the same time. Because it is a rigid transmission, non-harmonic flexible transmission, it has better geometric accuracy and better rigidity than the elliptic curve, and it can mesh with the above-mentioned housing internal gear 208.

As mentioned above, at least two eccentric external gears 10 are formed in the circumferential radius direction. The figure shows three cam holes 101 penetrating in the axial direction. These plural cam holes 101 are arranged in equidistant ring rows in the circumferential radius direction of the eccentric external gear 10; A plurality of column through holes 106 are formed in the eccentric external gear 10 in the same number as the cam holes 101. The column through holes 106 and the cam holes 101 are alternately arranged in the circumferential radius direction and are arranged at equal intervals along the circumferential direction. The distribution coefficient shall not exceed 1.25 as the principle to avoid deformation and reaming caused by the through holes, which will affect the life cycle; the aforementioned plurality of column through holes 106 can be used for the support column 40 to pass through, and a plurality of cam holes can be used for inserting the eccentric shaft body 20 .

Among them, the first and second rotating bodies 206, 207 are inserted into the housing 209 with clearance, and the first and second rotating bodies 206, 207 are provided with a pair of rings arranged at both ends of the eccentric external gear 10 in the axial direction. Shaped end plate, the first and second rotating bodies 206, 207 are inserted into a plurality of support cylinders 40 in axial clearance, the number of which is the same as that of the column through holes 106, corresponding to the first and second rotations of the aforementioned support cylinders 40 The inner surfaces of the bodies 206 and 207 are provided with grooves, which can be used for positioning and spacing of these supporting cylinders 40. The supporting cylinders 40 and the through-holes 106 are not in contact with each other, and a countersunk screw hole is provided at the end of the first rotating body 206 , Through a plurality of bolts 23 It can be detachably connected to the second rotating body 207 to form an integral body, and these rotating bodies can be mounted on a fixed robot component not shown.

As mentioned above, the first and second rotating bodies 206, 207 are specifically between the outer circumference of the annular end plate and the inner circumference of the two ends of the housing 209 in the axial direction. By means of the angular centripetal ball bearing bearing 204, the housing 209 can rotate integrally. The ground is supported by the first and second rotating bodies 206 and 207. Among them, these eccentric shaft bodies 20 are shown as three, and the number of equidistant ring rows is the same as that of the cam holes 101. These plural eccentric shaft bodies 20 are inserted into two of the first and second rotating bodies 206 and 207. In a ring-shaped end plate, by the tapered roller bearing 21 inserted at one end in the axial direction, and the tapered roller bearing 21 inserted at the other end in the axial direction, the rotation may be supported in the first and second ends. 2 In the ring-shaped end plates of the rotating bodies 206 and 207, and in the inner hole at the end of the first rotating body 206, the retaining ring 212 for the hole prevents the bearing from moving out.

As mentioned above, a plurality of eccentric shaft bodies 20 have an eccentric cam 201 at the center of the axis direction. These eccentric cams 201 have the same phase during operation, and are formed by milling according to the double-arc eccentric curve 282 mentioned above. The cam 201 and the eccentric external gear 10 have the same eccentricity and different pitch circle diameters. Here, the eccentric cams 201 of the aforementioned eccentric shaft body 20 are respectively inserted into the cam holes 101 of the eccentric external gear 10 with clearance, and needle bearings are arranged between them, so that the eccentric external gear 10 and the eccentric shaft The body 20 is relatively rotatable. A transmission gear 32 is fixed to one end of each eccentric shaft body 20 in the axial direction. The transmission gears 40 can respectively mesh with a central gear 31 integrally formed with the gear input shaft 30, and are arranged and supported by a motor output shaft not shown.

As mentioned above, the plural needle roller bearings use the cam holes 101 arranged in the circumferential radial direction of the eccentric external gear 10 as the outer ring of the needle roller, and the needle bearing inner ring 203 is in contact with the eccentric cam 201. The outer circumference of the eccentric cam 201 Due to the difference between the long shaft and the short shaft, it is not a true circle. The needle inner ring 203 is a necessary component. The needle can be supported by the inner ring to run smoothly, and the present invention is suitable for high In the reduction ratio transmission, the eccentricity is small, the gap A is not large, and it is a short axis in the linear direction, not the gear meshing area. Therefore, these eccentric cams 201 are not stressed at this place and do not affect the transmission accuracy. Please refer to Five pictures.

For the implementation mode of another embodiment 2 of the present invention, please refer to the seventh and eighth figures, which utilizes a cylindrical housing 209, and a plurality of internal teeth 103 are arranged equally spaced in the axial direction of the inner wall, respectively The circular arc connects these internal teeth 103 extending in the axial direction of the housing internal gear 208, wherein the internal teeth 103 have slightly more teeth than the external teeth 100, at least 2 teeth, which is a rigid transmission with multiple tooth differences, and the structure is simple. The length is shorter, suitable for reduction ratios below 150 ratio, and its allowable torque is also small, and there is no spur gear reducer in the front section, which is suitable for eccentric swing reduction gears with medium reduction ratio transmission.

As mentioned above, the eccentric external gear 10 is formed by milling the external teeth 100 on the outer periphery of the double-arc eccentric curve, and connecting these outer teeth 100 with the inner-circular arc. Please refer to the sixth figure, the double-arc eccentric curve 282, It is two half arcs separated by 2e, which are connected by a straight line. The aforementioned e is the eccentricity. Therefore, the axis in the eccentric direction is the long axis, and the axis in the linear direction is the short axis. The long axis and the short axis are 2 eccentric distances apart. , This double-arc eccentric external gear, hereinafter referred to as eccentric external gear; please refer to the third figure, the figure shows that the gears mesh at both ends of the long shaft in the eccentric direction, and the gears leave at the same time on both ends of the short shaft in the straight direction. It is a rigid transmission, non-harmonic flexible transmission, which has better geometric accuracy and better rigidity than an elliptic curve, and it can mesh with the above-mentioned housing internal gear 208.

As mentioned above, a disc of eccentric external gear 10 is inserted into the steel ball hole 107 with play in the circumferential radius direction. The depth of the steel ball hole 107 is slightly smaller than the radius of the steel ball, and the hole diameter is slightly larger than the diameter of the steel ball. The steel ball can be inserted in the steel ball hole 107. 107 rotates inside, the figure shows 6 steel balls 300, please refer to the eighth figure, these steel ball holes 107 are symmetrically arranged and embedded on both sides of the eccentric external gear 10, and they are evenly distributed and arranged in the eccentric outer ring with the penetrating column through hole 106 The gear 10 is in the radial direction of the circumference.

As mentioned above, the first and second rotating bodies 206 and 207 are inserted into the housing 209 with a clearance fit. These first and second rotating bodies 206 and 207 are provided with a pair of two eccentric external gears 10 in the axial direction. Ring-shaped end plate, and insert a plurality of support cylinders 40 into the axial clearance of the inner surfaces of the first and second rotating bodies, the number of which is the same as that of the column through holes 106, these first and second rotating bodies 206, 207 are two There are grooves on the inner surface, which can be used for positioning and spacing of the supporting column 40. The supporting column 40 is provided with a shaft sleeve 39 that can contact and rotate with the column through hole 106. In addition to the interval function, it can increase the eccentric swing engagement. Count one, similar to the meshing state of a group of steel balls 300, but can share some allowable torque, but the through hole 106 of the penetrating column should not be too much, so as to avoid the rigidity and strength weakening, and the proportion is approximately so as not to exceed the steel ball arc groove 301 and support 30% of the total number of the column 40 is the principle, and it is described that a counterbore is provided at the end of the first rotating body 206, which is detachably connected to the second rotating body 207 by a plurality of bolts 23 to form a single body. Among them, the column through hole 106 At least slightly more than twice the eccentricity, these rotating bodies can be installed on fixed robot parts not shown.

As mentioned above, the first and second rotating bodies 206, 207, specifically between the outer circumference of the end plate and the inner circumference of the two ends of the housing 209 in the axial direction, are supported by the angular radial ball bearings 204 so that the housing 209 can be rotated integrally. In the first and second rotating bodies 206 and 207. The plurality of steel balls 300 in the circumferential radius of the eccentric external gear 10 correspond to the first and second rotating bodies with a plurality of steel ball arc grooves 301 on the two inner surfaces. The figure shows six. These steel ball arc grooves 301 have slightly less depth At the radius of the steel ball, the length is slightly larger than twice the eccentricity, and the arc diameter is slightly larger than the diameter of the steel ball 300. These steel balls 300 can relatively rotate in the steel ball arc groove 301 and push the steel ball arc groove 301 in the direction of the circumferential radius to form a connection The integrated first and second rotating bodies 206 and 207 rotate, and the larger the number of steel balls, the smaller the relative stress sharing and the longer the service life.

Among them, the cam input shaft 289 has an integrally formed eccentric cam 201 in the center of the shaft direction, which is formed by milling according to a double-arc eccentric curve 282, so it has the same eccentricity as the above-mentioned double eccentric external gear 10, but different Diameter of the pitch circle. Here, the eccentric cam 201 and a disc Between the eccentric external gear 10, there is a roller bearing 287, which is turned into a stepped part at one end in the axial direction, and an insert 213 is arranged at the other end in the axial direction to prevent the bearing from moving. The cam input shaft 289 is axially connected to the entrance end of the shaft. To the outlet end, ball bearings 211 are respectively supported in the two annular end plates of the first and second rotating bodies 206 and 207, and the ball bearing 211 at the axial inlet end is provided with an anti-leakage oil seal 205.

The invention can be introduced and used in the precision field, and can exert its effects in medium and high reduction ratios, can further reduce costs, improve transmission accuracy grade, and shorten the axial length. It is a thin eccentric swing reduction device.

10‧‧‧Eccentric external gear

20‧‧‧Eccentric shaft

21‧‧‧Cylinder Roller Bearing

23‧‧‧Small bolt

30‧‧‧Gear input shaft

31‧‧‧Sun gear

32‧‧‧Transmission gear

40‧‧‧Support column

100‧‧‧External gear

101‧‧‧Shaft through hole

103‧‧‧Internal teeth

104‧‧‧through hole

105‧‧‧Eccentric shaft hole

106‧‧‧Column through hole

201‧‧‧Eccentric Cam

202‧‧‧Needle roller

203‧‧‧Needle roller inner ring

204‧‧‧Angle radial ball bearing

205‧‧‧Oil Seal

206‧‧‧The first rotating body

207‧‧‧Second Rotating Body

208‧‧‧Internal gear of housing

209‧‧‧Shell

212‧‧‧Hole buckle

Claims (10)

An eccentric oscillating deceleration device, comprising: a housing internal gear, which arrays a plurality of internal teeth equally spaced axially on the inner wall of the housing, and the internal teeth are respectively connected by internal arcs to extend in the axial direction; the eccentric external gear is tied to The outer circumference of the double-arc eccentric curve is respectively milled with a plurality of external teeth, which are formed by connecting these external teeth with the outer arcs. At least two cam holes and a plurality of column through holes can be meshed with the internal gear of the housing; eccentric shaft body The eccentric cam is inserted into the cam hole of the eccentric external gear with respective clearances, and the eccentric external gear oscillates eccentrically by rotation; and the ring-shaped end plates of the first and second rotating bodies, which rotatably support the above-mentioned eccentric shaft, And a plurality of supporting columns are inserted axially into the column through holes. For the eccentric swing speed reducer described in item 1 of the scope of patent application, the double arc eccentric curve is two half arcs separated by 2e, which are connected by a straight line, and e is the eccentricity. For example, the eccentric oscillating speed reducer described in item 1 of the scope of patent application, wherein the plurality of eccentric cams are formed by milling according to a double-arc eccentric curve. These eccentric cams and eccentric external gears have the same eccentricity distance but different Diameter of the pitch circle. For the eccentric swing speed reducer described in item 1 of the scope of patent application, the number of internal teeth is slightly more than the number of external teeth, at least 2 teeth, which is a rigid transmission with multiple teeth difference. In the eccentric swing speed reducer described in item 1 of the scope of the patent application, the plurality of supporting columns are not in contact with the column through holes. An eccentric oscillating deceleration device, comprising: a housing internal gear, which arrays a plurality of internal teeth equally spaced axially on the inner wall of the housing, and the internal teeth are respectively connected by internal arcs to extend in the axial direction; the eccentric external gear is tied to The outer circumference of the double-arc eccentric curve is respectively milled with a number of external teeth, which are formed by connecting these external teeth with the outer arcs. At least two cam holes and a plurality of shaft through holes can be meshed with the internal gears of the housing; eccentric external gears A plurality of steel balls, which are inserted into each steel ball hole, eccentrically by rotating The external gear oscillates eccentrically; and the first and second rotating bodies, which rotatably support the above-mentioned cam input shaft, and have axial clearance inserted into the plurality of supporting columns of the column through holes. The eccentric oscillating speed reducer described in item 1 of the scope of patent application, wherein the depth of the steel ball hole is slightly less than the radius of the steel ball, and the hole diameter is slightly larger than the diameter of the steel ball. For the eccentric swing speed reducer described in item 1 of the scope of patent application, the depth of the steel ball arc groove is slightly less than the radius of the steel ball, and the length is slightly greater than twice the eccentricity. The eccentric oscillating speed reducer described in item 1 of the scope of patent application, wherein a shaft sleeve is arranged outside the support column body to rotate in contact with the column through hole. The eccentric swing speed reducer described in item 1 of the scope of patent application, wherein the long axis and the short axis are different by 2 eccentric distances.

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