TWM573804U - An encentric speed-reduced device - Google Patents

Abstract

The present invention is an eccentric type reduction gear comprising a fixed plate, an internal gear ring, an eccentric wheel, an output wheel, a camshaft, a side cover and a bearing. The fixing plate has an annular hole for fixing the inner ring, supporting the cam shaft and mounting the driving motor; the inner ring has semicircular internal teeth fixed on the fixing plate for guiding the eccentric rotation, and the eccentric wheel has a pendulum The wire teeth and the annular hole, the cycloidal teeth and the teeth of the inner ring gear are meshed and transmitted, and the annular hole is used for connecting the driving pin of the output wheel to transmit power; the side cover plate is fixed to the annular ring of the inner ring gear for preventing the output Release when the wheel turns. When in use, the motor power is input from the camshaft, and the cam of the camshaft drives the eccentric wheel to rotate, and the difference in the number of teeth of the inner ring gear and the eccentric wheel causes the eccentric wheel to generate a decelerating rotary motion, thereby achieving a large deceleration effect, and the reduction gear has a simple structure. High reduction ratio, high strength and other characteristics.

Description

Eccentric reducer

This creation is an eccentric reduction gear associated with a speed reducer for speed reduction of the rotating mechanism.

The reducer is a common component of mechanical transmission. The known reducer has a gear reducer, a worm gear reducer and a planetary gear reducer; the gear reducer uses a pinion to drive the driven large gear, resulting in a decreasing speed, simple structure but single-stage The reduction ratio is limited to 1/6 or less; the worm gear reducer has a large single-stage reduction ratio of 1/5 to 1/100, and has irreversible safety, but the maximum static friction force of the worm pushing the worm wheel is large and The two axes need to be orthogonal in space, so the efficiency is lower than the gear reducer and occupy a large space; the planetary gear reducer, combined with the 2 to 3 segment reduction gear set, can achieve a large reduction ratio in a small volume, and has a compact structure. However, the production cost is high and the deceleration is difficult to reach an integer.

The reduction ratio, volume, efficiency and cost of the reducer are one of the decisive factors for the performance and price of the reducer. Many machines use gearbox drive, but the efficiency is low, the cost is high, the volume is large, and the weight is heavy. It has been gradually replaced by the coaxial reducer. Many precision machines use coaxial reducers, and the coaxial reducer has the characteristics of high-speed pen and small size. The cycloidal gear structure and the harmonic drive structure are typical conventional coaxial speed reduction mechanisms; the cycloidal speed reducer uses the planetary motion of the cycloidal wheel to achieve the purpose of deceleration, such as the RV (Rotor Vector) reducer. Widely used in industrial machinery. In addition, the Harmonic Drive has high load carrying capacity, light weight, low backlash (or close to zero hysteresis), and a wide range of reduction ratios. And so on, often use the robot hand to rotate the joint.

Compared with the traditional gear structure, the high speed ratio of the harmonic gear reducer determines the motion characteristics of the drive and the pointing mechanism to a certain extent; the harmonic transmission structure mainly consists of a wave generator and a flex spline. And the three parts of the circular spline are arranged coaxially from the inside to the outside. Wherein, the wave generator is composed of an elliptical cam, an outer ring and a ball bearing disposed therebetween, and serves as an input shaft; the flexible wheel is a cup-shaped metal elastic body and forms an involute on the outer surface thereof. The wire tooth type is usually used as the output shaft; while the steel wheel is an annular rigid body and has a tooth shape corresponding to the engaging flexible wheel on the inner surface thereof, and the number of teeth of the soft wheel is 2 teeth, and is generally fixed to the outer casing. When the elliptical cam (transmission shaft) is driven to start to rotate, both ends of the long axis direction can stretch the flexible wheel, so that the teeth of the outer surface of the flexible wheel mesh with the teeth of the inner surface of the corresponding steel wheel, and The difference in the number of teeth between the wheel and the steel wheel produces the effect of the reduction drive.

One end of the harmonic flexible wheel is connected to the outer ring of the harmonic generator through the bearing, and the inner ring of one end of the flexible wheel shaft is disposed at the other end of the harmonic generator through the bearing, and the outer ring of the flexible wheel shaft is disposed in the inner ring of the harmonic soft wheel shaft diameter section, and the harmonic The shaft diameter of the flexible wheel is directly driven as the output shaft of the reducer. The flexible wheel must have a certain flexibility in order to be stretched by the cam, and must have a certain rigidity to support the teeth of the outer surface to engage, but the flexible wheel transmits power by elastic deformation, and the rigidity thereof is difficult to increase, and As the use time increases, the deformation accuracy may also deteriorate, so expensive special materials must be used and precision machining is required, which makes the manufacturing cost difficult to reduce, and the reaction is at a high product price.

Considering the insufficient rigidity of the harmonic gear reducer and the complexity of the manufacturing of the flexible wheel, the eccentric reducer has been widely studied. The eccentric reducer has a large reduction ratio and high strength, and is widely used in transmissions requiring high torque. The eccentric cycloidal motion achieves high deceleration. Compared with other types of reducers, the eccentric reducer has high efficiency, small size, ideal size and zero backlash. Its unique geometry makes the eccentric deceleration. The inertia of the device is low and the efficiency is high.

The present invention aims to provide an eccentric type speed reducing device, which realizes a high reduction ratio function by using the cycloidal motion of the eccentric wheel. The present invention has good structural rigidity and small volume characteristics, and has better strength resistance and service life than the harmonic speed reducing device.

A reduction gear device includes a fixed seat, an internal gear ring, an eccentric wheel, an output wheel, a camshaft, a side cover, and a bearing. The inner ring and the eccentric have circular teeth. The working principle is that the number of teeth of the eccentric is one less than the number of teeth of the inner ring. The eccentric is driven by a camshaft, forcing the eccentric to perform a cycloidal motion along the inner ring, camshaft Each revolution, the eccentric wheel produces a differential displacement of the tooth, and the difference between the eccentric wheel and the camshaft is used to achieve the deceleration purpose; the power is input from the camshaft to the eccentric wheel, and the eccentric wheel is connected to the output wheel to transmit the power. During the movement, the eccentric wheel and the inner ring gear are meshed and rotated, so that the eccentric wheel and the inner ring gear are continuously meshed and driven, the outer teeth of the eccentric wheel adopt a helical tooth shape, and the inner teeth of the inner tooth ring adopt a semicircular design.

During assembly, the inner ring gear is mounted on the fixed plate, and the eccentric wheel is mounted on the cam shaft. The outer teeth of the eccentric wheel need to be in point contact with the inner teeth of the inner ring gear to ensure smooth running. The side of the inner ring has a plurality of annular threaded holes for fixing on the fixing seat. The eccentric wheel has a circular hole and a plurality of annular holes, the round hole is for connecting the cam shaft, and the annular hole is for connecting the driving pin of the output wheel; There is a class hole on the fixing seat for mounting the camshaft weight ring as the guiding camshaft to rotate and increase the running stability; the output wheel has a plurality of driving pins and a plurality of annular threaded holes, and the driving pin is used for connecting the eccentric wheel The annular hole is used for power transmission; the fixing plate has an inner hole and a plurality of countersunk holes, the inner hole is for supporting the cam shaft, the countersunk hole is for mounting the inner ring gear and is fixed on the machine body; the side cover is fixed at On the inner ring, prevent the output wheel from moving laterally.

The motor of the above-mentioned speed reducing device is mounted on a fixed seat, and the motor rotating shaft is connected with the cam shaft for inputting power. The cam of the cam shaft drives the eccentric wheel to rotate along the inner ring gear, and the eccentric wheel is designed with a cycloidal tooth shape and a plurality of annular holes. The cycloidal tooth shape is meshed with the teeth of the inner ring gear, and the annular hole is connected with the output wheel drive pin, and the eccentric wheel is rotated to the drive pin, and the drive pin is driven. Drive the output wheel to produce a decelerating rotation. The two ends of the camshaft are mounted on the fixed plate and the output wheel, and the two ends are respectively mounted with bearings to ensure the smooth rotation of the eccentric wheel, thereby improving the deceleration efficiency.

1‧‧‧ fixed plate

2‧‧‧ internal tooth ring

3‧‧‧Eccentric wheel

4‧‧‧ Output wheel

5‧‧‧Camshaft

6‧‧‧ side cover

7‧‧‧ bearing 1

8‧‧‧ Bearing 2

9‧‧‧ Bearing 3

The first figure is a schematic diagram of the three-dimensional explosion of the eccentric reducer.

The second figure is a schematic diagram of the combination of the eccentric reducer.

The third figure is a half-section diagram of the eccentric reducer.

The fourth picture is the eccentric wheel of this creation.

As shown in the first, second and third figures, the eccentric reduction gear disclosed in the present invention comprises: a fixed plate (1), an inner ring (2), an eccentric (3), and an output wheel ( 4), camshaft (5), side cover (6), bearing (7) (8) (9); it should be understood that the case can have various changes in different styles, which do not deviate from the scope of the case The descriptions and schemas are used in nature as illustrations and are not intended to limit the case.

Please refer to the second figure and the third figure, which is a schematic diagram of the assembly of the eccentric type speed reducer according to the embodiment of the present invention. The eccentric type speed reduction mechanism mainly comprises a fixed plate (1), an internal ring gear (2), an eccentric wheel (3), The eccentric cam (4) and the cam shaft (5) are formed; the fixing plate (1) has a plurality of annular threaded holes and an inner hole, the threaded holes are used for fixing the inner ring gear (2), and the fixing plate (1) has a side edge The groove reduces the contact surface with the eccentric (3) and reduces friction. The inner ring (2) has semicircular internal teeth for connecting the cycloidal teeth of the eccentric (3), the eccentric (3) and the internal ring (2) are meshed and transmitted, and the eccentric (3) gear ratio The inner ring (2) has one less tooth, and the eccentric (3) has an inner hole for connecting the cam of the cam shaft (5).

As shown in the first figure, the second figure, and the third figure, the inner ring (2) has a plurality of holes on the side thereof, and is fixed to the fixing plate (1) by screws, and the side cover (6) is installed. There are a plurality of driving pins on the side of the output wheel (4), which are used to connect the annular holes of the eccentric wheel (3) to transmit power, and the transmission pin diameter ratio is biased. The annular hole of the heart wheel is small, and the output wheel (4) has a plurality of annular holes for connecting the output shaft to output power. The cam on the camshaft (5) transmits the input power to the eccentric (3) during movement, and the eccentric (3) makes a cycloidal motion along the inner ring (2), using the eccentric (3) and the inner ring ( 2) The difference in the number of teeth causes the eccentric (3) to generate a differential displacement to achieve the purpose of deceleration. The inner hole of the eccentric wheel (3) is in contact with the cam of the cam shaft (5), and a sliding displacement occurs during the movement. It is preferable to install a bearing between the eccentric wheel (3) and the cam to reduce friction and improve efficiency. .

As shown in the first figure, the second figure, and the third figure, the bearing 1 (7) and the bearing 2 (8) are mounted between the fixed plate and the cam shaft for supporting the cam shaft (3) to cause rolling contact, and the bearing 3 (9) Installed in the inner hole of the output wheel (4) for supporting the camshaft, reducing the frictional force of rotation and generating balanced rotation. The camshaft (5) is connected to the rotating shaft of the motor, and the motor is mounted on the fixed plate as a power input; in order to eliminate the eccentric vibration during the rotation, the eccentric cam (4) is preferably equipped with a counterweight on the other side, and The fixed plate (1) and the inner ring (2) can be manufactured by integral molding, and the overall design can be simplified.

As shown in the first figure and the fourth figure, the outer teeth of the eccentric (3) are one tooth smaller than the inner teeth of the inner ring (2), and the outer teeth of the eccentric (3) are designed with a cycloidal tooth shape. The arc of the inner ring (2) tooth should be designed with the eccentric wheel oscillating base circle to ensure that the teeth of the eccentric (3) and the teeth of the inner ring can be continuously meshed. When the cam shaft (5) rotates, the upper cam will press the eccentric (3) to move along the inner ring (2), and the eccentric (3) will be different because the number of meshing teeth and the inner ring (2) are different. The tooth differential displacement achieves a high deceleration function. In the preferred embodiment of the present invention, a rolling bearing is installed between the eccentric wheel and the cam to reduce the frictional force between the eccentric wheel and the cam, and the addition of the component does not change the operating principle of the creation, so it is a derivative application of the creation. example.

In another embodiment of the present invention, a circular roller is used to replace the semi-circular tooth of the inner ring (2), and the circular roller is fixed on the fixed plate as an internal tooth of the inner ring to engage the outer teeth of the eccentric The transmission can be omitted, so that the inner ring (2) member can be omitted, the design is simplified, and the manufacturing convenience is increased. Changing the design of the component does not change the principle of the creation of the present invention, so it is an application example of the creation.

In summary, the eccentric gear reduction device of the present invention has the advantages of simple structure, small volume and high reduction ratio function. Compared with the conventional reducer, the eccentric reduction gear of the present invention has a large transmission torque under the same volume. Has a long service life. The eccentric gear reduction device of the present invention can be used for a machine that generally needs to be decelerated, in particular, the installation volume is limited and the speed of the reduction gear is required to be reduced, and the performance of the machine is high, and the manufacturing cost is high, and the manufacturing cost is high. Sexuality is an innovation of industrial value and is applied according to law. This case is modified by people who are familiar with the technology, and they are not intended to be protected as claimed.

Claims (6)

An eccentric type speed reducing device comprises: a fixing plate having a plurality of threaded holes and an inner hole for mounting the inner ring gear, fixing the device on the machine body and mounting the driving motor; and an inner tooth ring having a circle therein The curved inner tooth is used for guiding the outer teeth of the eccentric to make the meshing transmission; the eccentric wheel has the cycloidal teeth and the annular hole, and the driving pin connecting the inner ring gear and the output wheel; one output wheel has more sides The root drive pin and the annular hole are used for connecting the eccentric wheel and the output shaft to output power; a camshaft, power input, driving the eccentric wheel to rotate, so that the eccentric wheel generates a cycloidal motion; one side cover plate is fixed on the inner tooth ring, Prevents the output wheel from moving laterally; three bearings are mounted in the fixed plate and the output wheel for supporting the camshaft to produce rolling contact. The eccentric type speed reducing device according to claim 1, wherein the device uses a difference in the number of teeth of the eccentric wheel and the inner ring gear to generate a differential displacement and achieve a high reduction ratio function. For example, in the eccentric type speed reducing device described in claim 1, the inner ring has semicircular internal teeth for guiding the rotation of the eccentric, and the side has a threaded hole for mounting on the fixed plate and the side cover. For example, in the eccentric type deceleration device described in claim 1, the eccentric wheel has an inner hole and a plurality of annular holes, the external tooth shape is a cycloidal wire, the number of teeth is smaller than the number of inner tooth ring teeth, and the inner hole is connected with the cam shaft. The annular hole connects the output wheel. For example, in the eccentric type deceleration device described in the first paragraph of the patent garden, the output wheel has a plurality of driving pins and annular holes, the driving pin is connected to the annular hole of the eccentric wheel to transmit power, and the annular hole is connected to the output shaft to output power. For example, in the eccentric type deceleration device described in claim 1, the cam shaft is connected to the input power of the driving motor, and a cam is provided thereon, and the cam drives the eccentric to move along the inner ring gear and simultaneously generate the rotation motion.