TWM579232U - A duplex differential speed reducer - Google Patents

Abstract

The present invention is a compound differential deceleration device comprising a retaining ring, a large toothed ring, a small toothed ring, an output wheel, a camshaft, a plurality of bearings and a side cover. The fixing ring has teeth for connecting the large toothed ring and the mounting side cover. The large toothed ring and the small toothed ring have the same different apertures, the large toothed ring is connected with the inner ring of the fixed ring, and the small toothed ring is connected with the inner tooth of the output wheel. A bearing is mounted on the inner bore of the ring gear. The output wheel has internal teeth on one side, a seat on the side, an inner hole on the side and a plurality of annular holes. The internal teeth are used to connect the external teeth of the small toothed ring. The bearing is fixed on the cam shaft, the annular hole is used for connecting the output power of the transmission shaft, and the bearing hole of the side cover is fixed on the fixing ring by a bearing mounting cam shaft. When in use, the motor power is input from the camshaft, and the cam of the camshaft drives the large and small toothed ring to rotate, and the difference in the number of teeth of the large and small ring gears and the fixed ring and the output wheel is used to generate a double differential speed to achieve a large deceleration effect. Simple structure, high reduction ratio, and high strength.

Description

Complex differential reducer

The creation is a complex differential reducer, which is associated with a reduction gear and is used for reducing the rotational speed of the transmission mechanism.

The speed reducer is a power transmission mechanism that uses a speed converter of a mechanism to decelerate the number of revolutions of the motor to a desired number of revolutions and obtain a mechanism of a large torque. The range of applications of the reducer is quite wide. From the transmission work of large power to the precise angular transmission of small loads, the application of the reducer can be seen. The reducer reduces the high speed of the motor output and increases the torque. The principle and application of the reducer are mentioned in the principle of the machine. The gear train (gear, pulley or sprocket) is often used to increase or decrease the speed. The design of the gear is the most. Most of the reducers are made of gears. The gears are complicated when making parts. The non-coaxiality and small output torque are limited by the limit. However, the speed ratio changes greatly and the volume is small. Used in mechanical transmission.

The reduction ratio, volume, efficiency and cost of the reducer are one of the decisive factors for the performance and price of the reducer. The conventional reducer has a gear reducer, a worm gear reducer, and a planetary gear reducer; the gear reducer drives the driven large gear by the pinion gear, causing the speed to decrease, and the structure is simple, but the single-stage 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 because the maximum static friction of the worm pushing the worm wheel is large and the two axes need to be spatially orthogonal, Therefore, the efficiency is lower than that of the gear reducer and takes up a large space; the planetary gear reducer combines with the 2-3 section reduction gear set, and the small volume is A large reduction ratio can be achieved, and the structure is compact, but the production cost is high and the deceleration is difficult to reach an integer. Many machines use gearbox drives, but they are slowly replaced by coaxial reducers because of their low efficiency, high cost, large size and heavy weight.

The coaxial reducer has the characteristics of high speed ratio and small volume, and is widely used in precision machinery requiring a large reduction ratio. Commonly used coaxial reducers have a cycloidal drive structure and a harmonic drive structure. The cycloidal reducer is a transmission device that uses a planetary transmission principle and uses a cycloidal pin gear. The cycloid reducer transmission can be divided into three parts: the input part, the deceleration part, and the output part. The input shaft is equipped with a misalignment. The 180° double eccentric sleeve is equipped with two roller bearings called jibs on the eccentric sleeve to form the H mechanism. The center hole of the two cycloidal wheels is the eccentric sleeved raceway bearing raceway and cycloidal line. The wheel meshes with the ring-shaped pin teeth, and the meshing tooth difference is one tooth. A typical design such as an RV (Rotor Vector) reducer has been widely used in industrial machinery.

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 Drive has high load carrying capacity, light weight and poor return. Low (or close to zero-return), large range of reduction ratio, etc., often use the robot hand to rotate the joint. The composition of the harmonic transmission structure mainly comprises three parts: a wave generator, a flex spline and a circular spline, which 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.

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. When the elliptical cam (the input shaft) is driven to start to rotate, the two ends of the long axis can stretch the flexible wheel to make it soft. The teeth on the outer surface of the wheel mesh with the teeth of the inner surface of the corresponding steel wheel, and the effect of the reduction transmission is produced by the difference in the number of teeth between the flexible wheel and the steel wheel. 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 that the cycloid reducer has a relatively low deceleration, the harmonic gear reducer has insufficient natural rigidity and the complexity of the flexible wheel manufacturing. The complex differential reducer has a large reduction ratio and high strength. It uses a general involute profile and is easy to manufacture. It can be widely used in transmissions requiring high torque. It uses the double transmission to achieve high deceleration. Compared with other types of reducers, the complex differential reducer has high efficiency, small size, low inertia and high efficiency.

The present invention provides a complex differential speed reducer, which realizes a high reduction ratio function by using two sets of internal gear meshing transmissions. The present invention has good structural rigidity and small volume characteristics, and has better strength resistance and service life than harmonic reduction gears. .

A reduction gear includes a retaining ring, a size ring, an output wheel, a camshaft, a side cover, and a bearing. The fixed ring, the large tooth ring and the output wheel have involute gear teeth. The working principle is that the large and small toothed rings are fixed together, the large toothed ring is connected with the fixed ring, the small toothed ring is connected with the output wheel, and the cam shaft drives the large and small tooth ring to rotate. The difference between the number of teeth of the large and small toothed ring and the meshing of the meshing ring causes the camshaft to produce a double differential displacement per revolution, and the difference of the number of teeth of the two sets of meshing drives is used for the purpose of deceleration; the power is input from the camshaft through the bearing Passed to the large and small ring, the large toothed ring produces planetary motion to transmit the double deceleration motion to the output wheel. The difference in the number of teeth of the two sets of meshing teeth can be equal or unequal, and the tooth shape design adopts an involute tooth shape, which is convenient for manufacturing and processing.

When assembling, the large tooth ring is mounted on the camshaft via a needle bearing, the large toothed ring meshes with the internal teeth of the fixed ring, the small toothed ring meshes with the internal gear of the output wheel, and the large and small tooth ring needs to be fixed. The ring and output wheel are in contact with the transmission to ensure smooth operation. There are a plurality of annular threaded holes on the side of the fixing ring for fixing the side cover. The circular hole on the size ring is used to mount the bearing and the camshaft. The output wheel has internal teeth on one side, a groove in the middle and multiple sides. The annular hole has an inner tooth connected to the external gear of the small toothed ring, the bearing of the stage seat is fixed to be fixed with the cam shaft, and the side annular hole is used for connecting the output power of the transmission shaft, and the side cover has an inner hole and a plurality of annular holes, the inner hole The bearing is used to support the camshaft, and the annular hole is fixed on the fixing ring to prevent the camshaft from moving laterally.

If the difference in the number of teeth of the two sets of meshing teeth is the same, the tooth shape design can use the same modulus. If the tooth number difference is different, the design requires different modulus to ensure the two sets of toothed ring meshing transmission. The camshaft of the reducer is connected to the drive motor for inputting power, and the cam of the camshaft drives the large and small toothed ring to rotate along the fixed ring, and the small toothed ring drives the output wheel to generate a double deceleration motion, and the size of the toothed ring has a small interval and is fixed together. The output wheel can be integrally formed with internal teeth for connecting the small toothed ring, a class hole for mounting the bearing and fixing the camshaft, and a plurality of annular holes for connecting the output shaft output power.

1‧‧‧Fixed ring

2‧‧‧Big ring

3‧‧‧Small ring

4‧‧‧ Output wheel

5‧‧‧Camshaft

6‧‧‧needle bearings

7‧‧‧ bearing 1

8‧‧‧ Bearing 2

9‧‧‧ Bearing 3

10‧‧‧ side cover

The first picture shows the three-dimensional explosion of the complex differential gear reducer.

The second figure is a half-section diagram of the complex differential gear reducer.

The third figure is a combination diagram of the complex differential gearbox (front view).

The fourth figure is a combination diagram of the complex differential gearbox (rear view).

As shown in the first figure and the second figure, the complex differential speed reducer disclosed in the present invention includes: a fixed ring (1), a large ring (2), a small ring (3), and an output wheel (4). , camshaft (5), needle bearing (6), bearing (7) (8) (9), side cover (10); it should be understood that the case can have various changes in different styles, all of which Without departing from the scope of the case, the descriptions and schemas are used for illustrative purposes in nature, and are not intended to limit the case.

Please refer to the first figure and the second figure, which is a schematic diagram of the assembly of the differential differential reducer according to the embodiment of the present invention. The differential differential reducer mainly comprises a fixed ring (1), a large ring (2) and a small ring (3). ), the output wheel (4), the camshaft (5), the side cover (10); the fixed ring (1) has internal teeth in the middle, and the two sides have grooves for mounting the side cover (10) and the bearing (9), the large toothed ring (2) and the small toothed ring (3) have an open tooth shape, so that the inner teeth of the fixed ring (1) and the output wheel (4) are meshed and driven, and the large and small tooth rings are fixed. Together, there is a circular hole in the middle for mounting the needle bearing (6), so that the camshaft drives the large ring (2) and the small ring (3) to rotate, and the camshaft (5) is equipped with bearings on both sides (7). And the bearing (8), the bearing (7) is fixed to the inner hole of the side cover (10), and the bearing (8) is fixed to the middle groove of the output wheel (4).

As shown in the first figure and the second figure, the two sides of the fixing ring (1) have a plurality of holes on one side, so that the side cover (6) can be combined with the fixing ring (1) by screws, and the bearing is connected to the other side. (9), the output wheel (4) and the fixed ring (1) form rolling contact; the output wheel (4) is a cup-shaped transmission wheel, the left side has internal teeth, and the pinion (3) is engaged with the transmission, with a concave in the middle The slot is used for mounting the bearing (8) so that the camshaft (5) can be fixed on the upper side, and the right side of the output wheel (4) has a circular hole and a plurality of annular holes for mounting the power output of the transmission shaft. During the movement, the cam on the camshaft (5) transmits the input power to the large ring (2) and the small ring (3). The large and small ring gear moves along the inner teeth of the fixed ring (1), using the fixed ring ( 1) With the large tooth ring (2), the small tooth ring (3) and the output wheel (4), the difference in the number of teeth, so that the mechanism produces a complex differential displacement, to achieve the purpose of deceleration. Bearings are mounted on both sides and in the middle of the camshaft (5) to allow the camshaft to form rolling contact with the large and small toothed rings, thereby reducing friction and improving efficiency.

As shown in the first, second and third figures, the needle bearing (6) is mounted on the camshaft (5) for transmitting the camshaft power; the bearing (7) and the bearing (8) are mounted on the side cover. The plate (10) and the output wheel (4) are used to support the cam shaft (5) to make a rolling contact, and the bearing (9) is installed between the fixed ring and the output wheel (4), and is fixed by a C-line ring to make the output The wheel produces a rolling contact. The camshaft (5) is a hollow design that allows the rotating shaft of the motor to be used as a power input; the other side of the cam (5) can be designed with a counterweight to eliminate unbalanced vibration during rotation. The output wheel (4) can be manufactured by integral molding to simplify the overall design.

As shown in the first figure and the second figure, the outer teeth of the large ring (2) are smaller than the fixed ring (1). The teeth are small, the outer teeth of the small toothed ring (3) are smaller than the inner teeth of the output wheel (4), and the difference in the number of teeth may be the same or different, and the difference in the number of teeth depends on the reduction ratio. The tooth shape of each tooth ring is designed with involute tooth shape. The tooth shape design can use the displacement tooth shape to eliminate the interference problem of small tooth difference transmission, and ensure that the size ring gear can be continuously meshed with the fixed ring and the output wheel. . When the camshaft (5) rotates, the upper cam drives the large-sized toothed ring (2) (3) to move along the fixed ring (1), and the differential displacement of the two sets of meshing toothed rings is used to generate a complex differential displacement. Slow down function. In the preferred embodiment of the present invention, the outer diameters of the camshafts are different on the two sides for mounting the rolling bearing, forming a stable support, and can also be designed with the same outer diameter. This change 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, the inner gear and the cup wheel of the output wheel (4) can be separated and designed, and then combined after processing; the outer diameter of the cup wheel can also be designed the same, and the inner middle groove is provided with a fixing plate. It is used to fix the output wheel (4) and the camshaft (5). This design will make the output wheel easier to manufacture and increase the manufacturing convenience. Changing the design of this component does not change the principle of the creation of this creation. Derived application examples.

In summary, the complex differential speed reducer of the present invention has the advantages of simple structure, small volume and high reduction ratio function. Compared with the conventional reducer, the complex differential reducer of the present invention has a high reduction ratio under the same volume. Large transmission torque and long service life. The complex differential speed reducer of the present invention can be used for a machine which generally needs high deceleration, especially a machine with a limited installation volume and a large reduction ratio. The high performance, low manufacturing cost and practicality of the complex differential speed reduction device are one. Innovate in industrial value and apply in accordance with the 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)

A complex differential speed reducer comprises: a fixing ring with an involute internal tooth in the middle for guiding the large toothed ring to engage the transmission, and a groove on the two sides for mounting the side cover and the bearing to enable fixing Supporting camshaft and output wheel; a large toothed ring with involute outer teeth and an inner hole, the outer teeth mesh with the inner teeth of the fixed ring, and the inner hole is used for mounting the bearing to receive the power of the camshaft; The tooth ring is fixed with the large toothed ring, and the involute outer teeth and the inner teeth of the output wheel are meshed and driven, and the inner hole has the same function as the inner hole of the large toothed ring; one output wheel is a cup with an unequal outer diameter The shape wheel has an internal tooth and a small toothed ring meshing transmission for the power output of the reducer; a camshaft, power input, and the rotation of the large tooth ring to generate planetary motion along the fixed ring; Fixed on the retaining ring for mounting the bearing support camshaft; a needle bearing, connecting the cam to transmit the camshaft power to the large and small ring by rolling contact; three bearings mounted on the two sides of the camshaft and the side of the retaining ring Used to support the camshaft and the output wheel to create a rolling contact. According to the complex differential speed reducer described in claim 1, the device utilizes the difference in the number of teeth of the two sets of meshing teeth to generate a complex differential displacement, and achieves a high reduction ratio function. The complex differential speed reducer according to claim 1, wherein the fixing ring has internal teeth for guiding the large toothed ring to rotate, and the two sides have grooves for mounting the side cover and the output wheel. According to the complex differential speed reducer of claim 1, the number of teeth of the tooth ring is different, the large ring gear is connected with the fixing ring, the small toothed ring is connected with the output wheel, and the inner hole is mounted with the bearing to connect the cam shaft. The differential differential reducer according to claim 1, wherein the output wheel is a cup-shaped wheel having an unequal outer diameter, the same thickness, the open side is connected with the fixing ring, the groove has a cam shaft in the middle, and the side has a plurality of rings. The hole is connected to the drive shaft for outputting power. The complex differential speed reducer according to claim 1, wherein the convex transmission shaft is connected to the driving motor to input power, and a cam is provided thereon, and the cam drives the large-sized tooth ring to make planetary motion along the fixed ring, and at the same time generates a rotation motion.