WO2014134765A1 - 刚性内外齿廓包齿减速器 - Google Patents

刚性内外齿廓包齿减速器 Download PDF

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Publication number
WO2014134765A1
WO2014134765A1 PCT/CN2013/072095 CN2013072095W WO2014134765A1 WO 2014134765 A1 WO2014134765 A1 WO 2014134765A1 CN 2013072095 W CN2013072095 W CN 2013072095W WO 2014134765 A1 WO2014134765 A1 WO 2014134765A1
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Prior art keywords
wheel
pin
meshing
reinforcing frame
bracket
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PCT/CN2013/072095
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English (en)
French (fr)
Inventor
孔向东
叶胜康
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浙江恒丰泰减速机制造有限公司
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Application filed by 浙江恒丰泰减速机制造有限公司 filed Critical 浙江恒丰泰减速机制造有限公司
Priority to PCT/CN2013/072095 priority Critical patent/WO2014134765A1/zh
Priority to US14/420,888 priority patent/US9206881B2/en
Publication of WO2014134765A1 publication Critical patent/WO2014134765A1/zh

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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H25/00Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/04Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion
    • F16H25/06Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion with intermediate members guided along tracks on both rotary members
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/325Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising a carrier with pins guiding at least one orbital gear with circular holes
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H25/00Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/04Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion
    • F16H25/06Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion with intermediate members guided along tracks on both rotary members
    • F16H2025/063Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion with intermediate members guided along tracks on both rotary members the intermediate members being balls engaging on opposite cam discs

Definitions

  • the invention relates to an industrial small-tooth difference reducer, belonging to the technical field of reducers.
  • the invention is funded by the National High Technology Research and Development Program (863 Program).
  • harmonic reducers which has been the main device of the robot transmission, realizes the deceleration motion through the elastic deformation of the flexible wheel.
  • the elastic deformation is large, and the elastic hysteresis caused by it is also large, which inevitably affects the accuracy of the robot movement.
  • the load is large, the deformation of the flexible wheel and the rigid wheel does not mesh with the conjugate tooth profile, and the precision life is low. It cannot be used on the heavy-duty robot and can only be used on light-load, medium-light-load robots.
  • RV reducer has a series of advantages such as small size, light weight, large transmission ratio, high rigidity, high precision and high efficiency, stable operation, small backlash and high motion precision. Heavy-duty robots are used. Japan's latest RV reducer products further reduce the size of the reducer by changing the outer ring of the bearing, and the robot body interface is also smaller, which represents the trend of the robot reducer to a smaller and better direction. However, when the volume of the reducer is constant, the gear ratio of the RV reducer increases with the number of teeth of the pin wheel, and the size of the single tooth of the cycloidal wire and the pin gear becomes smaller, which further affects the bearing capacity of the reducer.
  • the RV reducer has high processing precision and high cost, which restricts its promotion and application. In particular, it is very difficult to meet the accuracy of two eccentric shafts with 180 degrees difference, and its accuracy directly affects the transmission of the reducer. Precision and efficiency.
  • the large speed ratio of the RV reducer comes from its planetary reduction drive and cycloidal pinion reduction drive. It is a compound secondary deceleration. It can achieve a large reduction ratio by connecting the Japanese FA reducer series or other reduction gears in series, but the axial dimension is The series connection of the reducer is multiplied, which cannot meet the requirements of small size, high rigidity and high efficiency of the reducer for the robot. Therefore, the reducer with small number of teeth, large speed ratio, small volume, high load capacity, high efficiency and long life is the bottleneck of the robot to the small, efficient and large load bearing direction, which needs to be solved urgently.
  • the object of the present invention is to provide a high rigidity, a small number of teeth, a large speed ratio, a small volume, a high load capacity, a high efficiency and a long life, which are particularly suitable for heavy load by adding two reinforcing frames that are linked with the output moving wheels.
  • the reducer for robots can effectively reduce the volume and weight of the reducer while ensuring a small number of teeth, a large speed ratio, high efficiency and high load capacity, and is easy to industrialize and serialize.
  • the technical solution of the present invention is a rigid inner and outer profile tooth reducer comprising a first bracket (9); a second bracket (10) forming a cavity with the first bracket (9); the input shaft (1) a first support bearing (3) mounted on the first bracket (9); an output shaft (20) mounted on the second bracket (10); and a first stage reduction mechanism mounted in the cavity And a second-stage speed reduction mechanism, characterized in that: the first-stage speed reduction mechanism comprises: an eccentric wheel (101) disposed on the input shaft (1); and a first arm bearing (5) sleeved on the An eccentric wheel (101); an externally engaging curved wheel (7) sleeved on the first arm bearing (5); a pin gear (8) fixed to the first bracket (9) and externally engaged with the external engagement curved wheel (7); the second stage reduction mechanism includes: an eccentric transmission wheel (14), which passes the second The support bearing (17) is mounted on the input shaft (1); the second rotary arm bearing (13) is sleeved on the eccentric transmission wheel (14); the internal engagement curved wheel (11)
  • the bosses (61, 231) on the first reinforcing frame (6) and the second reinforcing frame (23) are uniformly distributed circumferentially around the axis of the input shaft.
  • the eccentric transmission wheel (14) is provided with a shoulder (141) coaxial with the input shaft (1), and between the shoulder (141) and the output disc (16).
  • the number of the pin gears (8) is one more than the number of teeth of the outer meshing curve wheel (7), and the number of teeth of the inner meshing curve wheel (11) is larger than that of the pin gear pins (8).
  • the number is one more.
  • the output disc (16) is arranged integrally with the output shaft (20).
  • the eccentric (101) is arranged integrally with the input shaft (1).
  • the driving pin (24) is fixed at one end to the output disc (16), and the other end is disposed on the internal meshing curved wheel (11), and is provided on the end surface of the output disc (16).
  • a first sealing collar (2) is provided between the end side of the first bracket (9) and the input shaft (1).
  • a second sealing collar (19) is provided between the end side of the second bracket (10) and the output shaft (20).
  • the invention has the beneficial effects that the invention realizes the large speed ratio deceleration motion by meshing the tooth profile of the inner and outer meshing curves of the small tooth difference with the same fixed pin gear pin, and the same group of pin teeth are shared by the two-stage deceleration.
  • the axial dimension of the pin and the reducer is much smaller than that of the conventional two-stage reducer, and the force direction of the external meshing curve wheel and the internal meshing curve wheel is tangent to the meshing of the pin gear and the curve.
  • the normal direction of the outward direction, one inward, can partially cancel the meshing force of the inner and outer meshing curve wheel, improve the load capacity and transmission efficiency of the reducer, and eliminate the eccentricity of the RV reducer cycloid must be 180 degrees apart.
  • the arrangement thus also eliminates the need for two eccentric shaft segments arranged 180 degrees apart on the eccentric shaft.
  • the speed reducer of the invention uses only one eccentric wheel arranged on the eccentric shaft for each stage of deceleration, and the two-stage deceleration can realize the force equalization problem of the reducer by using only two independent single eccentric wheels, so compared with the RV reducer,
  • the structure reduces the number of the cycloidal wheel, and also reduces the eccentric shaft section which must meet the offset requirement of 180 degrees, which not only reduces the axial dimension, reduces the weight of the reducer, but also greatly simplifies the eccentricity.
  • the processing technology and manufacturing cost of the shaft are easy to realize industrialization.
  • the RV reducer is a planetary reduction drive and a small-tooth-toothed cycloidal deceleration composite two-stage deceleration, and the same reduction ratio, the number of teeth of the reducer of the present invention, compared with the two-stage reduction of two less-tooth-tooth differences of the present invention Far less than the RV reducer.
  • the planetary deceleration part of the RV40EQ reducer consists of gears with 16 and 32 teeth respectively.
  • the cycloidal pinion deceleration is composed of the number of the cycloidal teeth 39 and the number of teeth of the needle 40.
  • the total reduction ratio is 81; similar gear ratio 80, this
  • the number of teeth of the inner meshing curve wheel and the outer meshing curve wheel of the invention is 8 and 10, respectively, and the number of teeth is 9.
  • the number of curved teeth is 18 and the number of teeth is 9, while the number of teeth for RV secondary deceleration is 87, and the number of teeth is 39.
  • the pin and the curved wheel of the present invention can be made thick and thick, and the rigidity is strong.
  • the rigidity of the whole mechanism is further improved, that is, the same transmission ratio
  • the invention is not only high rigidity, small number of teeth, large load bearing, high due to the addition of two reinforcing frames linked with the output moving wheel.
  • the efficiency and greatly simplifies the processing technology and difficulty of the eccentric shaft, reduces the manufacturing cost, and is easy to realize industrialization, and is particularly suitable for the practical requirements of high rigidity, small volume, large load, high efficiency and long life of the reducer for heavy-duty robots.
  • Figure 1 is a schematic view of the mechanism transmission of the present invention.
  • FIG. 2 is a schematic view of the inner meshing curve wheel and the outer meshing curve wheel of the present invention engaged with the pin gear pin.
  • Figure 3 is a schematic illustration of a specific embodiment of the present invention.
  • FIG. 4 is a schematic view showing the force acting line of the inner meshing curve wheel and the outer meshing curve wheel and the pin gear pin of the present invention.
  • a rigid inner and outer profile tooth reducer embodiment includes a first bracket 9 and a second bracket 10, and the first and second brackets 9 and 10 form a cavity;
  • An input shaft 1 with an eccentric is mounted on the first bracket, the input shaft 1 is mounted on the first bracket 9 via the first support bearing 3;
  • an output shaft 20 is disposed on the second bracket 10, and the output shaft 20 is located The part in the cavity is the output disk 16, and the output shaft 20 is mounted on the second bracket 10 through the fourth support bearing 18.
  • the first stage speed reduction mechanism and the second stage speed reduction mechanism are provided in the cavity, and the first stage speed reduction mechanism
  • the second stage speed reduction mechanism is an eccentric transmission wheel 14 mounted on the input shaft 1 through the second support bearing 17, and a second slewing bearing 13 and sleeve sleeved on the eccentric transmission wheel 14.
  • An internal meshing curve wheel 11 and an output disk disposed on the second arm bearing 13 and engaged with the pin gear pin 8 16.
  • the pin 26 and the driving pin 24 are formed; a first reinforcing frame 6 is disposed on a side of the externally engaging curved wheel 7 adjacent to the first bracket 9, and the first reinforcing frame 6 is mounted on the input shaft 1 through the first bearing 4.
  • a plurality of bosses 61 are disposed on the first reinforcing frame 6, and the outer meshing curved wheels 7 are correspondingly provided with a plurality of through holes 71.
  • the bosses 61 of the first reinforcing frame 6 pass through the through holes 71 and are eccentrically driven.
  • the wheel 14 is fixedly connected, and the externally engaged curved wheel 7 is never in contact with the boss 61 during the movement; the second reinforcing frame 23 is further provided on one side of the internal meshing curve wheel 11, the second reinforcing frame A second bearing 25 is mounted on the eccentric transmission wheel 14, and the second reinforcing frame 23 is also provided with a plurality of bosses 231, and a plurality of through holes 111 are respectively disposed on the inner meshing curved wheel 11.
  • the boss 231 of the second reinforcing frame 23 is fixedly connected to the output tray 16 through the through hole 111, and the internal meshing curved wheel 11 is never in contact with the boss 231 during the movement.
  • the bosses 61 and 231 on the first reinforcing frame 6 and the second reinforcing frame 23 are uniformly distributed in the circumferential direction centering on the axis of the input shaft.
  • the eccentric transmission wheel 14 is provided with a shoulder 141 coaxial with the input shaft 1, and a third support bearing 15 is disposed between the shoulder 141 and the output disc 16.
  • a third support bearing 15 is disposed between the shoulder 141 and the output disc 16.
  • the operation process of the embodiment of the present invention is as follows: the input shaft 1 is driven by the eccentric wheel 101 through the support bearing 3 and the first slewing bearing 5 to drive the externally engaged curved wheel 7 and the pin gear pin 8 to achieve one-stage deceleration; the external meshing curve wheel 7
  • the upper pin 26 transmits the decelerating motion to the eccentric transmission wheel 14 on the second support bearing 17 (the eccentric transmission wheel 14 is interlocked with the first reinforcing frame 6), and the eccentric transmission wheel 14 drives the internal meshing curve via the second rotator bearing 13
  • the wheel 11 is again engaged with the pin gear 8 to achieve secondary deceleration, and the drive pin 24 on the internal meshing curve wheel 11 transmits motion to the output disc 16 and the output shaft 20 on the third support bearing 15 and the fourth support bearing 18 (
  • the output tray 16 is interlocked with the second reinforcing frame 23 to output a decelerating motion.
  • the number of teeth of the internal meshing curve wheel, the pin gear pin and the external meshing curve are respectively different by one, that is, each stage of the two-stage deceleration is a tooth difference deceleration.
  • one end of the driving pin 24 is fixed to the output disc 16 , and the other end is disposed on the internal meshing curved wheel 11 .
  • a driving pin retaining ring 22 corresponding to the driving pin 24 is disposed on the end surface of the output disc 16 .
  • one end of the driving pin is blocked by the driving pin retaining ring 22, and the other end is blocked by the second reinforcing frame 23, so that the driving pin 24 does not escape from the axial direction during operation, and both ends of the shaft pin 26 are
  • the third support bearing 15 and the first reinforcing frame 6 are not displaced from the axial direction during operation.
  • a first sealing collar 2 is further disposed between the end side of the first bracket 9 and the input shaft 1, and a second sealing collar 19 is provided between the end side of the second bracket 10 and the output shaft 20.
  • each of the support bearings usually adopts a ball bearing
  • each of the rotator bearings usually adopts a cylindrical roller bearing.
  • the selection of each bearing is not limited to this.
  • a sleeve may be further added to the pin gear so that the inner meshing curve wheel 11 and the outer meshing curve wheel 7 are first engaged with the sleeve, so that the sliding fit is changed into a rolling fit during the movement.
  • the frictional force is made smaller; the sleeve can be added to the pin and the driving pin or can be composed of the same eccentric pin as the eccentric wheel, and the sleeve can be changed from the slipping fit to the rolling fit by the sleeve, thereby making the friction force smaller.
  • the input shaft can also be hollow.

Abstract

一种刚性内外齿廓包齿减速器,包括第一级减速机构和第二级减速机构,第一级减速机构包括有:偏心轮(101);第一转臂轴承(5);外啮合曲线轮(7);以及针齿销(8),其固定在第一支架(9)上并与外啮合曲线轮(7)外啮合;第二级减速机构包括有:偏心传动轮(14);第二转臂轴承(13);内啮合曲线轮(11),其与针齿销(8)内啮合配合;以及输出盘(16),其与输出轴(20)联动连接;偏心传动轮(14)柱销(26)与外啮合曲线轮(7)传动连接,所述的内啮合曲线轮(11)通过传动销(24)与输出盘(16)的传动连接,在外啮合曲线轮(7)的一侧设有第一加强架(6),在内啮合曲线轮(11)的一侧还设有第二加强架(23)。该减速器具有少齿数、大速比、小体积、高承载、高效率、长寿命、和高刚性优点,特别适于重载机器人用减速器。

Description

刚性内外齿廓包齿减速器
技术领域
本发明涉及一种工业用少齿差减速器,属于减速器技术领域。本发明受“国家高技术研究发展计划(863计划)”资助。
背景技术
用于机器人领域的减速器主要有两大类:谐波减速器和摆线针轮减速器。曾作为机器人传动主要装置的谐波减速器,通过柔轮的弹性变形实现减速运动,其弹性变形较大,由此引起的弹性回差也大,不可避免地影响机器人运动的准确性,在传递较大负载时,变形柔轮与刚轮啮合并非共轭齿廓啮合,保精度寿命低,不能用于重载机器人上,只能用于轻载、中轻载机器人上。日本Rotary Vector(简称RV)减速器与谐波传动减速器相比具有体积小、重量轻、传动比大、刚度大、精度和效率高、运转平稳、回差小、运动精度高等一系列优点,适于重载机器人使用。日本最新的RV减速器产品通过变通轴承外圈使减速器的体积进一步缩小,机器人本体接口也随之变小,代表着机器人用减速器向更小更好方向发展的趋势。然而,在减速器体积不变的情况下,RV减速器的传动比随着针轮齿数的增大,摆线单个齿及针齿销的尺寸变小,影响了减速器承载能力的进一步提高。此外,RV减速器的加工精度要求高、成本高,制约了它的推广与应用,特别是要满足两个相差180度布置的偏心轴加工精度非常难,而它的精度直接影响减速器的传动精度和效率。RV减速器的大速比来自其行星减速传动和摆线针轮减速传动,是复合二级减速,用日本FA减速器串联或其它减速装置串联可以实现大的减速比,但是轴向尺寸随着减速器的串联而成倍增加,不能满足机器人用减速器体积小、高刚性、高效承载的需要。因此,少齿数、大速比、小体积、高承载、高效率长寿命的减速器是机器人向小巧高效大承载方向发展的瓶颈,亟待解决。
发明内容
本发明的目的是针对上述问题,通过增加两个与输出运动轮联动的加强架,提供一种高刚性、少齿数、大速比、小体积、高承载、高效率长寿命特别适于重载机器人用减速器,在保证少齿数、大速比、高效高承载情况下有效减少减速器的体积和重量,并易于产业化和系列化。
本发明的技术方案是一种刚性内外齿廓包齿减速器,包括有第一支架(9);第二支架(10),其与第一支架(9)形成一容腔;输入轴(1),其通过第一支撑轴承(3)安装于第一支架(9)上;输出轴(20),其安装于第二支架(10)上;以及安装于容腔内的第一级减速机构和第二级减速机构,其特点是:所述第一级减速机构包括有:偏心轮(101),其设于输入轴(1)上;第一转臂轴承(5),其套设在偏心轮(101)上;外啮合曲线轮(7),其套设于第一转臂轴承(5)上;以及 针齿销(8),其固定在第一支架(9)上并与外啮合曲线轮(7)外啮合;所述第二级减速机构包括有:偏心传动轮(14),其通过第二支撑轴承(17)安装于输入轴(1)上;第二转臂轴承(13),其套设在偏心传动轮(14)上;内啮合曲线轮(11),其套设在第二转臂轴承(13)上,并与所述的针齿销(8)内啮合配合;以及输出盘(16),其与输出轴(20)联动连接;所述的偏心传动轮(14)通过柱销(26)与外啮合曲线轮(7)传动连接,所述的内啮合曲线轮(11)通过传动销(24)与输出盘(16)传动连接;所述针齿销(8)的数量少于内啮合曲线轮(11)的齿数而多于外啮合曲线轮(7)的齿数;在外啮合曲线轮(7)的靠近第一支架(9)的一侧设有第一加强架(6),该第一加强架(6)通过第一轴承(4)安装在输入轴(1)上,在第一加强架(6)上设有多个凸台(61),所述的外啮合曲线轮(7)相应设有多个通孔(71),第一加强架(6)的凸台(61)穿过通孔(71)与偏心传动轮(14)固定连接,所述外啮合曲线轮(7)在运动过程中始终不与所述凸台(61)相接触;在内啮合曲线轮(11)的一侧还设有第二加强架(23),该第二加强架(23)通过第二轴承(25)安装于所述的偏心传动轮(14)上,所述的第二加强架(23)上也设有多个凸台(231),在内啮合曲线轮(11)上相应设有多个通孔(111),第二加强架(23)的凸台(231)穿过通孔(111)与输出盘(16)固定连接,所述内啮合曲线轮(11)在运动过程中始终不与所述凸台(231)相接触。
作为本发明的优选方案:所述的第一加强架(6)、第二加强架(23)上的凸台(61、231)皆为三个以输入轴的轴线为中心周向均匀分布。
作为本发明的优选方案:所述的偏心传动轮(14)上设有与输入轴(1)同轴的凸肩(141),凸肩(141)与输出盘(16)之间设有第三支撑轴承(15)。
作为本发明的优选方案:所述的针齿销(8)的数量比外啮合曲线轮(7)的齿数多一个,所述的内啮合曲线轮(11)的齿数比针齿销(8)的数量多一个。
作为本发明的优选方案:所述的输出盘(16)与输出轴(20)一体设置。
作为本发明的优选方案:所述的偏心轮(101)与输入轴(1)一体设置。
作为本发明的优选方案:所述的传动销(24)一端固定于输出盘(16)上,另一端穿设于内啮合曲线轮(11)上,在输出盘(16)的端面上设有与传动销(24)对应的传动销挡圈(22)。
作为本发明的优选方案:所述的第一支架(9)的端侧与输入轴(1)之间设有第一密封挡圈(2)。
作为本发明的优选方案:所述的第二支架(10)的端侧与输出轴(20)之间设有第二密封挡圈(19)。
本发明与现有技术相比其有益效果是:本发明通过少齿差内外啮合曲线轮齿廓与同一固定针齿销相啮合,实现大速比减速运动,由于两级减速共用同一组针齿销,减速器的轴向尺寸比以往的两个一级减速器简单串联的尺寸大大减小,又由于外啮合曲线轮与内啮合曲线轮受力方向一个沿针齿销与曲线啮合处相切的法线方向向外,一个向里,可实现内外啮合曲线轮啮合力部分抵消,提高了减速器的承载能力和传动效率,免去了RV减速器摆线轮必须两片相差180度的偏心布置,由此也免去了偏心轴上两个相差180度布置的偏心轴段要求。本发明的减速器每级减速只用一个设于偏心轴上的偏心轮,两级减速只用两个独立的单个偏心轮就可实现减速器受力均衡问题,因此与RV减速器相比,结构上减少了一个摆线轮,还减少了一段加工精度要求较高的必须满足偏置180度的偏心轴段,这不仅减少了轴向尺寸,减轻了减速器的重量,而且大大简化了偏心轴的加工工艺和制造成本、易于实现产业化。另外,RV减速器是行星减速传动和少齿差摆线针轮减速复合二级减速,与本发明的两个少齿差的二级减速相比,相同减速比,本发明的减速器的齿数远远少于RV减速器。例如,RV40EQ减速器行星减速部分由齿数分别为16和32的齿轮组成,摆线针齿减速部分由摆线轮齿数39,针齿齿数40构成,总减速比为81;相似传动比80,本发明用内啮合曲线轮和外啮合曲线轮的齿数分别为8和10,针齿数9。二级减速总共用曲线轮齿数18个和针齿数9个,而RV二级减速要用的齿数87个,针齿数39个。同样体积的减速器,本发明的针齿销和曲线轮可以做得很粗很厚,刚性很强。特别是增设加强架后,其整机构的刚性得到进一步的提高,也就是,相同传动比,本发明由于增加两个与输出运动轮联动的加强架,不仅高刚性、齿数少、大承载、高效率,而且又大大简化了偏心轴的加工工艺和难度、减低了制造成本,易于实现产业化,特别适合重载机器人用减速器高刚性、小体积、大承载、高效率长寿命的实用要求。
附图说明
图1为本发明的机构传动原理图。
图2为本发明的内啮合曲线轮和外啮合曲线轮与针齿销相啮合的示意图。
图3为本发明的具体实施例示意图。
图4为本发明内啮合曲线轮和外啮合曲线轮与针齿销相啮合的受力作用线示意图。
具体实施方式
下面结合附图和实施例对本发明作进一步说明:
如图1-图4所示,本发明一种刚性内外齿廓包齿减速器实施例,包括有第一支架9和第二支架10,第一、第二支架9、10形成一容腔;在第一支架上设有带偏心轮的输入轴1,该输入轴1通过第一支撑轴承3安装于第一支架9上;在第二支架10上设有输出轴20,输出轴20上位于容腔内的部分为输出盘16,输出轴20通过第四支撑轴承18安装于第二支架10上,容腔内的设有第一级减速机构和第二级减速机构,第一级减速机构由偏心轮101、设在偏心轮101上的第一转臂轴承5、套设于第一转臂轴承5上的外啮合曲线轮7以及固定在第一支架9上并与外啮合曲线轮7外啮合的针齿销8组成;第二级减速机构由通过第二支撑轴承17安装于输入轴1上的偏心传动轮14、套设在偏心传动轮14上的第二转臂轴承13、套设在第二转臂轴承13上并与所述的针齿销8内啮合配合的内啮合曲线轮11以及输出盘16、柱销26、传动销24组成;在外啮合曲线轮7的靠近第一支架9的一侧设有第一加强架6,该第一加强架6通过第一轴承4安装在输入轴1上,在第一加强架6上设有多个凸台61,所述的外啮合曲线轮7相应设有多个通孔71,第一加强架6的凸台61穿过通孔71与偏心传动轮14固定连接,所述外啮合曲线轮7在运动过程中始终不与所述凸台61相接触;在内啮合曲线轮11的一侧还设有第二加强架23,该第二加强架23通过第二轴承25安装于所述的偏心传动轮14上,所述的第二加强架23上也设有多个凸台231,在内啮合曲线轮11上相应设有多个通孔111,第二加强架23的凸台231穿过通孔111与输出盘16固定连接,所述内啮合曲线轮11在运动过程中始终不与所述凸台231相接触。
上述第一加强架6、第二加强架23上的凸台61、231皆为三个以输入轴的轴线为中心周向均匀分布。
图示中,偏心传动轮14上设有与输入轴1同轴的凸肩141,凸肩141与输出盘16之间设有第三支撑轴承15。通过增设凸肩141及第三支撑轴承15,可以提高输出盘及偏心传动轮14运行的稳定性和可靠性。
本发明实施例的运行过程如下:输入轴1通过偏心轮101经过支撑轴承3及第一转臂轴承5带动外啮合曲线轮7与针齿销8相啮合实现一级减速;外啮合曲线轮7上的柱销26将减速运动传递给第二支撑轴承17上的偏心传动轮14(偏心传动轮14与第一加强架6联动)、偏心传动轮14经第二转臂轴承13带动内啮合曲线轮11再次与针齿销8相啮合实现二级减速,内啮合曲线轮11上的传动销24将运动传递给第三支撑轴承15及第四支撑轴承18上的输出盘16和输出轴20(输出盘16与第二加强架23联动),将减速运动输出出去。
本实施例中,内啮合曲线轮、针齿销和外啮合曲线轮齿数分别相差1,即二级减速每级都是一齿差减速。
图示实施例中,传动销24一端固定于输出盘16上,另一端穿设于内啮合曲线轮11上,在输出盘16的端面上设有与传动销24对应的传动销挡圈22。这样传动销的一端被传动销挡圈22阻挡、另一端被第二加强架23阻挡,从而可确传动销24在运行过程中不会从轴向脱离出去,而轴销26的两端由于有第三支撑轴承15和第一加强架6的挡位,故在运行过程中也不会从轴向脱离出去。
图中,在第一支架9的端侧与输入轴1之间还设有第一密封挡圈2,第二支架10的端侧与输出轴20之间设有第二密封挡圈19。
本实施例中,各支撑轴承通常采用球轴承,各转臂轴承通常采用圆柱滚子轴承。但各轴承的选用并不限于此。
上述实施例中,还可以在针齿销上再加设套筒从而使内啮合曲线轮11、外啮合曲线轮7先与套筒啮合,从而在运动过程中由滑移配合改成滚动配合,使运动摩擦力更小;在柱销、传动销上可以加设套筒或由与偏心轮相同的偏心销构成,通过套筒从而使传动时由滑移配合改成滚动配合,从而使摩擦力更小。输入轴也可以采用中空式。
总之,以上所述的实施例仅仅是对本发明刚性内外齿廓包齿减速器的优选实施方式进行描述,并非对发明的构思和范围进行限定,在不脱离本发明方案的前提下,本领域技术人员对本发明的技术方案作出的各种外型变型和改进,均应落入本发明内外齿廓包齿减速器的保护范围。

Claims (9)

  1. 一种刚性内外齿廓包齿减速器,包括有
    第一支架(9);
    第二支架(10),其与第一支架(9)形成一容腔;
    输入轴(1),其通过第一支撑轴承(3)安装于第一支架(9)上;
    输出轴(20),其安装于第二支架(10)上;
    以及安装于容腔内的第一级减速机构和第二级减速机构;其特征是:
    所述第一级减速机构包括有:
    偏心轮(101),其设于输入轴(1)上;
    第一转臂轴承(5),其套设在偏心轮(101)上;
    外啮合曲线轮(7),其套设于第一转臂轴承(5)上;
    以及 针齿销(8),其固定在第一支架(9)上并与外啮合曲线轮(7)外啮合;
    所述第二级减速机构包括有:
    偏心传动轮(14),其通过第二支撑轴承(17)安装于输入轴(1)上;
    第二转臂轴承(13),其套设在偏心传动轮(14)上;
    内啮合曲线轮(11),其套设在第二转臂轴承(13)上,并与所述的针齿销(8)内啮合配合;
    以及输出盘(16),其与输出轴(20)联动连接;
    所述的偏心传动轮(14)通过柱销(26)与外啮合曲线轮(7)传动连接,所述的内啮合曲线轮(11)通过传动销(24)与输出盘(16)传动连接;
    所述针齿销(8)的数量少于内啮合曲线轮(11)的齿数而多于外啮合曲线轮(7)的齿数;
    在外啮合曲线轮(7)的靠近第一支架(9)的一侧设有第一加强架(6),该第一加强架(6)通过第一轴承(4)安装在输入轴(1)上,在第一加强架(6)上设有多个凸台(61),所述的外啮合曲线轮(7)相应设有多个通孔(71),第一加强架(6)的凸台(61)穿过通孔(71)与偏心传动轮(14)固定连接,所述外啮合曲线轮(7)在运动过程中始终不与所述凸台(61)相接触;在内啮合曲线轮(11)的一侧还设有第二加强架(23),该第二加强架(23)通过第二轴承(25)安装于所述的偏心传动轮(14)上,所述的第二加强架(23)上也设有多个凸台(231),在内啮合曲线轮(11)上相应设有多个通孔(111),第二加强架(23)的凸台(231)穿过通孔(111)与输出盘(16)固定连接,所述内啮合曲线轮(11)在运动过程中始终不与所述凸台(231)相接触。
  2. 根据权利要求1所述的刚性内外齿廓包齿减速器,其特征在于:所述的第一加强架(6)、第二加强架(23)上的凸台(61、231)皆为三个且以输入轴输入轴(1)的轴线为中心周向均匀分布。
  3. 根据权利要求1所述的刚性内外齿廓包齿减速器,其特征在于:所述的偏心传动轮(14)上设有与输入轴(1)同轴的凸肩(141),凸肩(141)与输出盘(16)之间设有第三支撑轴承(15)。
  4. 根据权利要求1所述的刚性内外齿廓包齿减速器,其特征在于:所述的针齿销(8)的数量比外啮合曲线轮(7)的齿数多一个,所述的内啮合曲线轮(11)的齿数比针齿销(8)的数量多一个。
  5. 根据权利要求1所述的刚性内外齿廓包齿减速器,其特征在于:所述的输出盘(16)与输出轴(20)一体设置。
  6. 根据权利要求1所述的内外齿廓包齿减速器,其特征在于:所述的偏心轮(101)与输入轴(1)一体设置。
  7. 根据权利要求1所述的刚性内外齿廓包齿减速器,其特征在于:所述的传动销(12)一端固定于输出盘(16)上,另一端穿设于内啮合曲线轮(11)上,在输出盘(16)的端面上设有与传动销(24)对应的传动销挡圈(22)。
  8. 根据权利要求1所述的刚性内外齿廓包齿减速器,其特征在于:所述的第一支架(9)的端侧与输入轴(1)之间设有第一密封挡圈(2)。
  9. 根据权利要求1所述的刚性内外齿廓包齿减速器,其特征在于:所述的第二支架(10)的端侧与输出轴(20)之间设有第二密封挡圈(19)。
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