WO2014134766A1

WO2014134766A1 - Internally and peripherally meshed speed reducer

Info

Publication number: WO2014134766A1
Application number: PCT/CN2013/072096
Authority: WO
Inventors: 孔向东; 叶胜康
Original assignee: 浙江恒丰泰减速机制造有限公司
Priority date: 2013-03-02
Filing date: 2013-03-02
Publication date: 2014-09-12

Abstract

An internally and peripherally meshed speed reducer comprising a first-level speed-reducing mechanism and a second-level speed-reducing mechanism. The first-level speed-reducing mechanism comprises: an eccentric wheel (101); a first rotary arm bearing (5); a peripherally meshing curved wheel (7), and a wheel pin (8), which is fixed onto a first support frame (9) and peripherally meshed with the peripherally meshing curved wheel (7). The second-level speed-reducing mechanism comprises: an eccentric transmission wheel (14); a second rotary arm bearing (13), which is sleeved onto the eccentric transmission wheel (14); an internally meshing curved wheel (11), which is sleeved onto the second rotary arm bearing (13) and is internally meshed and fitted with the wheel pin (8); and, an output disk (16), which is linkedly connected to an output shaft (20). The eccentric transmission wheel (14) is transmissively connected to the peripherally meshing curved wheel (7) via a dowel pin (6). The internally meshing curved wheel (11) is transmissively connected to the output disk (16) via a drive pin (12). The speed reducer has the advantages of a reduced number of teeth, large speed ratio, compact size, high loading capacity, high efficiency, and extended service life, and is particularly applicable as a speed reducer for use in an industrial robot.

Description

Internal and external tooth profile reducer

Technical field

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).

Background technique

The reducer is a general-purpose machine and has a wide range of applications in industrial and agricultural production. With the development of science and technology and the advancement of technology, especially the development of automation products such as industrial robots, the speed reducer has begun to develop toward small volume, high load capacity, high efficiency and long life.

There are two main types of reducers for the robot field: harmonic reducers and cycloidal pinwheel reducers. Currently, Harmonic, Japan Drive high-performance harmonic reducer and new reducer Rotary developed by Nabtesco in Japan in the 1980s Vector (referred to as RV) dominates the robotics field. The former is mainly used for low- and medium-load robots, and the latter is mainly used for heavy-duty robots. 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. In addition, 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 needs of the small size 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.

Summary of the invention

The object of the present invention is to provide a reducer with a small number of teeth, a large speed ratio, a small volume, a high load capacity, a high efficiency and a long life, and effectively reduce the deceleration while ensuring a small number of teeth, a large speed ratio, and an efficient high load capacity. The size and weight of the device are easy to industrialize and serialize.

The technical solution of the present invention is an 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) , the first support bearing (3) is mounted on the first bracket (9); the output shaft (20) is mounted on the second bracket (10); and the first stage speed reduction mechanism is mounted in the cavity and The second stage speed reduction mechanism is 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 eccentricity a wheel (101); an outer meshing curve 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) is set on the second rotation An arm bearing (13) and engaged with the pin gear (8); and an output disc (16) coupled to the output shaft (20); the number of the pin (8) is small The number of teeth of the inner meshing curve wheel (11) is greater than the number of teeth of the outer meshing curve wheel (7);

The eccentric transmission wheel (14) is drivingly connected to the externally engaging curved wheel (7) via a pin (6), and the internal meshing curved wheel (11) is drivingly connected to the output plate (16) through a driving pin (12). .

As a preferred embodiment of the present invention, 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). Three support bearings (15).

As a preferred embodiment of the present invention, 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.

As a preferred embodiment of the invention, the output disc (16) is arranged integrally with the output shaft (20).

As a preferred embodiment of the invention, the eccentric (101) is arranged integrally with the input shaft (1).

As a preferred embodiment of the invention, a retaining ring (4) is provided between the side of the eccentric (101) and the end face of the first support bearing (3).

As a preferred embodiment of the present invention, the shaft pin (6) is fixed at one end to the eccentric transmission wheel (14), and the other end is disposed on the external engagement curved wheel (7) on the end surface of the externally engaged curved wheel (7). A pin retaining ring (22) corresponding to the axle pin (6) is provided.

As a preferred embodiment of the present invention, the driving pin (12) 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 drive pin retaining ring (21) corresponding to the drive pin (12).

As a preferred embodiment of the invention, a first sealing collar (2) is provided between the end side of the first bracket (9) and the input shaft (1).

As a preferred embodiment of the invention, a second sealing collar (19) is provided between the end side of the second bracket (10) and the output shaft (20).

Compared with the prior art, the invention has the beneficial effects that the conventional two-stage reducer is usually formed by connecting two simple first-stage reducers in series, and although the large speed ratio can be realized, the axial size is doubled. The volume and weight are also increased; the large speed ratio can also be achieved with the epicyclic gear train. Although the axial dimension is smaller than the two series two-stage reducer, the transmission efficiency is lower due to the large internal loss; RV composite The transmission of the secondary reducer is relatively large, but the transmission ratio is subject to the size and load carrying capacity of the pin gear. At the same time, in order to balance the movement of the cycloidal wheel, two sets of cycloidal wheels with 180 degree eccentricity are required. Corresponding eccentric shaft, the eccentric shaft segment with 180 degrees difference between the eccentric shafts has very high machining precision. If the eccentricity of the two shaft segments is slightly deviated, the misalignment between the two cycloidal wheels and the pin gear pin will be caused. (See Figure 5), which directly affects the return and efficiency of the reducer. In order to ensure the machining accuracy of the eccentric shaft, high-precision fixtures are required, and the manufacturing process and cost are high. 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. Since the two sets of deceleration share the same set of pin gear pins, the axial dimension of the reducer is two The size of the simple series connection of the first-stage reducer is greatly reduced, and the force direction of the external meshing curve wheel and the internal meshing curve wheel is outward along a normal direction tangent to the meshing point of the pin gear and the curve, and an inward can be realized. The meshing force of the inner and outer meshing curve wheel is partially canceled, which improves the bearing capacity and transmission efficiency of the reducer, eliminating the need for the eccentric arrangement of the RV reducer cycloidal wheel to be 180 degrees apart, thereby eliminating the need for two eccentric shafts. Eccentric shaft segments that are 180 degrees apart are required. 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. In addition, 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. For example, 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. In the second-stage deceleration, 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. With the same volume of the reducer, the pin and the curved wheel of the present invention can be made thick and thick, and the rigidity is strong. That is to say, the same transmission ratio, the invention not only has a small number of teeth, large bearing capacity, high efficiency, but also 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 a small reducer for industrial robots. Practical requirements for volume, large load, high efficiency and long life.

DRAWINGS

Figure 1 is a schematic view of the mechanism transmission of the present invention.

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.

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.

Figure 5 is a schematic diagram of the influence of the eccentricity error of the eccentric shaft on the transmission of the cycloidal pinwheel reducer.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

As shown in FIG. 1 to FIG. 4, an embodiment of the inner and outer profile tooth reducer of the present invention includes a first bracket 9 and a second bracket 10, and the first and second brackets 9, 10 form a cavity; The first bracket is provided with an input shaft 1 with an eccentric wheel, and the input shaft 1 is mounted on the first bracket 9 through the first support bearing 3; the output shaft 20 is disposed on the second bracket 10, and the output shaft 20 is located on the output shaft 20 The inner part of 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 arranged in the cavity, and the first stage speed reduction mechanism is The eccentric wheel 101, the first slewing bearing 5 disposed on the eccentric wheel 101, the externally engaging curved wheel 7 sleeved on the first rotator bearing 5, and the outer bracket 9 are fixed on the first bracket 9 and externally meshed with the curved wheel 7 The meshing pin gear pin 8 is composed; the second-stage speed reducing mechanism is an eccentric transmission wheel 14 mounted on the input shaft 1 through the second support bearing 17, a second rot arm bearing 13 sleeved on the eccentric transmission wheel 14, and a sleeve An inner meshing curved wheel 11 and an output disk 16 which are engaged with the inner pin bearing 13 and engaged with the pin gear pin 8 Pin 6, the drive pin 12 is composed of;

In the illustration, 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. By adding the shoulder 141 and the third support bearing 15, the stability and reliability of the operation of the output disc and the eccentric drive wheel 14 can be improved.

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 first support bearing 3 and the first rotator bearing 5 to engage the externally engaged curved wheel 7 and the pin gear pin 8 to achieve one-stage deceleration; the external meshing curve The pin 6 on the wheel 7 transmits the decelerating motion to the eccentric transmission wheel 14 on the second support bearing 17, and the eccentric transmission wheel 14 drives the internal meshing curve wheel 11 to mesh with the pin gear 8 again via the second arm bearing 13 In the secondary deceleration, the drive pin 12 on the internal meshing curve wheel 11 transmits the motion to the output disk 16 and the output shaft 20 on the third support bearing 15 and the fourth support bearing 18 to output the decelerating motion.

In this embodiment, 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.

In the illustrated embodiment, a retaining ring 4 is provided between the side of the eccentric 101 and the end face of the first support bearing 3. One end of the shaft pin 6 is fixed on the eccentric transmission wheel 14, and the other end is disposed on the external engagement curved wheel 7. On the end surface of the external engagement curved wheel 7, a shaft pin retaining ring 22 corresponding to the shaft pin 6 is provided, and one end of the driving pin 12 It is fixed on the output disk 16 and the other end is disposed on the internal meshing curved wheel 11. On the end surface of the output disk 16, a drive pin retaining ring 21 corresponding to the driving pin 12 is disposed. Thus, one end of the shaft pin is blocked by the pin retaining ring 22, and the other end is blocked by the pin gear pin 8. One end of the drive pin is blocked by the third support bearing 15, and the other end is blocked by the drive pin retaining ring 21, thereby ensuring the shaft. The pin 6 and the drive pin 12 do not detach from the axial direction during operation.

In the figure, 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.

In this embodiment, each of the support bearings usually adopts a ball bearing, and each of the rotator bearings usually adopts a cylindrical roller bearing. However, the selection of each bearing is not limited to this.

In the above embodiment, 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.

In summary, the above-described embodiments are merely illustrative of the preferred embodiments of the inner and outer toothed belt reducer of the present invention, and are not intended to limit the scope and scope of the invention, and those skilled in the art without departing from the scope of the invention. Various external modifications and improvements made to the technical solution of the present invention should fall within the protection range of the internal and external profile reduction gear reducers of the present invention.

Claims

Internal and external tooth profile reducer, including

First bracket (9);

a second bracket (10) forming a cavity with the first bracket (9);

An input shaft (1) mounted to the first bracket (9) by the first support bearing (3);

An output shaft (20) mounted on the second bracket (10);

And a first-stage speed reduction mechanism and a second-stage speed reduction mechanism installed in the cavity, wherein the first-stage speed reduction mechanism comprises:

An eccentric wheel (101) disposed on the input shaft (1);

a first arm bearing (5) sleeved on the eccentric (101);

An outer engagement curved wheel (7) that is sleeved on the arm bearing (5);

a pin gear (8) fixed to the first bracket (9) and externally engaged with the externally engaged curved wheel (7);

The second stage speed reduction mechanism includes:

An eccentric transmission wheel (14) mounted on the input shaft (1) by a second support bearing (17);

a second arm bearing (13), which is sleeved on the eccentric transmission wheel (14);

An inner meshing curved wheel (11) sleeved on the arm bearing (13) and engaged with the pin gear (8); and

An output tray (16) coupled to the output shaft (20);

The number of the pin gears (8) is less than the number of teeth of the inner meshing curved wheel (11) and more than the number of teeth of the outer meshing curved wheel (7);

The eccentric transmission wheel (14) is drivingly connected to the externally engaging curved wheel (7) via a pin (6), and the internal meshing curved wheel (11) is drivingly connected to the output plate (16) through a driving pin (12). .
The inner and outer profile tooth reducer according to claim 1, characterized in that: the eccentric transmission wheel (14) is provided with a shoulder (141) coaxial with the input shaft (1), and a shoulder (141). A third support bearing (15) is provided between the output disc (16).
The inner and outer profile tooth reducer according to claim 1 or 2, wherein the number of the pin gears (8) is one more than the number of teeth of the outer meshing curve wheel (7), said internal meshing The number of teeth of the curved wheel (11) is one more than the number of the pin gears (8).
The inner and outer profile tooth reducer according to claim 1 or 2, characterized in that the output disc (16) is integrally provided with the output shaft (20).
The internal and external profile tooth reducer according to claim 1 or 2, characterized in that the eccentric (101) is integrally provided with the input shaft (1).
The inner and outer profile tooth reducer according to claim 1 or 2, characterized in that a retaining ring (4) is arranged between the side of the eccentric (101) and the end face of the first support bearing (3). .
The internal and external tooth profile reduction gear reducer according to claim 1 or 2, wherein the shaft pin (6) is fixed at one end to the eccentric transmission wheel (14), and the other end is disposed on the external engagement curve wheel ( 7) On the end face of the external engagement curved wheel (7), a pin retaining ring (22) corresponding to the shaft pin (6) is provided.
The internal and external tooth profile reduction gear reducer according to claim 1 or 2, characterized in that: one end of the transmission pin (12) is fixed on the output disc (16), and the other end is inserted through the internal engagement curve wheel (11). On the end face of the output disk (16), a drive pin retaining ring (21) corresponding to the drive pin (12) is provided.
The inner and outer profile tooth reducer according to claim 1 or 2, characterized in that: the first sealing ring (2) is arranged between the end side of the first bracket (9) and the input shaft (1). ).
The inner and outer profile tooth reducer according to claim 1 or 2, characterized in that a second sealing ring (19) is arranged between the end side of the second bracket (10) and the output shaft (20). ).