WO2016150149A1 - 一种改进型摆盘减速机 - Google Patents

一种改进型摆盘减速机 Download PDF

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Publication number
WO2016150149A1
WO2016150149A1 PCT/CN2015/092342 CN2015092342W WO2016150149A1 WO 2016150149 A1 WO2016150149 A1 WO 2016150149A1 CN 2015092342 W CN2015092342 W CN 2015092342W WO 2016150149 A1 WO2016150149 A1 WO 2016150149A1
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WIPO (PCT)
Prior art keywords
toothed disc
radius
needle roller
wobble plate
inner needle
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PCT/CN2015/092342
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English (en)
French (fr)
Inventor
李照廷
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李照廷
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Publication of WO2016150149A1 publication Critical patent/WO2016150149A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion

Definitions

  • the invention relates to the technical field of a reducer, and in particular to an improved wobble plate reducer.
  • the common swing deceleration device on the market is a cycloidal pinwheel reducer.
  • the existing cycloidal pinwheel reducer adopts a planetary gear transmission structure with a small tooth difference, and uses the inner equidistance curve of the variable amplitude epicycloid as a planetary gear profile curve, and uses a circle as a center wheel tooth profile curve.
  • This structure can obtain a large reduction ratio, a small size, relatively low noise, and high transmission efficiency.
  • the cycloidal pinwheel reducer does not cause tooth tip interference, thus expanding its application range.
  • the inventor has found through research that the traditional cycloidal pinwheel deceleration device has complex processing of the cycloidal tooth contour, and the gear surface is easily subject to wear, which causes the internal noise of the reduction gear to increase, and the replacement of damaged parts is difficult. .
  • the object of the present invention is to provide an improved wobble plate reducer, which reduces the difficulty in replacing parts of the reducer and reduces the maintenance cost of the improved wobble plate reducer.
  • the present invention is implemented as follows:
  • An improved wobble plate reducer comprising a housing, an input shaft and an output shaft, the improved wobble plate reducer further comprising an input mechanism, a speed reduction mechanism and an output mechanism, the deceleration mechanism further comprising a first inner needle roller, a first toothed disk and an outer needle roller, wherein the plurality of outer needles are circumferentially arranged along an inner wall of the housing, the first toothed disc is rotatably disposed in the housing, and an edge of the first toothed disc a plurality of first grooves are circumferentially disposed, the first grooves are equally spaced, the first inner needle is embedded in the first groove, and the first inner needle is of equal pitch
  • the number of teeth is greater than The number of outer needles is one less, the first inner needle is differentially engaged with the outer needle, and the input shaft drives the first toothed disc to rotate by the input mechanism, the first toothed disc The output shaft is driven to rotate by the output mechanism.
  • center circle radius of the cycloidal tooth of the first toothed disc and the first inner needle roller radius are determined by the following methods:
  • the basic parameter includes the number of teeth of the first inner needle roller, the number of teeth of the outer needle roller, the center circle radius of the needle tooth, the radius of the needle tooth, the first toothed disk and the first inner needle roller Relative gear ratio, short-amplitude coefficient and needle diameter coefficient, the number of teeth of the first inner needle is recorded as Z c , the number of teeth of the outer needle is recorded as Z p , the radius of the center circle of the needle is recorded as r p , the radius of the needle Recorded as r rp , the relative gear ratio of the first toothed disc to the first inner needle roller is denoted as i H and The short-amplitude coefficient is recorded as K 1 and the pin diameter coefficient is recorded as K 2 ;
  • the standard tooth profile of the first toothed disc is as follows:
  • the objective function programming solution is established, and the center circle radius of the cycloid tooth and the first inner needle roller radius of the first toothed disc are determined.
  • the input mechanism includes a plurality of crankshafts provided with a first eccentric protrusion, one end of the input shaft is provided with a sun gear, and the other end of the input shaft passes through a center of the first sprocket wheel.
  • One end of the crankshaft is provided with a planetary gear that is rotatably disposed around the sun gear and meshes with the sun gear, and the other end of the crankshaft passes through the first toothed disc, the first eccentricity of the crankshaft A projection cooperates with the first toothed disc.
  • the sun gear cooperates with the planetary gear to realize the primary deceleration, and the pre-decreasing of the input power of the motor can reduce the pressure of the direct deceleration on each component, reduce the damage of the component, and further improve the overall life of the reducer.
  • the output mechanism includes a synchronously rotating front seat and a rear seat, the front seat is provided with a front seat crank hole, and the rear seat is provided with a rear seat crank hole coaxial with the front seat crank hole, one end of the crankshaft a first outer bearing is disposed, the crankshaft is sleeved with a second outer bearing adjacent to the planetary gear, the first outer bearing extends into the front seat crankshaft, and the second outer bearing extends into the rear Crankshaft hole
  • One side of the rear seat is provided with a transmission shaft
  • the first toothed disc is provided with a first transmission shaft hole
  • the transmission shaft passes through the first transmission shaft hole and is connected with the front seat
  • the rear seat The other side is connected to the output shaft.
  • the front and rear seats cooperate to provide power output for use by other equipment.
  • the arrangement of the first outer bearing and the second outer bearing can play a role of lubrication to reduce friction inside the reducer and reduce friction noise.
  • the improved wobble plate reducer further includes a second toothed disc and a second inner needle roller, the second toothed disc is rotatably disposed in the housing, and the crankshaft passes through the second toothed disc
  • the crankshaft is further provided with a second eccentric protrusion that cooperates with the second sprocket wheel, and an edge of the second sprocket wheel is circumferentially disposed with a plurality of second grooves, and the plurality of second grooves are equally spaced
  • the second inner needle is embedded in the second groove, and the number of the teeth of the second inner needle of the same pitch is one less than the number of the outer needles.
  • a second inner needle is differentially engaged with the outer needle, the second tooth
  • the disk is provided with a second drive shaft hole that passes through the second drive shaft hole and is coupled to the front seat.
  • the combination of the second toothed disc and the second inner needle can further decelerate the input, thereby achieving higher deceleration efficiency, and the two joints share the force of the toothed disc, reducing each wear and increasing the life.
  • the front seat outer casing is provided with a front seat bearing, the front seat bearing is embedded in the casing, and the rear seat outer casing is provided with a rear seat bearing, and the rear seat bearing is embedded in the casing and away from the Said front seat bearing.
  • the front seat passes the friction between the front seat bearing and the housing, and the rear seat reduces the friction between the front seat and the housing through the rear seat bearing, thereby achieving the effect of reducing noise.
  • the front seat and the rear seat can also stabilize the internal components and improve the stability of the components when they rotate.
  • first eccentric convex outer casing is provided with a first inner bearing
  • second eccentric convex outer casing is provided with a second inner bearing.
  • the arrangement of the first inner bearing and the second inner bearing can reduce the friction inside the reducer and reduce the wear of the various components of the reducer, thereby improving the service life of the reducer.
  • first retaining ring is disposed between the front seat bearing and the first toothed disc
  • second retaining ring is disposed between the rear seat bearing and the second chainring.
  • the improved wobble plate reducer further includes a spacer ring disposed between the first chainring and the second chainring.
  • the first and second spurs rotate at a high speed, and the friction between the two will seriously affect the service life of the first sprocket and the second sprocket, and also affect the between the various components. stability.
  • the first toothed disc is separated from the second toothed disc by a spacer ring, which prevents friction between the two and reduces wear of the parts.
  • the speed reducer is further provided with a front cover, the front cover is connected to one end of the housing and adjacent to the outer needle roller, and the center of the front cover is provided with a front cover input shaft hole, the input A shaft passes through the front cover input shaft hole, and the front cover input shaft hole is provided with an oil seal.
  • the front cover isolates the internal parts of the reducer from other external equipment to prevent internal parts from being damaged, to ensure the safety of internal parts, and to prevent dust from entering and causing wear.
  • the rotating mechanism inside the reducer often needs to be dripped with oil to lubricate, and the oil seal can be installed to avoid leakage of oil under high-speed rotation.
  • the invention has the beneficial effects that: by improving the structure of the cycloidal wheel of the conventional reducer, the eccentric oscillating needle roller structure is adopted, and the external needle roller and the first inner needle roller are used for rolling friction, which can effectively improve the mechanical transmission efficiency and improve the efficiency. Product accuracy. In addition, it can reduce the processing difficulty of the product and reduce the friction of each component. After the reducer is operated for a long time, the wear only occurs on the needle roller, and only the inner needle on the first toothed disc and the outer needle on the outer casing can be replaced, which reduces the maintenance difficulty of the reducer. Reduce the cost of maintenance.
  • FIG. 1 is a schematic structural view of a housing in an improved wobble plate reducer according to an embodiment of the present invention
  • FIG. 2 is a schematic view showing the mechanism of an input shaft in an improved wobble plate reducer according to an embodiment of the present invention
  • FIG. 3 is a schematic structural view of a first toothed disc in an improved wobble plate reducer according to an embodiment of the present invention
  • FIG. 4 is a schematic view showing the mechanism of a crankshaft in an improved wobble plate reducer according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a planetary gear in an improved wobble plate reducer according to an embodiment of the present invention
  • FIG. 6 is a schematic view showing the assembly mechanism of the components in the improved wobble plate reducer provided by the embodiment of the present invention (excluding the output shaft);
  • FIG. 7 is a tooth profile diagram of a front and rear rotation of a first tooth in an improved wobble plate reducer according to an embodiment of the present invention.
  • FIG. 8 is a diagram showing a convergence process of an approximation algorithm in a solution process of an objective function in an improved wobble plate reducer according to an embodiment of the present invention
  • FIG. 9 is a graph showing an approximation curve obtained by an approximation algorithm in solving a target function in an improved wobble plate reducer according to an embodiment of the present invention.
  • FIG. 10 is a diagram showing an approximation curve finally determined by an approximation algorithm in the process of solving the objective function in the improved wobble plate reducer provided by the embodiment of the present invention.
  • Housing 101 input shaft 102; sun gear 103; first inner needle 104; first toothed disc 105; first recess 106; first drive shaft hole 107; crankshaft 108; first eccentric projection 109; Eccentric protrusion 110; planetary gear 111; front seat 112; rear seat 113; front seat crankshaft hole 114; rear seat crankshaft hole 115; first outer bearing 116; second outer bearing 117; transmission shaft 118; second toothed disc 119; Two inner needles 120; a front seat bearing 121; a rear seat bearing 122; a first inner bearing 123; a second inner bearing 124; a first retaining ring 125; a second retaining ring 126; a spacer ring 127; a front cover 128; Shaft hole 129; oil seal 130; outer needle roller 131; rear seat leakage preventing ring 132.
  • the present invention provides an improved wobble plate reducer comprising a housing 101, an input shaft 102 and an output shaft.
  • the input shaft 102 decelerates the power output of the motor through a modified wobble plate reducer and then outputs the power from the output shaft.
  • the improved wobble plate reducer also includes an input mechanism, a speed reduction mechanism, and an output mechanism.
  • the speed reduction mechanism includes a first inner needle roller 104, a first toothed disc 105, and an outer needle roller 131.
  • a plurality of outer needles 131 are circumferentially arranged along the inner wall of the casing 101.
  • the first toothed disc 105 is rotatably disposed in the housing 101, and the first toothed disc 105
  • the edge is circumferentially provided with a plurality of first grooves 106, and the first grooves 106 are equally spaced.
  • the first inner needle roller 104 is embedded in the first recess 106.
  • the number of the teeth of the first inner needle 104 of the same pitch is one less than the number of the outer needles 131, and the first inner needle 104 and the outer needle 131 are differentially meshed.
  • the input shaft 102 drives the first spur 105 to rotate by an input mechanism, and the first sprocket 105 drives the output shaft to rotate by an output mechanism.
  • the first inner needle roller 104 is disposed in the first recess 106 and differentially meshed with the outer needle 131 to achieve a deceleration effect.
  • the reducer After the long-term operation of the reducer, mainly the wear of the first inner needle roller 104 and the outer needle roller 131 does not affect the first toothed disc 105, and the reducer can be maintained by directly replacing the first inner needle roller 104 and the outer needle roller 131. Normal operation. Since only the first inner needle roller 104 and the outer needle roller 131 need to be replaced during maintenance, the first inner needle roller 104 and the outer needle roller 131 have relatively simple structure and low manufacturing process requirements, thereby reducing maintenance difficulty of the reducer. And maintenance costs.
  • the input mechanism includes a plurality of crankshafts 108 having first eccentric protrusions 109, preferably three crankshafts 108.
  • One end of the input shaft 102 is provided with a sun gear 103, and the other end of the input shaft 102 passes through the center of the first toothed disc 105.
  • One end of the crankshaft 108 is provided with a planetary gear 111.
  • the planetary gear 111 rotates around the sun gear 103 and is coupled with the sun gear. 103 engages, the other end of the crankshaft 108 passes through the first spur 105, and the first eccentric projection 109 of the crankshaft 108 cooperates with the first spur 105.
  • the planetary gear 111 provided on the crankshaft 108 cooperates with the sun gear 103 provided on the input shaft 102 to constitute a planetary gear transmission, and the motor power input to the input shaft 102 is initially decelerated.
  • the force on the crankshaft 108 is dispersed, the service life of the crankshaft 108 is extended, and the deceleration pressure of the first inner needle roller 104 and the outer needle roller 131 can be reduced, and the speed reducer can be improved.
  • Overall operational stability thereby increasing the life of the reducer.
  • the first eccentric protrusion 109 provided on the crankshaft 108 drives the rotation of the first spur 105, thereby driving the differential engagement between the first inner needle 104 and the outer needle 131, and further reducing the input power of the motor.
  • the output mechanism includes a front seat 112 and a rear seat 113 that rotate synchronously, and the front seat 112 is provided with a front seat crank hole 114.
  • the rear seat 113 is provided with a rear seat crank hole 115 coaxial with the front seat crank hole 114.
  • One end of the crankshaft 108 is sleeved with a first outer bearing 116.
  • the crankshaft 108 is sleeved with a second outer bearing 117 adjacent to the planetary gear 111.
  • the first outer bearing 116 extends into the front seat crankshaft hole 114, and the second outer bearing 117 extends into the rear seat.
  • Crankshaft bore 115 The arrangement of the first outer bearing 116 and the second outer bearing 117 can effectively reduce the friction between the crankshaft 108 and the front seat 112, the crankshaft 108 and the rear seat 113, and reduce the noise during operation of the reducer.
  • the rear seat 113 is provided with a transmission shaft 118.
  • the first toothed disc 105 is provided with a first transmission shaft hole 107.
  • the transmission shaft 118 passes through the first transmission shaft hole 107 and is connected to the front seat 112.
  • the other side of the rear seat 113 Connected to the output shaft.
  • the cooperation of the front seat 112 and the rear seat 113 completes the transmission of the decelerated power, and then the power is output through the output shaft.
  • the front seat 112 cooperates with the first outer bearing 116, the rear seat 113 and the second outer portion.
  • the cooperation of the bearing 117 can limit the internal components of the reducer, prevent the front seat 112 and the rear seat 113 from swaying under the operation of the reducer, and make the operation of the reducer more stable; in addition, the reducer can also be enabled Withstand a certain external impact, which improves the environmental adaptability of the reducer.
  • the improved wobble plate reducer further includes a second toothed disc 119 and a second inner needle roller 120.
  • the second toothed disc 119 is rotatably disposed in the housing 101.
  • the crankshaft 108 passes through the second toothed disc 119, and the crankshaft 108 is further provided with
  • the second eccentric protrusion 119 is matched with the second eccentric protrusion 110.
  • the edge of the second spur 119 is circumferentially disposed with a plurality of second grooves. The plurality of second grooves are equally spaced, and the second inner needle 120 is embedded.
  • the number of the teeth of the second inner needle 120 of the same pitch is one less than the number of the outer needles 131, and the second inner needle 120 is differentially meshed with the outer needle 131.
  • the second toothed disc 119 is provided with a second transmission shaft hole, and the transmission The shaft 118 passes through the second drive shaft bore and is coupled to the front seat 112. The arrangement of the second toothed disc 119 can further decelerate the input power, thereby achieving a better deceleration effect while sharing the force.
  • the improved wobble plate reducer provided by the present invention further includes a spacer ring 127 disposed between the first toothed disc 105 and the second toothed disc 119 to serve as an isolation function. It plays a role in reducing friction noise.
  • the reducer is also provided with a front cover 128 for protecting the mechanical structure inside the reducer from being damaged by other external devices, and also avoiding mutual interference with external devices.
  • the front cover 128 is coupled to one end of the housing 101 and adjacent to the outer needle 131.
  • the front cover 128 is provided with a front cover input shaft hole 129 at the center thereof, and the input shaft 102 passes through the front cover input shaft hole 129.
  • the front cover input shaft hole 129 is provided with an oil seal 130, and the oil seal 130 prevents the lubricating oil added inside the reducer from leaking.
  • the rear seat 113 may also be provided with a rear seat leakage preventing ring 132 to prevent the lubricating oil inside the speed reducer from leaking through the rear seat 113.
  • the front seat 112 is provided with a front seat bearing 121, the front seat bearing 121 is embedded in the casing 101, and the rear seat 113 is embedded.
  • the outer casing is provided with a rear seat bearing 122, and the rear seat bearing 122 is embedded in the casing 101 and away from the front seat bearing 121.
  • the first eccentric protrusion 109 is provided with a first inner bearing 123 and the second eccentric protrusion 110 is provided with a second inner bearing 124.
  • first inner bearing 123 and the second inner bearing 124 can reduce mechanical friction between the first sprocket 105 and the second spur 119 when the crankshaft 108 rotates, reducing transmission resistance.
  • a first retaining ring 125 is disposed between the front seat bearing 121 and the first toothed disc 105
  • a second retaining ring 126 is disposed between the rear seat bearing 122 and the second chainring 119.
  • the external motor rotates to provide power, and the power is transmitted to the improved wobble plate reducer through the input shaft.
  • the sun gear disposed on the input shaft cooperates with the planet gears disposed on the crankshaft to achieve a preliminary deceleration.
  • the rotation of the crankshaft Due to the rotation of the planetary wheel, the rotation of the crankshaft is driven, thereby driving the first eccentric protrusion and the second eccentric protrusion to rotate, the rotation of the first eccentric protrusion drives the rotation of the first toothed disc, and the rotation of the second eccentric protrusion drives the second
  • the toothed disc rotates, and then the first toothed disc drives the first inner needle roller, the second toothed disc drives the second inner needle roller to rotate, and then the differential action is achieved by differentially engaging the outer needle roller. Since the housing is in a fixed state, the reaction force of the differential engagement between the outer needle and the first inner needle and the second inner needle drives the front seat and the rear seat to rotate, thereby achieving the purpose of decelerating the power of the motor. Since the output shaft and the input shaft are in the same straight line at the axial center, the structure of the reducer is more compact, which is advantageous for reducing the volume of the reducer.
  • the center circle radius of the cycloidal tooth of the first toothed disc and the first inner needle roller radius are determined by the following methods:
  • the value of the minimum radius of curvature is greater than the value of the needle tooth radius, proceed to the next step; if the value of the minimum radius of curvature is limited to or equal to the value of the pin tooth radius, the value of the basic parameter is re-determined;
  • the standard tooth profile equation of the first toothed disc is as follows: among them,
  • the objective function programming solution is established, and the center circle radius of the cycloid tooth and the first inner needle roller radius of the first toothed disc are determined.
  • the calculation process of the center circle radius and the first inner needle roller radius of the first toothed disc of the present embodiment is as follows.
  • the values of the basic parameters are as follows:
  • Tooth crown
  • the first toothed disc does not have a top cut, and the cycloidal active cylindrical wide tooth design can be performed.
  • the standard tooth profile of the cycloidal wheel of the first toothed disc is as follows:
  • FIG. 7 is a tooth profile curve of the first toothed disk before and after the rotation.
  • the approximation algorithm is adopted to establish the objective function programming solution.
  • the convergence process in the solution process is shown in Fig. 8.
  • the genetic algorithm convergence process is preferably adopted.
  • the approximation curve is shown in Fig. 9, and the objective function is solved.
  • the center of the cycloidal tooth has a radius r 1 and a first inner needle roller radius r 2 .
  • the solution process of the objective function in this implementation is as follows: First, 20 tooth profile points are taken on the tooth profile curve of the first toothed disc; secondly, 20 points of the connection are made by approaching the center of the curve circle, in the approximation curve 20 approximation curve points are obtained on the circle; again, the distance between the tooth profile curve point on the same line and the approximation curve point is the approach distance, then there are 20 approximation distances, so the objective function is the sum of 20 approximation distances. In order to obtain a more accurate curve, the number of points of the tooth profile curve can be increased.
  • the first toothed disc can also be modified, including shape modification and equidistant shaping.
  • the amount of the distance correction is denoted by ⁇ r p
  • the equidistance correction is denoted by ⁇ r rp .
  • ⁇ r p 0.0022 mm
  • ⁇ r rp 0.0022 mm.
  • the meshing between the first inner needle roller and the outer needle roller is more stable, continuous, and the friction is smaller, so that the running noise of the speed reducer is lower;
  • the number of meshes between the first inner needle and the outer needle is large, the overlap coefficient is high so that the smoothness between the respective machine members and the vibration are smaller.
  • the design parameters and performance indexes of the second toothed disc are the same as those of the first toothed disc, and the design parameters and performance indexes of the second inner needle roller are the same as those of the first inner needle roller.

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Abstract

一种改进型摆盘减速机，包括壳体(101)、输入轴(102)以及输出轴,还包括输入机构、减速机构以及输出机构，减速机构包括第一内滚针（104）、转动设置在壳体（101）内的第一齿盘（105）以及沿壳体（101）的内壁周向环设的外滚针（131），第一内滚针（104）嵌设在第一齿盘（105）的第一凹槽（106）内并与外滚针（131）差动啮合，输入轴（102）通过输入机构驱动第一齿盘（105）转动，第一齿盘（105）通过输出机构驱动输出轴转动。利用第一内滚针与外滚针的差动啮合，实现对输入动力的减速，然后通过第一齿盘进行传递减速后的动力，最终经过输出机构将减速的输入动力输出。该第一内滚针、外滚针的结构相对简单，更换相对方便，可以降低维护难度，缩减减速机的使用、维护成本。

Description

一种改进型摆盘减速机 技术领域
本发明涉及减速机技术领域，具体而言，涉及一种改进型摆盘减速机。
背景技术
目前，市面上比较常见的摆动减速装置是摆线针轮减速器。现有的摆线针轮减速器采用少齿差行星传动结构，将变幅外摆线的内侧等距曲线用作行星轮齿廓曲线，并且把圆形作为中心轮齿廓曲线。这种结构可以获得较大的减速比，体积小巧，噪音相对较小，传动效率高。相对于一般的渐开线齿轮而言，摆线针轮减速器不会产生齿顶干涉现象，从而扩展了其应用范围。
发明人经过研究发现，传统的摆线针轮减速装置存在摆线轮齿轮廓加工工艺复杂，而且齿轮面很容易受到磨损，进而造成减速装置内部噪音增大，损坏的零部件更换难度大等问题。
发明内容
本发明的目的在于提供一种改进型摆盘减速机，降低减速机的零部件的更换难度，减少改进型摆盘减速机的维护成本。
本发明是这样实现的：
一种改进型摆盘减速机，包括壳体、输入轴以及输出轴，所述改进型摆盘减速机还包括输入机构、减速机构以及输出机构，所述减速机构还包括第一内滚针、第一齿盘以及外滚针，多个所述外滚针沿所述壳体的内壁沿周向环设，所述第一齿盘转动设置在所述壳体内，所述第一齿盘的边缘沿周向设置有多个第一凹槽，所述第一凹槽等间距设置，所述第一内滚针嵌设在所述第一凹槽内，同等齿距的所述第一内滚针的针齿的个数比所述 外滚针的个数少一个，所述第一内滚针与所述外滚针差动啮合，所述输入轴通过所述输入机构驱动所述第一齿盘转动，所述第一齿盘通过所述输出机构驱动所述输出轴转动。
进一步地，所述第一齿盘的摆线齿中心圆半径和第一内滚针半径通过以下方法确定：
1)确定基本参数的数值，其中所述基本参数包括第一内滚针的针齿数、外滚针的针齿数、针齿中心圆半径、针齿半径、第一齿盘与第一内滚针的相对传动比、短幅系数以及针径系数，第一内滚针的针齿数记为Zc，外滚针的针齿数记为Zp，针齿中心圆半径记为rp，针齿半径记为rrp，第一齿盘与第一内滚针的相对传动比记为iH并且
Figure PCTCN2015092342-appb-000001
短幅系数记为K1，针径系数记为K2；
2)计算第一齿盘的齿廓的最小曲率半径，如果最小曲率半径的值大于针齿半径的值则进行下一步计算；如果最小曲率半径的值限于或者等于针齿半径的值则重新确定基本参数值；曲率半径记为|ρo|min，且有
Figure PCTCN2015092342-appb-000002
3)确定第一齿盘的标准齿形方程，带入基本参数的数值以绘制齿形曲线，第一齿盘的标准齿形方程如下：
Figure PCTCN2015092342-appb-000003
其中，
Figure PCTCN2015092342-appb-000004
4)采用逼近算法，建立目标函数编程求解，确定第一齿盘的摆线齿中心圆半径和第一内滚针半径。
进一步地，所述输入机构包括多个设有第一偏心凸起的曲轴，所述输入轴的一端设有太阳齿轮、所述输入轴的另一端穿过所述第一齿盘的中心，所述曲轴的一端设置有行星齿轮，所述行星齿轮环绕所述太阳齿轮转动设置并与所述太阳齿轮啮合，所述曲轴的另一端穿过所述第一齿盘，所述曲轴的第一偏心凸起与所述第一齿盘配合。太阳齿轮与行星齿轮配合从而实现初级减速，可以对电机的输入动力进行预减速可以降低直接减速对各个零部件的压力，减少零部件的损坏，进而提高减速机的整体寿命。
进一步地，所述输出机构包括同步转动的前座和后座，所述前座开设有前座曲轴孔，所述后座设置有与所述前座曲轴孔同轴的后座曲轴孔，所述曲轴的一端套设有第一外部轴承，所述曲轴邻近所述行星齿轮处套设有第二外部轴承，所述第一外部轴承伸入所述前座曲轴孔，所述第二外部轴承伸入所述后座曲轴孔；
所述后座的一侧设置有传动轴，所述第一齿盘设置有第一传动轴孔，所述传动轴穿过所述第一传动轴孔且与所述前座连接，所述后座的另一侧与所述输出轴连接。前座与后座配合将动力输出，以提供给其他设备使用。第一外部轴承、第二外部轴承的设置可以起到润滑的作用减少减速机内部的摩擦，降低摩擦的噪音。
进一步地，所述改进型摆盘减速机还包括第二齿盘和第二内滚针，所述第二齿盘转动设置在所述壳体内，所述曲轴穿过所述第二齿盘，所述曲轴还设置有与所述第二齿盘配合的第二偏心凸起，所述第二齿盘的边缘沿周向设置有多个第二凹槽，多个第二凹槽等间距设置，所述第二内滚针嵌设在所述第二凹槽内，同等齿距的所述第二内滚针的针齿的个数比所述外滚针的个数少一个，所述第二内滚针与所述外滚针差动啮合，所述第二齿 盘设置有第二传动轴孔，所述传动轴穿过所述第二传动轴孔且与所述前座连接。采用第二齿盘与第二内滚针的配合可以进一步地对输入进行减速，从而实现更高的减速效率，两个配合分担齿盘受力，减少每个磨损，增加寿命。
进一步地，所述前座外套设有前座轴承，所述前座轴承嵌设于所述壳体内，所述后座外套设有后座轴承，所述后座轴承嵌设于所述壳体内且远离所述前座轴承。前座通过前座轴承将其与壳体之间的摩擦，后座通过后座轴承降低其与壳体之间的摩擦，从而实现了降低噪声的作用。另外，前座与后座还可以起到稳定内部零部件的作用，提高零部件转动时的稳定性。
进一步地，所述第一偏心凸起外套设有第一内部轴承，所述第二偏心凸起外套设有第二内部轴承。第一内部轴承和第二内部轴承的设置可以起到减小减速机内部的摩擦，减少减速机各个零部件的磨损的作用，从而提高减速机的使用寿命。
进一步地，所述前座轴承与所述第一齿盘之间设置有第一挡环，所述后座轴承与所述第二齿盘之间设置有第二挡环。第一挡环、第二挡环的设置能够起到防止摩擦，降低机械噪音的目的。此外，还能减少内部各个零部件之间的磨损的风险。
进一步地，所述改进型摆盘减速机还包括隔环，所述隔环设置于所述第一齿盘与所述第二齿盘之间。减速机运转过程中，第一齿盘、第二齿盘高速旋转，两者之间的摩擦会严重影响第一齿盘、第二齿盘的使用寿命，同时还会影响各个零部件之间的稳定性。第一齿盘通过隔环与第二齿盘隔离开，可以防止两者之间发生摩擦，减少零件磨损。
进一步地，所述减速机还设置有前盖，所述前盖与所述壳体的一端连接且邻近所述外滚针，所述前盖的中心设置有前盖输入轴孔，所述输入轴穿过所述前盖输入轴孔，所述前盖输入轴孔设置有油封。前盖将减速机内部的零部件与外部的其他设备隔离开来，防止内部的零部件收到破坏，以确保内部零部件的运转的安全性，防尘避免灰尘进入，造成零件磨损。减速机内部的转动机构时常需要滴加机油进行润滑，设置油封可以避免高速旋转的情况下机油的漏出。
本发明的有益效果是：通过对传统的减速机的摆线轮结构进行改进，采用偏心摆动滚针结构，外滚针与第一内滚针进行滚动摩擦，可以有效地提高机械传动效率，提高产品精度。此外，还可以降低产品的加工难度，减轻各个零部件的摩擦。减速机长时间工作后，磨损只发生在滚针，只通过更换第一齿盘上的内滚针与分布在壳体上的外滚针即可，这就实现了降低减速机的维护难度，降低维护成本的目的。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本发明实施例提供的改进型摆盘减速机中的壳体的机构示意图；
图2示出了本发明实施例提供的改进型摆盘减速机中的输入轴的机构示意图；
图3为本发明实施例提供的改进型摆盘减速机中的第一齿盘的机构示意图；
图4示出了本发明实施例提供的改进型摆盘减速机中的曲轴的机构示意图；
图5为本发明实施例提供的改进型摆盘减速机中的行星齿轮的机构示意图；
图6示出了本发明实施例提供的改进型摆盘减速机中的各部件的组装机构示意图(不包括输出轴)；
图7示出了本发明实施例提供的改进型摆盘减速机中的第一齿旋转前后的齿廓曲线图；
图8示出了本发明实施例提供的改进型摆盘减速机中的目标函数的求解过程中的逼近算法的收敛进程图；
图9示出了本发明实施例提供的改进型摆盘减速机中的目标函数的求解过程中的逼近算法得到的逼近曲线图；
图10示出了本发明实施例提供的改进型摆盘减速机中的目标函数的求解过程中的逼近算法最终确定的逼近曲线图。
附图标记汇总：
壳体101；输入轴102；太阳齿轮103；第一内滚针104；第一齿盘105；第一凹槽106；第一传动轴孔107；曲轴108；第一偏心凸起109；第二偏心凸起110；行星齿轮111；前座112；后座113；前座曲轴孔114；后座曲轴孔115；第一外部轴承116；第二外部轴承117；传动轴118；第二齿盘119；第二内滚针120；前座轴承121；后座轴承122；第一内部轴承123；第二内部轴承124；第一挡环125；第二挡环126；隔环127；前盖128；前盖输入轴孔129；油封130；外滚针131；后座防漏环132。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面结合具体的实施例子并结合附图对本发明做进一步的详细描述。
在现在市场上常见减速装置，如摆动减速装置通常具有摆线轮减速结构，通过摆线轮与针轮的配合实现高效的减速作用。但是，传统的摆线轮减速结构存在摆线轮齿轮廓加工工艺复杂，齿轮面很容易受到磨损，磨损起始会造成减速内部噪音增大，磨损严重则摆线轮失效等问题。本发明人通过研究，设计了一种结构改进型摆盘减速机，利用滚针配合减速可以大大地降低减速机的零部件更换难度，降低减速机的维护成本。
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本发明实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本发明的实施例的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例
参阅图1-图6，本发明提供的一种改进型摆盘减速机，包括壳体101、输入轴102以及输出轴。输入轴102将电机的动力输出，通过改进型摆盘减速机减速后再由输出轴将动力输出。
改进型摆盘减速机还包括输入机构、减速机构以及输出机构。减速机构包括第一内滚针104、第一齿盘105以及外滚针131。多个外滚针131沿壳体101的内壁沿周向环设。第一齿盘105转动设置在壳体101内，第一齿盘105 的边缘沿周向设置有多个第一凹槽106，第一凹槽106等间距设置。第一内滚针104嵌设在第一凹槽106内。同等齿距的第一内滚针104的针齿的个数比外滚针131的个数少一个，第一内滚针104与外滚针131差动啮合。输入轴102通过输入机构驱动第一齿盘105转动，第一齿盘105通过输出机构驱动输出轴转动。第一内滚针104设置于第一凹槽106内且与外滚针131差动啮合，从而实现减速作用。
减速机长期运转后，主要是第一内滚针104与外滚针131发生的磨损而不影响第一齿盘105，可以通过直接更换第一内滚针104和外滚针131来维持减速机的正常运转。由于维护时只需要更换第一内滚针104与外滚针131即可，第一内滚针104、外滚针131的结构相对简单、制造工艺要求不高，从而可以降低减速机的维护难度与维护成本。
输入机构包括多个设有第一偏心凸起109的曲轴108，优选地为三个曲轴108。输入轴102的一端设有太阳齿轮103、输入轴102的另一端穿过第一齿盘105的中心，曲轴108的一端设置有行星齿轮111，行星齿轮111环绕太阳齿轮103转动设置并与太阳齿轮103啮合，曲轴108的另一端穿过第一齿盘105，曲轴108的第一偏心凸起109与第一齿盘105配合。
曲轴108设置的行星齿轮111与输入轴102设置的太阳齿轮103配合构成行星齿轮传动，对输入轴102输入的电机动力进行初步的减速。通过利用多根曲轴108带动第一齿盘105转动，分散了曲轴108上受力，延长曲轴108的使用寿命，并且可以降低第一内滚针104、外滚针131的减速压力，提高减速机整体的运行稳定性，从而提高减速机的使用寿命。设置于曲轴108的第一偏心凸起109驱动第一齿盘105的转动，进而带动第一内滚针104与外滚针131的差动啮合，对电机的输入动力进一步地减速。
输出机构包括同步转动的前座112和后座113，前座112开设有前座曲轴孔114。后座113设置有与前座曲轴孔114同轴的后座曲轴孔115。曲轴108的一端套设有第一外部轴承116，曲轴108邻近行星齿轮111处套设有第二外部轴承117，第一外部轴承116伸入前座曲轴孔114，第二外部轴承117伸入后座曲轴孔115。第一外部轴承116、第二外部轴承117的设置可以有效地降低曲轴108与前座112、曲轴108与后座113之间的摩擦，降低减速机工作时的噪音。
后座113的一侧设置有传动轴118，第一齿盘105设置有第一传动轴孔107，传动轴118穿过第一传动轴孔107且与前座112连接，后座113的另一侧与输出轴连接。
一方面，前座112与后座113的配合完成减速后的动力的传递，然后通过输出轴将动力进行输出，另一方面，前座112与第一外部轴承116的配合、后座113与第二外部轴承117的配合能够对减速机的内部零部件起到限定作用，防止前座112与后座113在减速机运转的情况下发生摇摆，使减速机的运转更稳定；此外，还可以使减速机能够承受一定的外部冲击，从而提高了减速机的环境适应能力。
改进型摆盘减速机还包括第二齿盘119和第二内滚针120，第二齿盘119转动设置在壳体101内，曲轴108穿过第二齿盘119，曲轴108还设置有与第二齿盘119配合的第二偏心凸起110，第二齿盘119的边缘沿周向设置有多个第二凹槽，多个第二凹槽等间距设置，第二内滚针120嵌设在第二凹槽内，同等齿距的第二内滚针120的针齿的个数比外滚针131的个数少一个，第二内滚针120与外滚针131差动啮合，第二齿盘119设置有第二传动轴孔，传动 轴118穿过第二传动轴孔且与前座112连接。第二齿盘119的设置可以进一步地对输入动力进行减速处理，从而实现更好的减速作用，同时分担受力。
由于第一齿盘105与第二齿盘119处于高速的旋转中，彼此之间容易发生摩擦，从而影响第一齿盘105与第二齿盘119的使用寿命。针对以上问题，本发明提供的改进型摆盘减速机还包括有隔环127，隔环127设置于第一齿盘105与第二齿盘119之间，以起到隔离的作用，而且还能起到减小摩擦噪音的作用。
减速机还设置有前盖128，用以保护减速机内部的机械结构不会被外部的其他的装置破坏，也避免与外部的设备发生相互干扰的情况。前盖128与壳体101的一端连接且邻近外滚针131，前盖128的中心设置有前盖输入轴孔129，输入轴102穿过前盖输入轴孔129。优选地，前盖输入轴孔129设置有油封130，利用油封130阻止减速机内部添加的润滑油发生泄露的问题。后座113也可以设置后座防漏环132，以防止减速机内部的润滑油通过后座113泄露的问题。
为了降低前座112、后座113与壳体101之间摩擦作用，减小减速机产生的机械摩擦噪音，前座112外套设有前座轴承121，前座轴承121嵌设于壳体101内，后座113外套设有后座轴承122，后座轴承122嵌设于壳体101内且远离前座轴承121。较佳地，第一偏心凸起109外套设有第一内部轴承123，第二偏心凸起110外套设有第二内部轴承124。第一内部轴承123和第二内部轴承124的设置可以降低曲轴108转动时与第一齿盘105和第二齿盘119之间的机械摩擦，降低传动阻力。同样为了降低机械摩擦，前座轴承121与第一齿盘105之间设置有第一挡环125，后座轴承122与第二齿盘119之间设置有第二挡环126。
改进型摆盘减速机运转时，外部电机转动提供动力，并且通过输入轴将动力传递给改进型摆盘减速机。设置于输入轴的太阳齿轮与设置于曲轴的行星齿轮配合，实现初步的减速作用。由于行星轮的转动，带动曲轴转动，进而可以驱动第一偏心凸起和第二偏心凸起转动，第一偏心凸起的转动驱动第一齿盘转动、第二偏心凸起的转动驱动第二齿盘转动，然后第一齿盘驱动第一内滚针、第二齿盘驱动第二内滚针转动，再通过与外滚针差动啮合实现减速作用。由于壳体处于固定状态下，外滚针与第一内滚针、第二内滚针的差动啮合的反作用力，驱动前座和后座转动，从而实现将电机的动力减速输出的目的。由于输出轴和输入轴在轴心在同一条直线，使得减速机的结构更加的紧凑，从而有利于减小减速机的体积。
第一齿盘的摆线齿中心圆半径和第一内滚针半径通过以下方法确定：
1)确定基本参数的数值，所述基本参数包括第一内滚针的针齿数、外滚针的针齿数、针齿中心圆半径、针齿半径、第一齿盘与第一内滚针的相对传动比、短幅系数以及针径系数，其中第一内滚针的针齿数记为Zc，外滚针的针齿数记为Zp，针齿中心圆半径记为rp，针齿半径记为rrp，第一齿盘与第一内滚针的相对传动比记为iH并且
Figure PCTCN2015092342-appb-000005
短幅系数记为K1，针径系数记为K2；
2)计算第一齿盘的齿廓的最小曲率半径，曲率半径记为|ρo|min，且有如下关系式：
Figure PCTCN2015092342-appb-000006
如果最小曲率半径的数值大于针齿半径的数值则进行下一步操作；如果最小曲率半径的数值限于或者等于针齿半径的数值则重新确定基本参数的数值；
3)确定第一齿盘的标准齿形方程，第一齿盘的标准齿形方程如下：
Figure PCTCN2015092342-appb-000007
其中，
Figure PCTCN2015092342-appb-000008
带入基本参数的数值以绘制齿形曲线，
4)采用逼近算法，建立目标函数编程求解，确定第一齿盘的摆线齿中心圆半径和第一内滚针半径。
具体地，本实施例的第一齿盘的摆线齿中心圆半径和第一内滚针半径的计算过程如下，首先，基本参数的数值如下：
输入功率：p＝11kW
输出转速：n出＝25r/min
传动比：i＝80
输入转速：n入＝i n出＝2000r/min；
机械效率：η＝0.9；
输出扭矩：
Figure PCTCN2015092342-appb-000009
各个齿轮的齿数：
第一齿盘：           Zc＝80；
外滚针针齿：         Zp＝81；
输入轴：             Z1＝24；
曲轴轮：             Z2＝24；
第一齿盘的齿形参数
短幅系数：         K1＝0.75，K2＝1.5；
针齿中心圆半径：
Figure PCTCN2015092342-appb-000010
取rp＝125mm；
齿宽：b＝0.1·rp＝13.24mm，取b＝14mm；
偏心距：
Figure PCTCN2015092342-appb-000011
取a＝1.16mm；
反算短幅系数：
Figure PCTCN2015092342-appb-000012
针齿半径：
Figure PCTCN2015092342-appb-000013
取rrp＝3.231mm；
针径系数：
Figure PCTCN2015092342-appb-000014
摆线轮节圆半径：rc'＝a·zc＝92.8mm；
针轮节圆半径：rp'＝k1·rp＝94mm；
齿顶外凸：
Figure PCTCN2015092342-appb-000015
最小曲率半径：
Figure PCTCN2015092342-appb-000016
故不存在顶切。
通过上述计算，第一齿盘不存在顶切，则可以进行摆线轮活性圆柱阔齿设计。第一齿盘的摆线轮标准齿形方程式如下：
Figure PCTCN2015092342-appb-000017
通过上述方程式进行齿形图绘制，图7为旋转前后的第一齿盘的齿廓曲线。绘制齿廓曲线后再采取逼近算法，建立目标函数编程求解，求解过程中的收敛进程如图8所示，优选地采用遗传算法收敛进程，其逼近曲线如图9所示，求解目标函数即得到摆线齿中心圆半径r1，第一内滚针半径r2。
本实施中目标函数的求解过程如下：首先，在第一齿盘的齿廓曲线上取20个齿廓曲线点；其次，通过逼近曲线圆的圆心分别做20个点的连线，在逼近曲线圆上的得到20个逼近曲线点；再次，同一直线上的齿廓曲线点与逼近曲线点之间的距离为逼近距离，则有20个逼近距离，所以目标函数就是20个逼近距离之和，为了得到更加精确的曲线，所取齿廓曲线点的个数可以增加。当目标函数的值最小时，得到逼近曲线圆，逼近曲线圆的半径就是r2，第一齿盘的圆心到逼近曲线圆之间的距离就是r1，参阅图10。进一步优化、减小制造时的误差，以便于装卸和确保润滑的效果，还可以对第一齿盘进行修形，修形包括移距修形和等距修形。其中，移距修形量记为Δrp，等距修形记为Δrrp，本实施例中Δrp＝0.0022mm，Δrrp＝0.0022mm。
最终确定设计参数如下：
摆线轮齿数:  Zc＝80
针轮齿数:    Zp＝81
摆线轮和针轮的相对传动比:    iH＝81/80
短幅系数:    K1＝0.752
针径系数           K2＝1.5
偏心距:            a＝1.16mm
针齿外圆半径:      rrp＝3.231mm
针齿中心圆半径：   rp＝125mm
摆线齿中心圆半径： r1＝120.21mm
第一内滚针半径：   r2＝2.7125mm
由于第一齿盘的齿廓不存在顶切问题，所以第一内滚针与外滚针之间的啮合更加的稳定、连续，摩擦更小，从而也使得减速机的运行噪音更低；另一方面，由于第一内滚针和外滚针之间的啮合数多，重叠系数高从而使得各个机构件之间的平稳，振动更小。同理，第二齿盘的设计参数和性能指标与第一齿盘相同，第二内滚针的设计参数和性能指标与第一内滚针相同。利用本实施例提供的减速机单级传动即可达到1:300的减速比，效率达到90％上，采用多级传动可以获得更大的减速比。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种改进型摆盘减速机，包括壳体、输入轴以及输出轴，其特征在于，所述改进型摆盘减速机还包括输入机构、减速机构以及输出机构，所述减速机构还包括第一内滚针、第一齿盘以及外滚针，多个所述外滚针沿所述壳体的内壁沿周向环设，所述第一齿盘转动设置在所述壳体内，所述第一齿盘的边缘沿周向设置有多个第一凹槽，所述第一凹槽等间距设置，所述第一内滚针嵌设在所述第一凹槽内，同等齿距的所述第一内滚针的针齿的个数比所述外滚针的个数少一个，所述第一内滚针与所述外滚针差动啮合，所述输入轴通过所述输入机构驱动所述第一齿盘转动，所述第一齿盘通过所述输出机构驱动所述输出轴转动。
  2. 根据权利要求1所述的改进型摆盘减速机，其特征在于，所述第一齿盘的摆线齿中心圆半径和第一内滚针的半径通过以下方法确定：
    1)确定基本参数的数值，所述基本参数包括第一内滚针的针齿数、外滚针的针齿数、针齿中心圆半径、针齿半径、第一齿盘与第一内滚针的相对传动比、短幅系数以及针径系数，其中第一内滚针的针齿数记为Zc，外滚针的针齿数记为Zp，针齿中心圆半径记为rp，针齿半径记为rrp，第一齿盘与第一内滚针的相对传动比记为iH并且
    Figure PCTCN2015092342-appb-100001
    短幅系数记为K1，针径系数记为K2；
    2)计算第一齿盘的齿廓的最小曲率半径，曲率半径记为|ρo|min，且有如下关系式：
    Figure PCTCN2015092342-appb-100002
    如果最小曲率半径的数值大于针齿半径的数值则进行下一步操作；如果最小曲率半径的数值限于或者等于针齿半径的数值则重新确定基本参数 的数值；
    3)确定第一齿盘的标准齿形方程，第一齿盘的标准齿形方程如下：
    Figure PCTCN2015092342-appb-100003
    其中，
    Figure PCTCN2015092342-appb-100004
    带入基本参数的数值以绘制齿形曲线，
    4)采用逼近算法，建立目标函数编程求解，确定第一齿盘的摆线齿中心圆半径和第一内滚针半径。
  3. 根据权利要求1或2所述的改进型摆盘减速机，其特征在于，所述输入机构包括多个设有第一偏心凸起的曲轴，所述输入轴的一端设有太阳齿轮、所述输入轴的另一端穿过所述第一齿盘的中心，所述曲轴的一端设置有行星齿轮，所述行星齿轮环绕所述太阳齿轮转动设置并与所述太阳齿轮啮合，所述曲轴的另一端穿过所述第一齿盘，所述曲轴的第一偏心凸起与所述第一齿盘配合。
  4. 根据权利要求3所述的改进型摆盘减速机，其特征在于，所述输出机构包括同步转动的前座和后座，所述前座开设有前座曲轴孔，所述后座设置有与所述前座曲轴孔同轴的后座曲轴孔，所述曲轴的一端套设有第一外部轴承，所述曲轴邻近所述行星齿轮处套设有第二外部轴承，所述第一外部轴承伸入所述前座曲轴孔，所述第二外部轴承伸入所述后座曲轴孔；
    所述后座的一侧设置有传动轴，所述第一齿盘设置有第一传动轴孔，所述传动轴穿过所述第一传动轴孔且与所述前座连接，所述后座的另一侧与所述输出轴连接。
  5. 根据权利要求4所述的改进型摆盘减速机，其特征在于，所述改进型摆盘减速机还包括第二齿盘和第二内滚针，所述第二齿盘转动设置在所 述壳体内，所述曲轴穿过所述第二齿盘，所述曲轴还设置有与所述第二齿盘配合的第二偏心凸起，所述第二齿盘的边缘沿周向设置有多个第二凹槽，多个第二凹槽等间距设置，所述第二内滚针嵌设在所述第二凹槽内，同等齿距的所述第二内滚针的针齿的个数比所述外滚针的个数少一个，所述第二内滚针与所述外滚针差动啮合，所述第二齿盘设置有第二传动轴孔，所述传动轴穿过所述第二传动轴孔且与所述前座连接。
  6. 根据权利要求5所述的改进型摆盘减速机，其特征在于，所述前座外套设有前座轴承，所述前座轴承嵌设于所述壳体内，所述后座外套设有后座轴承，所述后座轴承嵌设于所述壳体内且远离所述前座轴承。
  7. 根据权利要6所述的改进型摆盘减速机，其特征在于，所述前座轴承与所述第一齿盘之间设置有第一挡环，所述后座轴承与所述第二齿盘之间设置有第二挡环。
  8. 根据权利要求5所述的改进型摆盘减速机，其特征在于，所述第一偏心凸起外套设有第一内部轴承，所述第二偏心凸起外套设有第二内部轴承。
  9. 根据权利要求5所述的改进型摆盘减速机，其特征在于，所述改进型摆盘减速机还包括隔环，所述隔环设置于所述第一齿盘与所述第二齿盘之间。
  10. 根据权利要求1所述的改进型摆盘减速机，其特征在于，所述减速机还设置有前盖，所述前盖与所述壳体的一端连接且邻近所述外滚针，所述前盖的中心设置有前盖输入轴孔，所述输入轴穿过所述前盖输入轴孔，所述前盖输入轴孔设置有油封。
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