WO2018233345A1 - 一种偏心摆动型齿轮装置 - Google Patents

一种偏心摆动型齿轮装置 Download PDF

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Publication number
WO2018233345A1
WO2018233345A1 PCT/CN2018/081740 CN2018081740W WO2018233345A1 WO 2018233345 A1 WO2018233345 A1 WO 2018233345A1 CN 2018081740 W CN2018081740 W CN 2018081740W WO 2018233345 A1 WO2018233345 A1 WO 2018233345A1
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WIPO (PCT)
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pin
needle
diameter
crankshaft
teeth
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PCT/CN2018/081740
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English (en)
French (fr)
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吴鑫辉
刘珂荧
何卫东
李文龙
马庆龙
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大连民族大学
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Publication of WO2018233345A1 publication Critical patent/WO2018233345A1/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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members 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
    • F16N—LUBRICATING
    • F16N1/00—Constructional modifications of parts of machines or apparatus for the purpose of lubrication
    • 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
    • F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing
    • 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
    • F16H2001/327—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 with orbital gear sets comprising an internally toothed ring 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02039—Gearboxes for particular applications
    • F16H2057/02069—Gearboxes for particular applications for industrial applications

Definitions

  • the present invention relates to a gear device, and more particularly to an eccentric oscillating gear device.
  • the eccentric oscillating gear device is used to drive an arm member of the robot, which is provided at the joint portion of the industrial robot.
  • the current eccentric oscillating gear device wherein the external gear is a cycloidal gear and the internal gear is a pin wheel.
  • the diameter of the pin hole of the pin gear shell is the same as the diameter of the pin tooth, and the needle
  • the center circle diameter of the pin hole is equal to the diameter of the center circle of the pin tooth.
  • This structure can make the pin tooth and the cycloid conjugate contact, which meets the requirements of high transmission precision of the eccentric oscillating gear device, but due to the pin teeth and the pin teeth
  • the gap between the pin holes is small, the oil film formed is very thin, which is not conducive to the lubrication of the pin teeth.
  • the needle teeth are easy to process, and the uniformity of the dimensions is very good.
  • the wear of the grinding wheel is very serious, and the pin hole of the needle tooth shell is often not ground. Upon completion, the grinding wheel is severely worn and needs to be reconditioned, which not only reduces production efficiency, but also increases processing costs.
  • the present application provides an eccentric oscillating gear device, which can increase the pin tooth and the pin pin hole under the premise of ensuring the conjugate contact between the pin gear and the cycloidal wheel.
  • the thickness of the oil film is good for lubrication, improving the efficiency of the grinding process of the pin hole and reducing the processing cost.
  • an eccentric oscillating gear device comprising:
  • a pin gear housing having a pin pin hole on an inner circumference thereof, wherein the pin pin hole is provided with a pin tooth;
  • a pair of main bearings including a roller and an annular body for supporting the rollers; the pair of main bearings being disposed between the outer circumference of the planet carrier and the inner circumference of the pin housing;
  • crankshaft that is rotatably mounted on the planet carrier
  • a cycloidal wheel the cycloidal tooth meshes with the pinion, is mounted on the crank portion of the crankshaft and is disposed between the pair of main bearings; the yoke is eccentrically oscillated by the rotation of the crankshaft, from the needle
  • the gear shell or planet carrier takes the rotational output.
  • the pin hole diameter of the pin housing is larger than the pin diameter.
  • center distribution circle diameter dimension of the pin gear pin hole on the pin gear shell is smaller than the circle diameter dimension of the pin tooth center distribution.
  • the planet carrier is provided with a block body, a plurality of pillars and an end circular plate; the plurality of pillars are disposed in a plurality of trapezoidal holes in the cycloidal wheel, and the end circular plates are connected to the plurality of bolts by a plurality of bolts On the pillars.
  • the two ends of the crankshaft are rotatably supported by the block and the end circular plate through the tapered roller bearing; one of the tapered roller bearings is fixed to the block by the positioning ring, and the other tapered roller bearing It is fixed to the end disc by a positioning ring.
  • the planet gears are fixed by a positioning ring to one of the plurality of crankshafts.
  • the input shaft passing through the hollow hole has a gear that meshes with the planetary gear.
  • the invention adopts the above technical solution, and can obtain the following technical effects: according to the eccentric oscillating gear device of the invention, the diameter of the pin gear pin hole on the pin gear shell is larger than the pin tooth diameter dimension, and the pin tooth pin hole center distribution circle diameter size The diameter of the circle is smaller than the center of the pin tooth. Under the condition of ensuring the yoke of the cycloidal tooth and the pin tooth, the processing efficiency of the pin pin hole is improved, the processing cost is reduced, and the needle tooth lubrication is good, and the temperature rise is lowered. Transmission efficiency is improved.
  • the invention has a total of three figures:
  • Figure 1 is a schematic structural view of an eccentric oscillating gear device
  • Figure 2 is an enlarged view showing the positional relationship between the pin teeth and the pin hole
  • Figure 3 is a comparison of the center distribution circle of the pin pin hole and the circle diameter of the center of the pin tooth
  • the utility model provides an eccentric oscillating gear device, comprising a pin gear housing 1, a planet carrier, a pair of main bearings 4, 17, a plurality of crank axles 10 and cycloidal wheels 15, 16 and an oil seal 2;
  • the pinion housing 1 has a plurality of pin pin holes (see FIG.
  • the carrier 3 being
  • the pair of main bearings 4, 17 are formed by a tapered roller bearing which is disposed between the outer circumference of the carrier 3 and the inner circumference of the pin housing 1 with respect to the rotation of the pin housing, and the plurality of crank shafts 10 are
  • the planet carrier 3 is rotatably supported, and the cycloidal gears 15, 16 are engaged with the pin teeth 18 which are mounted to the crank portions 10a, 10b of the crankshaft 10 and placed between a pair of main bearings 4, 17.
  • the cycloidal wheels 15, 16 are supported by the crank portions 10a, 10b of the plurality of crankshafts 10, and are eccentrically oscillated by the rotation of the crankshaft 10;
  • the planet carrier is provided with a block 3a, a plurality of struts 3b and an end circular plate 3c, wherein the plurality of struts 3b are placed in a plurality of trapezoidal holes 5 in the cycloidal wheels 15, 16, the end circular plate 3c It is connected to the plurality of pillars 3b by a plurality of bolts 3d.
  • the carrier 3 is rotatably coupled to the pin housing 1 by main bearings 4, 17, and both ends of the crank shaft 10 are freely passed by the block 3a and the end disc 3c through the tapered roller bearings 11, 13. Rotatingly supported.
  • the tapered roller bearing 11 is fixed to the block by a positioning ring 14b which is fixed to the end circular plate by a positioning ring 14a.
  • the planet gears 8 are fixed by a positioning ring 9 to one of the plurality of crankshafts 10.
  • the input shaft 7 has a gear that meshes with the planetary gear 8 through the formed hollow hole 6, so as to pass through the approximate center of the carrier 3 and the cycloidal wheels 15, 16.
  • the rotational force can be transmitted from the external motor or the like to the crankshaft 10 through the planetary gear 8, and the crankshaft 10 is rotated, so that the rotational force is transmitted from the external motor or the like through the crankshaft 10 shaft to the cycloid gears 15, 16 and the pin gears 18 of the pin wheel. . Further, the oil seal 2 is placed between the pin housing 1 and the block 3a near the main bearing 4.
  • the diameter of the pin hole A is larger than the diameter of the pin B.
  • the diameter of the pin hole can be increased to increase the size of the grinding wheel.
  • the needle is machined with the wear of the grinding wheel.
  • the pin hole has already met the design requirements, reducing the correction of the grinding wheel, prolonging the machining time of the grinding wheel, improving the production efficiency and reducing the production cost.
  • the wedge-shaped opening between the pin tooth and the pin pin hole is increased, which is beneficial to the entry of lubricating oil between the pin tooth and the pin pin hole, so that the pin tooth lubrication is good, the temperature rise is reduced, and the transmission efficiency is improved.
  • the diameter of the center distribution circle C of the pin pin hole is smaller than the diameter D of the center of the pin tooth, and the diameter of the center circle of the pin pin hole is reduced to ensure the diameter of the center circle of the pin tooth is unchanged.
  • the pin teeth and the cycloidal teeth can be conjugated.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

一种偏心摆动型齿轮装置，其针齿销孔的直径尺寸大于针齿的直径尺寸，针齿销孔中心分布圆直径尺寸小于针齿中心分布圆直径尺寸，一方面便于针齿润滑，另一方面，便于针齿销孔磨削加工，提高加工效率。包括针齿壳（1），该针齿壳（1）在其内周上具有针齿销孔，所述针齿销孔内装有针齿（18）；行星架（3），其能自由旋转地安装在针齿壳（1）上；一对主轴承（4，17），其包括滚子和环形本体，该环形本体用于支撑滚子；该一对主轴承（4，17）置于行星架（3）的外周和针齿壳（1）的内周之间；曲柄轴（10），其能自由旋转地安装在行星架（3）上；摆线轮（15，16），摆线轮（15，16）齿与针齿（18）啮合，安装在曲柄轴（10）的曲柄部分上并置于所述一对主轴承（4，17）之间；通过曲柄轴（10）的旋转使得该摆线轮（15，16）进行偏心摆动运动，从针齿壳（1）或行星架（3）获取旋转输出。

Description

一种偏心摆动型齿轮装置 技术领域
本发明涉及一种齿轮装置,具体说是一种偏心摆动型齿轮装置。
背景技术
偏心摆动型齿轮装置用于驱动机器人的臂部件，该臂部件设在工业机器人关节部分。现行的偏心摆动型齿轮装置，其中，外齿轮为摆线齿轮，内齿轮为针轮，在该偏心摆动型齿轮装置中，针齿壳上针齿销孔直径尺寸与针齿直径尺寸相同，针齿销孔中心分布圆直径与针齿中心分布圆直径相等，此结构虽能使得针齿与摆线轮共轭接触，满足偏心摆动型齿轮装置高传动精度的要求，但是由于针齿与针齿销孔之间间隙很小，形成的油膜很薄，不利于针齿润滑，此外，为了减小针齿与针齿销孔之间的摩擦，需要对针齿销孔和针齿进行精磨加工，根据实际调研结果显示，针齿容易加工，尺寸统一性很好，而针齿销孔成型磨削加工过程中，砂轮的磨损非常严重，往往一个针齿壳上的针齿销孔磨削未完成，砂轮就已经严重磨损，需要重新修整，这样不仅降低了生产效率，同时也增加了加工成本。
发明内容
针对现有技术存在的上述问题，本申请提供了一种偏心摆动型齿轮装置，本装置可以在保证针齿与摆线轮共轭接触的前提下，增大针齿与针齿销孔之间的油膜厚度，利于润滑，提高针齿销孔磨削加工的效率，降低加工成本。
为实现上述目的，本申请采用的技术方案是：一种偏心摆动型齿轮装置，包括：
针齿壳，该针齿壳在其内周上具有针齿销孔，所述针齿销孔内装有针齿；
行星架，其能自由旋转地安装在针齿壳上；
一对主轴承，其包括滚子和环形本体，该环形本体用于支撑滚子；该一对主轴承置于行星架的外周和针齿壳的内周之间；
曲柄轴，其能自由旋转地安装在行星架上；
摆线轮，摆线轮齿与针齿啮合，安装在曲柄轴的曲柄部分上并置于所述一对主轴承之间；通过曲柄轴的旋转使得该摆线轮进行偏心摆动运动，从针齿壳或行星架获取旋转输出。
进一步的，所述针齿壳的针齿销孔直径尺寸大于针齿直径尺寸。
进一步的，所述针齿壳上针齿销孔中心分布圆直径尺寸小于针齿中心分布圆直径尺寸。
进一步的，行星架设有块体、多个支柱和端部圆板；所述多个支柱置于摆线轮中的多个梯形孔中，所述端部圆板由多个螺栓连接到多个支柱上。
进一步的，曲柄轴的两个端部通过圆锥滚子轴承由块体和端部圆板可自由旋转地支撑；其中一个圆锥滚子轴承由定位环固定到块体上，另一个圆锥滚子轴承由定位环固定到端部圆板上。
更进一步的，行星齿轮由定位环固定到多个曲柄轴中的一个轴向端部上。
更进一步的，穿过中空孔的输入轴上拥有与行星齿轮啮合的齿轮。
本发明由于采用以上技术方案，能够取得如下的技术效果：根据本发明的偏心摆动型齿轮装置，针齿壳上针齿销孔直径尺寸大于针齿直径尺寸，针齿销孔中心分布圆直径尺寸小于针齿中心分布圆直径尺寸，在保证摆线轮齿与针齿共轭啮合的条件下，提高了针齿销孔的加工效率，降低加工成本，并且使得针齿润滑良好，温升降低，传动效率提高。
附图说明
本发明共有附图3幅：
图1为偏心摆动型齿轮装置结构示意图；
图2为针齿与针齿销孔位置关系放大图；
图3为针齿销孔中心分布圆与针齿中心分布圆直径比较图；
具体实施方式
为了使本发明的目的、技术方案和优点更加清楚，下面结合附图和具体实施例对本发明进行详细描述。
实施例1
如图1所示，本实用提供一种偏心摆动型齿轮装置，包括针齿壳1、行星架、一对主轴承4、17、多个曲柄轴10和摆线轮15、16，油封2；其中，所述针齿壳1具有形成于其内周部分中的多个针齿销孔(参见图3)和置于相应针齿销孔内的多个针齿18，所述行星架3可相对于针齿壳旋转，所述一对主轴承4、17由圆锥滚子轴承构成，其设置在行星架3的外周和针齿壳1的内周之间，所述多个曲柄轴10 由行星架3可自由旋转地支撑，所述摆线齿轮15、16与针齿18啮合，它们安装到曲柄轴10的曲柄部分10a、10b上并置于一对主轴承4、17之间。摆线轮15、16由多个曲柄轴10的曲柄部分10a、10b支撑，通过曲柄轴10的旋转进行偏心摆动运动；
行星架设有块体3a、多个支柱3b和端部圆板3c，其中，所述多个支柱3b置于摆线轮15、16中的多个梯形孔5中，所述端部圆板3c由多个螺栓3d连接到多个支柱3b上。
行星架3通过主轴承4、17可自由旋转地连接到针齿壳1上，且曲柄轴10的两个端部通过圆锥滚子轴承11、13由块体3a和端部圆板3c可自由旋转地支撑。圆锥滚子轴承11由定位环14b固定到块体上，圆锥滚子轴承13由定位环14a固定到端部圆板上。
行星齿轮8由定位环9固定到多个曲柄轴10中的一个轴向端部上。输入轴7通过形成的中空孔6拥有与行星齿轮8啮合的齿轮，从而穿过行星架3和摆线轮15、16的大致中心。
旋转力可从外部马达等通过行星齿轮8传递给曲柄轴10，曲柄轴10被旋转，因此旋转力从外部马达等通过曲柄轴10轴传递给摆线齿轮15、16与针轮的针齿18。此外，油封2置于针齿壳1和主轴承4附近的块体3a之间。
参考图2、3说明针齿销孔A直径尺寸、针齿B直径尺寸和针齿销孔中心分布圆C直径尺寸的改变对偏心摆动型齿轮装置的影响。如图2所示，针齿销孔A直径尺寸大于针齿B直径尺寸，这样增大针齿销孔直径，可以增大砂轮的尺寸，加工过程中，随着砂轮的磨损，加工出的针齿销孔已然是符合设计要求，减少砂轮的修正，延长了砂 轮加工时间，提高生产效率，降低生产成本。另外，针齿与针齿销孔之间楔形口增大，有利于针齿与针齿销孔间润滑油进入，使针齿润滑良好，减小温升，提高传动效率。如图3所示，针齿销孔中心分布圆C直径尺寸小于针齿中心分布圆D直径尺寸，将针齿销孔中心分布圆直径尺寸减小，保证了针齿中心分布圆直径尺寸不变，针齿与摆线轮齿能够共轭接触。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明披露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。

Claims (3)

  1. 一种偏心摆动型齿轮装置，其特征在于，包括：
    针齿壳，该针齿壳在其内周上具有针齿销孔，所述针齿销孔内装有针齿；
    行星架，其能自由旋转地安装在针齿壳上；
    一对主轴承，其包括滚子和环形本体，该环形本体用于支撑滚子；该一对主轴承置于行星架的外周和针齿壳的内周之间；
    曲柄轴，其能自由旋转地安装在行星架上；
    摆线轮，摆线轮齿与针齿啮合，安装在曲柄轴的曲柄部分上并置于所述一对主轴承之间；通过曲柄轴的旋转使得该摆线轮进行偏心摆动运动，从针齿壳或行星架获取旋转输出。
  2. 根据权利要求1所述一种偏心摆动型齿轮装置，其特征在于，所述针齿壳的针齿销孔直径尺寸大于针齿直径尺寸。
  3. 根据权利要求1或2所述一种偏心摆动型齿轮装置，其特征在于，所述针齿壳上针齿销孔中心分布圆直径尺寸小于针齿中心分布圆直径尺寸。
PCT/CN2018/081740 2017-06-20 2018-04-03 一种偏心摆动型齿轮装置 WO2018233345A1 (zh)

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