WO2019090900A1 - 精密摆线回转关节减速器 - Google Patents

精密摆线回转关节减速器 Download PDF

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Publication number
WO2019090900A1
WO2019090900A1 PCT/CN2017/116691 CN2017116691W WO2019090900A1 WO 2019090900 A1 WO2019090900 A1 WO 2019090900A1 CN 2017116691 W CN2017116691 W CN 2017116691W WO 2019090900 A1 WO2019090900 A1 WO 2019090900A1
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Prior art keywords
pin
gear
cycloidal
gear pin
tooth
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PCT/CN2017/116691
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English (en)
French (fr)
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周世才
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殷爱国
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Publication of WO2019090900A1 publication Critical patent/WO2019090900A1/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
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • F16H55/088—Profiling with corrections on tip or foot of the teeth, e.g. addendum relief for better approach contact
    • 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
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0467—Elements of gearings to be lubricated, cooled or heated
    • F16H57/0479—Gears or bearings on planet carriers
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/048—Type of gearings to be lubricated, cooled or heated
    • F16H57/0482—Gearings with gears having orbital motion
    • F16H57/0486—Gearings with gears having orbital motion with fixed gear ratio
    • 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
    • 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
    • F16H2001/324—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 two axially spaced, rigidly interconnected, orbital gears
    • 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

Definitions

  • the invention relates to a precision cycloidal speed reducer, which is used for a robot rotary joint, a machine tool turntable and the like which require high rotation precision.
  • BXJ reducer is a new type of transmission developed on the basis of cycloidal pin wheel. It has a series of large rigidity, large transmission ratio range, large bearing capacity, high motion precision, high transmission efficiency, small backlash and small volume. advantage.
  • the BXJ reducer consists of an involute cylindrical planetary reduction mechanism and a cycloidal needle mechanism. Since the cycloidal pinion transmission part is the output member of the reducer, the influence on the motion accuracy and the return difference of the reducer is the most direct and maximum. In order to ensure the movement accuracy and hysteresis of the BXJ reducer, the clearance between the pin pin, the pin pin hole and the cycloidal wheel is usually reserved very small, but after the reducer is operated, the temperature will increase to a certain extent due to The thermal expansion of the material will further reduce the matching clearance, and the pin gear will be difficult to rotate or even jam.
  • the matching precision is usually controlled by improving the machining precision of the pin gear pin, the pin pin hole and the cycloidal wheel, which is the main reason for the high manufacturing cost of the BXJ reducer.
  • the object of the present invention is to provide a precision cycloidal rotary joint reducer with reasonable structure, low cost, high transmission efficiency and service life, high motion precision and small backlash.
  • the technical solution of the invention is a precision cycloidal rotary joint reducer, which comprises a pin gear shell, a planet carrier, a crank shaft, a pin gear pin, a cycloidal wheel, a sun gear and a planet gear, and the planet carrier is supported by the rolling bearing on the needle
  • the crank shaft is disposed in the planet carrier and has two eccentric portions displaced by 180°, and the eccentric portion is coupled to the cycloidal wheel through a roller bearing, and the cycloidal wheel is received in the pin hole of the inner wall of the pin gear housing.
  • the inner pin pin engages in the pin housing, and both ends of the crank shaft are supported by the tapered roller bearing in the carrier and fixed by the spline and the retaining ring, two or more crank shafts, cycloidal wheel and planetary structure a parallelogram mechanism, the sun gear meshes with the planet gear; and the tooth top region, the meshing region and the root region of the cycloidal tooth profile form a smooth curve, the meshing region engages the pin gear pin, and the tooth tip region And the root region has a gap with the pin pin, the pin pin hole diameter is larger than the pin pin diameter, the outer circle of the pin pin is inscribed with the pin pin hole, the wobble wheel meshing area and the pin pin There is a gap in the direction of the common normal.
  • the number of pin teeth is at least one more than the number of teeth of the cycloidal wheel.
  • the invention enlarges the pin pin hole, so that the pin pin can rotate freely in the corresponding pin pin hole, and at the same time, the pin pin corresponding pin hole moves in the radial direction toward the center of the pin gear, and the pin tooth is arranged.
  • a gap ⁇ occurs between the pin and the corresponding pin pin hole, and the pin pin hole moves by ⁇ /2, so that the outer circle of the pin pin is inscribed in the corresponding pin hole, thereby compensating for the reserved movement gap, along the pin pin
  • the pin gear pin Since the pin hole has a gap along the direction of the common pin of the pin gear and the cycloidal pin, the pin gear pin It is always free to rotate within its corresponding hole.
  • the gap between the pin gear and the corresponding pin pin hole is small and small, which facilitates the entry of lubricating grease, so that the pin gear can always be fully lubricated during the operation of the reducer, thus ensuring the pin pin and the cycloid wheel. It is always rolling friction, which improves the transmission efficiency and service life of the reducer.
  • the tooth profile of the cycloidal wheel is modified, and the area of the cycloidal tooth profile in the normal direction and the radial direction, that is, the tooth tip and the root region are modified to avoid thermal expansion of the material and the cycloidal wheel and the needle tooth
  • the pin interference forms the smoothing curve of the cycloidal tooth profile into the crest area, the root area and the meshing area.
  • the rest of the area and the pin teeth Pin engagement are engaged in meshing due to the standard tooth profile. Since the number of teeth participating in the meshing is large at the same time, the bearing capacity is improved, and the error equalization effect is facilitated, the transmission precision is improved, and the processing and assembly requirements are reduced, thereby reducing the manufacturing cost of the reducer.
  • Figure 1 is a schematic structural view of the present invention
  • Figure 2 is a schematic diagram of the transmission of the present invention
  • Figure 3 is an enlarged view of the meshing portion of the pinion housing and the cycloidal wheel of the present invention.
  • the pin housing 1 the carrier 2, the crank shaft 3, the pin gear 4, the cycloidal wheel 5, the sun gear 6, the planetary gear 7, and the pin gear hole 8.
  • a precision cycloidal rotary joint reducer including a pin gear housing 1, a carrier 2, a crank shaft 3, a pin gear 4, a cycloidal wheel 5, a sun gear 6, and a planetary gear 7
  • the planet carrier 7 is supported by the rolling bearing in the pin gear housing 1.
  • the crank shaft 3 is disposed in the carrier 2 and has two eccentric portions which are offset by 180°, and the eccentric portion thereof is coupled to the cycloidal wheel 5 through the roller bearing.
  • the cycloidal pin 5 is engaged in the pin gear housing via the pin gear pin 4 received in the pin hole 8 of the inner wall of the pin gear housing 1. Both ends of the crankshaft 3 are supported by the tapered roller bearing in the carrier 2 and pass through the flower The key and the retaining ring are fixed to the planetary gear 7.
  • the two or more crankshafts, the cycloidal wheel and the planet carrier form a parallelogram mechanism, and the sun gear 6 is supported by the carrier and the cycloidal wheel and the upper tooth portion and the planetary gear 7 are supported.
  • the top region, the meshing region and the root region of the tooth profile of the cycloidal wheel 5 form a smooth curve, the meshing region engages the pin gear, the pin pin hole 8 has a diameter larger than the diameter of the pin gear 4, and the pin gear pin
  • the inner end of the circle is cut with the pin pin hole, and there is a gap between the meshing area of the cycloidal wheel and the common normal direction of the pin gear.

Abstract

一种精密摆线回转关节减速器，包括针齿壳（1）、行星架（2）、曲柄轴（3）、针齿销（4）、摆线轮（5）、中心齿轮（6）和行星轮（7），行星架（2）经滚动轴承穿接支撑在针齿壳（1）内，曲柄轴（3）穿设在行星架（2）内且具有错位180°的两个偏心部，其偏心部通过滚子轴承与摆线轮（5）联接，摆线轮（5）经容纳于针齿壳（1）内壁针齿销孔（8）内的针齿销（4）啮合在针齿壳（1）内，曲柄轴（3）两端通过圆锥滚子轴承支撑在行星架（2）内且通过花键和挡圈固联行星轮（7），两个以上曲柄轴（3）、摆线轮（5）与行星架（2）构成平行四边形机构，中心齿轮（6）与行星轮（7）啮合；摆线轮（5）齿廓的齿顶区域、啮合区域和齿根区域组成一条顺滑曲线，啮合区域啮合针齿销（4），齿顶区域和齿根区域与针齿销（4）存在间隙，所述针齿销孔直径大于针齿销（4）直径，针齿销（4）的外圆内切于针齿销孔（8），摆线轮（5）啮合区域和针齿销（4）的公法线方向存在间隙。

Description

精密摆线回转关节减速器 技术领域
本发明涉及一种精密摆线减速器，是用于机器人回转关节、机床转台等要求高回转精度场合的装置。
背景技术
BXJ减速器是在摆线针轮基础上发展起来的一种新型传动装置，具有刚度大、传动比范围大、承载能力大、运动精度高、传动效率高和回差小、体积小等一系列优点。
BXJ减速器由渐开线圆柱行星减速机构和摆线针轮机构两部分组成。由于摆线针轮传动部分是该减速器的输出构件，因而对减速器的运动精度和回差影响最直接，也最大。为了保证BXJ减速器的运动精度和回差，通常将针齿销、针齿销孔以及摆线轮间的配合间隙预留得很小，然而减速器运行后，温度会有一定幅度上升，由于材料的热膨胀，配合间隙将进一步缩小，针齿销将很难转动甚至卡死，此时摆线轮与针齿间是滑动摩擦，而非滚动摩擦，进而大幅降低减速器的传动效率和使用寿命。为了解决这一矛盾问题，通常通过提高针齿销，针齿销孔以及摆线轮的加工精度以控制配合间隙，这是BXJ减速器制造成本高的主要原因。
发明内容
本发明的目的在于提供一种结构合理、造价低、高传动效率和使用寿命、高运动精度、回差小的精密摆线回转关节减速器。
本发明的技术方案：一种精密摆线回转关节减速器，包括针齿壳、行星架、曲柄轴、针齿销、摆线轮、中心齿轮和行星轮，行星架经滚动轴承穿接支撑在针齿壳内，曲柄轴穿设在行星架内且具有错位180°的两个偏心部，其偏心部通过滚子轴承与摆线轮联接，摆线轮经容纳于针齿壳内壁针齿销孔内的针齿销啮合在针齿壳内，曲柄轴两端通过圆锥滚子轴承支撑在行星架内且通过花键和挡圈固联 行星轮，两个以上曲柄轴、摆线轮与行星架构成平行四边形机构，中心齿轮与行星轮啮合；其特征在于：所述摆线轮齿廓的齿顶区域、啮合区域和齿根区域组成一条顺滑曲线，啮合区域啮合针齿销，齿顶区域和齿根区域与针齿销存在间隙，所述针齿销孔直径大于针齿销直径，针齿销的外圆内切与针齿销孔，所述摆线轮啮合区域和针齿销的公法线方向存在间隙。
进一步，所述针齿销数目比摆线轮的齿数至少多1。
本发明将针齿销孔加大，让针齿销能够在其对应针齿销孔内自由转动，同时将针齿销对应销孔沿径向方向，向针齿壳圆心方向移动，设针齿销与其对应针齿销孔间出现间隙δ，针齿销孔移动δ/2的距离，使得针齿销的外圆内切于其对应销孔，补偿了预留的运动间隙，沿针齿销和摆线轮公法线方向却存在间隙，热膨胀后，摆线轮的齿廓各点近似沿其法线方向变化，由于销孔沿针齿销和摆线轮公法线方向存在间隙，针齿销始终能够在其对应孔内自由旋转。针齿销与其对应针齿销孔间呈外大里小的间隙，便于润滑油脂的进入，使得减速器运行过程中，针齿销始终能够得到充分的润滑，从而确保针齿销与摆线轮间始终是滚动摩擦，因而提高了减速器传动效率和使用寿命。
将摆线轮的齿形进行修形，摆线轮齿廓中法线方向与径向接近的区域,即齿顶和齿根区域进行修形，以避免材料热膨胀后与摆线轮与针齿销干涉将摆线轮齿廓分为齿顶区域、齿根区域以及啮合区域组成一条顺滑组合曲线，使用时齿顶区域与齿根区域与针齿销间有一定间隙，其余区域与针齿销啮合。这样，仅有摆线轮的齿顶和齿根区域不参与啮合，其余部分由于是标准齿形，均参与啮合。由于同时参与啮合的齿数多，提高了承载能力，且有利于发挥误差均化作用，提高传动精度的同时降低了加工和装配的要求，进而降低了减速器的制造成本。
附图说明
图1为本发明结构示意图；
图2为本发明传动原理图；
图3为本发明针齿壳和摆线轮啮合部放大图。
图中：针齿壳1、行星架2、曲柄轴3、针齿销4、摆线轮5、中心齿轮6、行星轮7，针齿销孔8。
具体实施方式
以下结合附图和实施例对本发明作进一步说明。
图1、2、3所示：一种精密摆线回转关节减速器，包括针齿壳1、行星架2、曲柄轴3、针齿销4、摆线轮5、中心齿轮6和行星轮7，行星架7经滚动轴承穿接支撑在针齿壳1内，曲柄轴3穿设在行星架2内且具有错位180°的两个偏心部，其偏心部通过滚子轴承与摆线轮5联接，摆线轮5经容纳于针齿壳1内壁针齿销孔8内的针齿销4啮合在针齿壳内，曲柄轴3两端通过圆锥滚子轴承支撑在行星架2内且通过花键和挡圈固联行星轮7，两个以上曲柄轴、摆线轮与行星架构成平行四边形机构，中心齿轮6穿接支撑在行星架、摆线轮内且其上齿部与行星轮7啮合；摆线轮5齿廓的齿顶区域、啮合区域和齿根区域组成一条顺滑曲线，啮合区域啮合针齿销，针齿销孔8直径大于针齿销4直径，针齿销的外圆内切与针齿销孔，摆线轮啮合区域和针齿销的公法线方向存在间隙。

Claims (2)

  1. 一种精密摆线回转关节减速器，包括针齿壳、行星架、曲柄轴、针齿销、摆线轮、中心齿轮和行星轮，行星架经滚动轴承穿接支撑在针齿壳内，曲柄轴穿设在行星架内且具有错位180°的两个偏心部，其偏心部通过滚子轴承与摆线轮联接，摆线轮经容纳于针齿壳内壁针齿销孔内的针齿销啮合在针齿壳内，曲柄轴两端通过圆锥滚子轴承支撑在行星架内且通过花键和挡圈固联行星轮，两个以上曲柄轴、摆线轮与行星架构成平行四边形机构，中心齿轮与行星轮啮合；其特征在于：所述摆线轮齿廓的齿顶区域、啮合区域和齿根区域组成一条顺滑曲线，啮合区域啮合针齿销，齿顶区域和齿根区域与针齿销存在间隙，所述针齿销孔直径大于针齿销直径，针齿销的外圆内切与针齿销孔，所述摆线轮啮合区域和针齿销的公法线方向存在间隙。
  2. 根据权利要求1所述的精密摆线回转关节减速器，其特征是：所述针齿销数目比摆线轮的齿数至少多1。
PCT/CN2017/116691 2017-11-07 2017-12-16 精密摆线回转关节减速器 WO2019090900A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711086116.1 2017-11-07
CN201711086116.1A CN107725687A (zh) 2017-11-07 2017-11-07 精密摆线回转关节减速器

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