WO2019140737A1 - 销轴式单摆线减速器 - Google Patents

销轴式单摆线减速器 Download PDF

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Publication number
WO2019140737A1
WO2019140737A1 PCT/CN2018/077326 CN2018077326W WO2019140737A1 WO 2019140737 A1 WO2019140737 A1 WO 2019140737A1 CN 2018077326 W CN2018077326 W CN 2018077326W WO 2019140737 A1 WO2019140737 A1 WO 2019140737A1
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WIPO (PCT)
Prior art keywords
pin
bearing
output end
speed reducer
type single
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PCT/CN2018/077326
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English (en)
French (fr)
Inventor
王飞
于振中
丁亮
李鹭扬
王健
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合肥哈工联合精密传动有限公司
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Publication of WO2019140737A1 publication Critical patent/WO2019140737A1/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
    • 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing

Definitions

  • the present invention relates to a speed reducer, and more particularly to a pin type single cycloidal speed reducer.
  • Pin-type single cycloidal gear reducer is mainly used in industrial robots, cooperative robots, automation equipment, high-end CNC equipment, medical equipment, national defense and many other fields. Such products require the reducer to have high precision, large transmission ratio, small size, light weight and large carrying capacity.
  • RV type cycloidal gear reducers and harmonic reducers Due to structural reasons, the harmonic reducer has relatively small load and torque, and has poor impact resistance. It can only be used in light load applications. Because the RV reducer adopts the planetary cycloidal two-stage transmission form, the structure size is large and the manufacturing cost is high. Higher.
  • the same type of cycloidal gear reducer of the same type adopts two or more cycloidal gear structures and two-stage transmission.
  • This type of reducer has a complicated structure, complicated installation and inconvenient use.
  • the technical problem to be solved by the present invention is to provide a pin-type single cycloidal speed reducer which can realize a large transmission torque by using a first-stage transmission of a plurality of pins.
  • the present invention solves the above technical problems by the following technical solutions: the present invention includes a housing, a crankshaft, an output end, an end cover, a cycloidal gear, a plurality of pins, a plurality of needle rollers, a first bearing, a second bearing, a ball bearing, Third bearing
  • crankshaft One end of the crankshaft is sealedly connected to the output end through the second bearing, the other end is sealedly connected to the end cover through the third bearing, the output end is sealed and assembled on one side of the housing, and the end cover is sealed and fixed on the other side of the housing, first
  • the inner side of the bearing is mounted on the crankshaft, the outer side is connected to the cycloidal gear, and the cycloidal gear is meshed with a plurality of needle rollers mounted in the housing, the ball bearing is connected to the inner side of the housing and the outer circumferential surface of the output end, and the cycloidal gear is provided with a plurality of A circumferential array of through holes, each of which passes through the through hole and has an end that abuts the end cap and one end of which is inserted into the output end.
  • the method further includes a first sealing ring, a second sealing ring, a third sealing ring and a fourth sealing ring, wherein the first sealing ring is mounted on the inner flange surface of the end cover, and the second sealing ring is assembled on the crankshaft and the output At the end connection, the third sealing ring is assembled at the output end and the housing, and the fourth sealing ring is assembled at the connection between the crankshaft and the end cap.
  • a blocking piece is further included, the blocking piece is mounted in the housing, and the two sides are respectively abutted on the cycloidal gear and the output end.
  • the pin shaft is eight and the through holes are eight, and the pin shafts are connected in one-to-one correspondence with the through holes.
  • the utility model further comprises a plurality of pin sleeves, wherein the inner side of the pin sleeve is connected with the pin shaft, and the outer side surface is connected with the inner side surface of the through hole, the length of the pin sleeve is equal to the thickness of the cycloidal gear, and the number of the pin sleeve and the pin shaft are the same .
  • the outer race of the ball bearing is inside the casing, the inner race is on the outer circumferential surface of the output end, and a gap is left between the inner race and the outer race.
  • crankshaft is a hollow structure.
  • the number of teeth of the cycloidal gear is one to four less than the number of needle rollers.
  • the output end is provided with a hole corresponding to the cycloid gear, and the pin shaft is inserted into the hole.
  • the first bearing and the second bearing are needle bearings, and the third bearing is a ball bearing.
  • the cycloidal gear and the needle mounted on the inner surface of the casing are driven by a small tooth difference. While the cycloidal gear rotates around the axis of the reducer, it also rotates around its own axis. The cycloidal gear rotates around its own axis through the pin. The output end rotates around the center line of the reducer to achieve the purpose of deceleration, and outputs motion and torque. Finally, only one cycloidal gear, one-stage transmission, simple structure, small number of parts, low manufacturing cost, convenient installation and use, and The invention is driven by the pin shaft, has large torque, more compact structure and flatness, so that the layout of the whole structure is more convenient for installation.
  • the integrated bearing formed by the casing, the ball bearing and the output end receives the axial, radial load and overturning moment of the output end, and the structure can subject the reducer to a large complicated load;
  • the structure of the present invention is compact and downsized.
  • FIG. 1 is a schematic exploded view of a pin-type single cycloidal speed reducer according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a pin-type single cycloidal speed reducer according to an embodiment of the present invention
  • Figure 3 is a cross-sectional view of Figure 2 .
  • the reference numeral housing 1, crankshaft 2, output end 3, end cover 4, cycloidal gear 5, pin 6, pin sleeve 7, needle roller 8, flap 9, first bearing 10, second bearing 11, Ball bearing 13, third bearing 14, first seal ring 15, second seal ring 16, third seal ring 17, fourth seal ring 18, and screw 19.
  • the pin-type single cycloidal speed reducer comprises a housing 1, a crankshaft 2, an output end 3, an end cover 4, a cycloidal gear 5, a plurality of pins 6, and a plurality of pin sleeves. 7.
  • crankshaft 2 near the output is sealingly connected to the output end 3 through the second bearing 11, and the other end is sealingly connected to the end cover 4 through the third bearing 14, the output end 3 is sealed and assembled on the inner side of the casing 1, and the end cover 4 is sealed.
  • Sealed and fixed on the other side of the housing 1 the inner side of the first bearing 10 is mounted on the crankshaft 2, the outer side is connected to the cycloidal gear 5, and the cycloidal gear 5 is meshed with a plurality of needle rollers 8 mounted in the housing 1, the ball bearing 13 is connected to the inner side of the housing 1 and the outer circumferential surface of the output end 3.
  • the cycloidal gear 5 is provided with a plurality of circumferentially arranged through holes, and the plurality of pins 6 pass through the through holes and the one end abuts against the end cover 4, one end Inserted into the output terminal 3.
  • crankshaft 2 is provided with an eccentric boss, and the first bearing 11 is installed here.
  • the eccentric boss can balance the inertia generated when the cycloidal gear 5 rotates and improve the bearing capacity, and the crankshaft 2 has a hollow structure, which is convenient for passing the line.
  • the output end 3 is provided with a semi-circular track, that is, an inner raceway, which is assembled with the ball bearing 13, and the inner side surface of the casing 1 is provided with a semi-circular track which is opposite thereto, that is, an outer raceway, and one end of the output end 3 Slightly extending from the end of the housing 1;
  • the end cover 4 has a stepped structure on both sides, and the flange is provided with a screw hole, and the housing 1 is also provided with a corresponding screw hole, so that the end cover 4 and the housing 1 is fixedly connected by screws;
  • the output end 3 is provided with a hole corresponding to the cycloidal gear 5, and the pin 6 is inserted into the hole.
  • the pin 6 is eight, and the through hole is eight.
  • the shaft 6 is connected to the through holes one by one.
  • the pin-type single cycloidal speed reducer further includes a first sealing ring 15, a second sealing ring 16, a third sealing ring 17, and a fourth sealing ring 18, the first sealing
  • the ring 15 is assembled on the inner flange surface of the end cover 4, and functions to seal the gap between the end cover 4 and the housing 1.
  • the second sealing ring 16 is mounted at the junction of the crankshaft 2 and the output end 3, and functions to seal the crankshaft.
  • the third sealing ring 17 is assembled at the junction of the output end 3 and the housing 1, the function of which is to seal the gap between the output end 3 and the housing 1, and the fourth sealing ring 18 is assembled
  • the connection between the crankshaft 2 and the end cover 4 serves to seal the gap between the crankshaft 2 and the end cover 4, and finally the entire pin-type single cycloidal speed reducer is completely sealed.
  • the pin-type single cycloidal speed reducer further includes a blocking piece 9 which is mounted in the casing 1 and has two side faces respectively on the cycloidal gear 5 and the output end 3, and the blocking piece 9
  • the specific structure is a ring structure with a hole in the center, and the half section is an L-shaped structure. As shown in FIG. 3, the protruding portion is abutted on the cycloidal gear 5, and the two sides of the vertical surface respectively abut the needle roller 8 and the output end. 3 on.
  • the ball bearing 13 is a ball bearing.
  • the outer race of the ball bearing 13 is inside the casing 1.
  • the inner race is on the outer circumferential surface of the output end 3, and a gap is left between the inner race and the outer race.
  • the number of teeth of the cycloidal gear 5 is one to four less than the number of the needle rollers 8. In the present embodiment, the number of teeth of the cycloidal gear 5 is one less than the number of the needle rollers 8, and the reduction ratio is large.
  • the first bearing 10 and the second bearing 11 are needle bearings, and the third bearing 14 is a ball bearing.
  • the working principle of the invention is: the pin-type single cycloidal speed reducer, the inner side of the output end 3, evenly distributing eight pin shafts 6 around the axis line direction, and the other end of each pin shaft 6 is provided with a pin sleeve 7, respectively Inserted into the eight through holes evenly distributed on the end surface of the cycloidal gear 5, the cycloidal gear 5 and the needle roller 8 mounted on the inner side of the casing 1 are driven by a small tooth difference, and the cycloidal gear 5 rotates around the axis line of the reducer. It also rotates around its own axis.
  • the rotation of the cycloidal gear 5 about its own axis drives the output end 3 to rotate around the center line of the reducer through the pin shaft 6 to achieve the purpose of deceleration and output motion and torque.
  • Both grease lubrication and oil lubrication can be used.
  • the motor output shaft is directly mounted on the end cover 4, and the input crankshaft 2 is rotated by the keyway, and the rotation of the motor can be transmitted to the crankshaft 2 through the gear or the synchronous toothed belt, and the outer circumference of the crankshaft 2 is installed.
  • the first bearing 10 pushes the cycloidal gear 5 to be engaged with the needle roller 8 mounted in the housing 1 to reduce the movement of the tooth difference, and the cycloidal gear 5 has one less tooth than the needle roller 7 in the housing 1.
  • the eight pin sleeves 7 and the pin shafts 6 on the circumference of the end surface of the cycloidal gear 5 transmit the rotation to the output end 3, so that the output end 3 is rotated; in fact, the housing 1, the ball bearing 13 and the output end 3 are integrally formed.
  • the bearing is subjected to the axial, radial load and overturning moment of the output end 3.
  • the utility model adopts the pin 6 transmission, so that the transmission torque is large, the structure is more compact, flat, and the internal layout is more favorable for the structure to be conveniently installed.

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  • General Engineering & Computer Science (AREA)
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Abstract

一种销轴式单摆线减速器，包括壳体（1）、曲轴（2）、输出端（3）、端盖（4）、摆线齿轮（5）、若干销轴（6）、若干滚针（8）、第一轴承（10）、第二轴承（11）、球轴承（13）和第三轴承（14）；曲轴（2）的一端采用第二轴承（11）与输出端（3）密封连接，另一端采用第三轴承（14）与端盖（4）密封连接，输出端（3）被密封装配于壳体（1）内一侧，端盖（4）被密封固定于壳体（1）另一侧，第一轴承（10）内侧面安装在曲轴（2）上，外侧面连接摆线齿轮（5），摆线齿轮（5）与安装在壳体（1）内的若干滚针（8）啮合，球轴承（13）连接壳体（1）内侧与输出端（3）外圆周面，销轴（6）均穿过通孔后一端抵在端盖（4）上，一端插入输出端（3）内。有益效果：采用一个摆线齿轮实现一级传动，并通过若干个销轴传动，力矩大，结构简单，零件数量少，完全密封、制造成本低，安装使用方便。

Description

销轴式单摆线减速器 技术领域
本发明涉及一种减速器，尤其涉及的是一种销轴式单摆线减速器。
背景技术
销轴式单摆线齿轮减速机主要应用在工业机器人、协作机器人、自动化设备、高端数控装备、医疗设备、国防等诸多领域。此类产品要求减速器具有高精度、大传动比、小体积、重量轻、承载能力大等特点。
目前市场上主流产品是RV型摆线齿轮减速器和谐波减速器。谐波减速器由于结构原因，载荷和扭矩比较小，抗冲击性能较差，只能用在轻载荷场合；RV减速器由于采用行星摆线两级传动形式，因此结构尺寸较大，且制作成本较高。
目前，国际同类型的摆线齿轮减速器都是采用两个或两个以上的摆线齿轮结构，两级传动，这种类型的减速器结构复杂，安装繁琐，使用不便。
发明内容
本发明所要解决的技术问题在于提供了一种采用若干销轴的一级传动即可实现传动力矩大的销轴式单摆线减速器。
本发明是通过以下技术方案解决上述技术问题的：本发明包括壳体、曲轴、输出端、端盖、摆线齿轮、若干销轴、若干滚针、第一轴承、第二轴承、球轴承、第三轴承；
曲轴的一端通过第二轴承与输出端密封连接，另一端通过第三轴承与端盖密封连接，输出端被密封装配于壳体内一侧，端盖被密封固定于壳体另一侧，第一轴承内侧面安装在曲轴上，外侧面连接摆线齿轮，摆线齿轮与安装在壳体 内的若干滚针啮合，球轴承连接壳体内侧与输出端外圆周面，所述摆线齿轮上设置若干圆周阵列的通孔，所述若干销轴均穿过通孔后一端抵在端盖上，一端插入输出端内。
优选的，还包括第一密封圈、第二密封圈、第三密封圈、第四密封圈，所述第一密封圈装配于端盖内侧法兰面上，第二密封圈装配于曲轴与输出端连接处，第三密封圈装配于输出端与壳体连接处，第四密封圈装配于曲轴与端盖连接处。
优选的，还包括一个挡片，所述挡片安装在壳体内，两侧面分别抵在摆线齿轮与输出端。
优选的，所述销轴为八个，通孔为八个，销轴与通孔一一对应连接。
优选的，还包括若干销套，所述销套内侧面与销轴连接，外侧面与通孔的内侧面连接，所述销套的长度等于摆线齿轮的厚度，销套与销轴数量一致。
优选的，所述球轴承的外滚道在壳体内侧，内滚道在输出端外圆周面上，内滚道、外滚道之间留有间隙。
优选的，所述曲轴为中空结构。
优选的，所述摆线齿轮的齿数比滚针的数量少一个至四个。
优选的，所述输出端设有与摆线齿轮对应的孔，所述销轴插入孔内。
优选的，第一轴承、第二轴承为滚针轴承，第三轴承为滚珠轴承。
本发明相比现有技术具有以下优点：
(1)摆线齿轮与壳体内表安装的滚针为少齿差传动，摆线齿轮绕减速器轴心线转动的同时，也围绕自身轴线转动，摆线齿轮绕自身轴线的转动通过销轴带动输出端绕减速器中心线转动，达到减速的目的，并输出运动和扭矩，最终实现仅有一个摆线齿轮，一级传动，结构简单，零件数量少，制造成本低，安 装使用方便，且本发明通过销轴传动，力矩大，结构更加紧凑，平整，使得整个结构的布局更有利于安装方便。
(2)具体的采用八个销轴传动，传动效果更好，传动力更均匀；
(3)由第一密封圈、第二密封圈、第三密封圈、第四密封圈实现完全密封；
(4)壳体、球轴承和输出端形成的一体化轴承，承受输出端所受轴向、径向载荷和倾覆力矩，该结构可以使减速器承受较大的复杂载荷；
(5)本发明的结构较为紧凑，缩小尺寸。
附图说明
图1是本发明实施例销轴式单摆线减速器的爆炸示意图；
图2是本发明实施例销轴式单摆线减速器的结构示意图；
图3是图2的剖视图。
图中标号：壳体1、曲轴2、输出端3、端盖4、摆线齿轮5、销轴6、销套7、滚针8、挡片9、第一轴承10、第二轴承11、球轴承13、第三轴承14、第一密封圈15、第二密封圈16、第三密封圈17、第四密封圈18、螺钉19。
具体实施方式
下面对本发明的实施例作详细说明，本实施例在以本发明技术方案为前提下进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。
如图1及图2所示，本实施例，销轴式单摆线减速器包括壳体1、曲轴2、输出端3、端盖4、摆线齿轮5、若干销轴6、若干销套7、若干滚针8、挡片9、第一轴承10、第二轴承11、球轴承13、第三轴承14、第一密封圈15、第二密封圈16、第三密封圈17、第四密封圈18、螺钉19；
曲轴2靠近输出的一端通过第二轴承11与输出端3密封连接，另一端通过 第三轴承14与端盖4密封连接，输出端3被密封装配于壳体1内一侧，端盖4被密封固定于壳体1另一侧，第一轴承10内侧面安装在曲轴2上，外侧面连接摆线齿轮5，摆线齿轮5与安装在壳体1内的若干滚针8啮合，球轴承13连接壳体1内侧与输出端3外圆周面，所述摆线齿轮5上设置若干圆周阵列的通孔，所述若干销轴6均穿过通孔后一端抵在端盖4上，一端插入输出端3内。
具体的，曲轴2上设有偏心凸台，此处安装有第一轴承11，偏心凸台可平衡摆线齿轮5转动时产生的惯量和提高承载能力，且曲轴2为中空结构，便于通过线缆和气管；输出端3上设有装配球轴承13的半圆弧轨道即内滚道，壳体1内侧面设有与之相对于的半圆弧轨道即外滚道，输出端3的一端略伸出壳体1端部；端盖4为两侧均有阶梯的结构，且法兰盘上设有螺钉孔，壳体1上同样设有对应的螺钉孔，使得端盖4与壳体1通过螺钉固定连接；所述输出端3设有与摆线齿轮5对应的孔，所述销轴6插入孔内，具体的，所述销轴6为八个，通孔为八个，销轴6与通孔一一对应连接。
结合图3所示，本实施例中，销轴式单摆线减速器还包括第一密封圈15、第二密封圈16、第三密封圈17、第四密封圈18，所述第一密封圈15装配于端盖4内侧法兰面上，其作用是密封端盖4与壳体1之间的间隙，第二密封圈16装配于曲轴2与输出端3连接处，其作用是密封曲轴2与输出端3之间的间隙，第三密封圈17装配于输出端3与壳体1连接处，其作用是密封输出端3与壳体1之间的间隙，第四密封圈18装配于曲轴2与端盖4连接处，其作用是密封曲轴2与端盖4之间的间隙，最终实现整个销轴式单摆线减速器完全密封。
本实施例中，销轴式单摆线减速器还包括一个挡片9，所述挡片9安装在壳体1内，两侧面分别抵在摆线齿轮5与输出端3上，挡片9具体结构为中心为孔的圆环结构，且半截面为L型结构，如图3所示，伸出部分抵在摆线齿轮5 上，竖直面两侧分别抵在滚针8以及输出端3上。以及还包括若干销套7，所述销套7内侧面与销轴6连接，外侧面与通孔的内侧面连接，所述销套7的长度等于摆线齿轮5的厚度，销套7数量与销轴6数量一致，具体的，均为八个。
所述球轴承13为球轴承，所述球轴承13的外滚道在壳体1内侧，内滚道在输出端3外圆周面上，内滚道、外滚道之间留有间隙。所述摆线齿轮5的齿数比滚针8的数量少一个至四个，本实施例中，摆线齿轮5的齿数比滚针8的数量少一个，减速比大。第一轴承10、第二轴承11为滚针轴承，第三轴承14为滚珠轴承。
本发明工作原理：该销轴式单摆线减速器，输出端3的内侧面，绕轴心线方向均匀分布八个销轴6，每根销轴6的另一端装有销套7，分别插在摆线齿轮5端面均匀分布的八个通孔中，摆线齿轮5与壳体1内侧面安装的滚针8为少齿差传动，摆线齿轮5绕减速器轴心线转动的同时，也围绕自身轴线转动，摆线齿轮5绕自身轴线的转动通过销轴6带动输出端3绕减速器中心线转动，达到减速的目的，并输出运动和扭矩。可以采用脂润滑和油润滑两种润滑方法。
本发明的工作过程：将电机输出轴直接安装在端盖4上，通过键槽带动输入曲轴2旋转，也可以通过齿轮或同步齿形带将电机的转动传递给曲轴2，由曲轴2外圆安装的第一轴承10推动摆线齿轮5，使之与壳体1内安装的滚针8啮合传动，做少齿差运动形成减速，摆线齿轮5比壳体1内的滚针7少一个齿，摆线齿轮5端面圆周上的八个销套7和销轴6将转动传递到输出端3，使输出端3产生转动；实际上，壳体1、球轴承13和输出端3形成的一体化轴承，承受输出端3所受轴向、径向载荷和倾覆力矩。
本发明的采用销轴6传动，使得传动力矩大，结构更加紧凑，平整，内部布局更有利于该结构安装方便。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 销轴式单摆线减速器，其特征在于，包括壳体、曲轴、输出端、端盖、摆线齿轮、若干销轴、若干滚针、第一轴承、第二轴承、球轴承、第三轴承；
    曲轴的一端通过第二轴承与输出端密封连接，另一端通过第三轴承与端盖密封连接，输出端被密封装配于壳体内一侧，端盖被密封固定于壳体另一侧，第一轴承内侧面安装在曲轴上，外侧面连接摆线齿轮，摆线齿轮与安装在壳体内的若干滚针啮合，球轴承连接壳体内侧与输出端外圆周面，所述摆线齿轮上设置若干圆周阵列的通孔，所述若干销轴均穿过通孔后一端抵在端盖上，一端插入输出端内。
  2. 根据权利要求1所述的销轴式单摆线减速器，其特征在于，还包括第一密封圈、第二密封圈、第三密封圈、第四密封圈，所述第一密封圈装配于端盖内侧法兰面上，第二密封圈装配于曲轴与输出端连接处，第三密封圈装配于输出端与壳体连接处，第四密封圈装配于曲轴与端盖连接处。
  3. 根据权利要求1所述的销轴式单摆线减速器，其特征在于，还包括一个挡片，所述挡片安装在壳体内，两侧面分别抵在摆线齿轮与输出端。
  4. 根据权利要求1所述的销轴式单摆线减速器，其特征在于，所述销轴为八个，通孔为八个，销轴与通孔一一对应连接。
  5. 根据权利要求4所述的销轴式单摆线减速器，其特征在于，还包括若干销套，所述销套内侧面与销轴连接，外侧面与通孔的内侧面连接，所述销套的长度等于摆线齿轮的厚度，销套与销轴数量一致。
  6. 根据权利要求1所述的销轴式单摆线减速器，其特征在于，所述球轴承的外滚道在壳体内侧，内滚道在输出端外圆周面上，内滚道、外滚道之间留有间隙。
  7. 根据权利要求1所述的销轴式单摆线减速器，其特征在于，所述曲轴为 中空结构。
  8. 根据权利要求1所述的销轴式单摆线减速器，其特征在于，所述摆线齿轮的齿数比滚针的数量少一个至四个。
  9. 根据权利要求1所述的销轴式单摆线减速器，其特征在于，所述输出端设有与摆线齿轮对应的孔，所述销轴插入孔内。
  10. 根据权利要求1所述的销轴式单摆线减速器，其特征在于，第一轴承、第二轴承为滚针轴承，第三轴承为滚珠轴承。
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