WO2020056962A1 - 摆线轮、减速器以及机器人 - Google Patents

摆线轮、减速器以及机器人 Download PDF

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Publication number
WO2020056962A1
WO2020056962A1 PCT/CN2018/122711 CN2018122711W WO2020056962A1 WO 2020056962 A1 WO2020056962 A1 WO 2020056962A1 CN 2018122711 W CN2018122711 W CN 2018122711W WO 2020056962 A1 WO2020056962 A1 WO 2020056962A1
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WIPO (PCT)
Prior art keywords
wheel
cycloidal wheel
cycloid
cycloidal
gear
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Ceased
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PCT/CN2018/122711
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English (en)
French (fr)
Inventor
梁光盛
胡余生
钟成堡
崔中
程中甫
刘成
孙豹
田珍珍
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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Publication of WO2020056962A1 publication Critical patent/WO2020056962A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0412—Cooling or heating; Control of temperature
    • 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
    • F16H57/042—Guidance of lubricant
    • F16H57/043—Guidance of lubricant within rotary parts, e.g. axial channels or radial openings in shafts
    • 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
    • F16H57/045—Lubricant storage reservoirs, e.g. reservoirs in addition to a gear sump for collecting lubricant in the upper part of a gear case
    • 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
    • F16H57/0469—Bearings or seals
    • F16H57/0471—Bearing
    • 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

Definitions

  • the present application relates to the technical field of reducer equipment, and in particular, to a cycloidal wheel, a reducer having the same, and a robot having the same.
  • the RV reducer consists of a front stage of a planetary gear reducer and a rear stage of a cycloidal pin gear reducer.
  • the RV reducer has a compact structure, a large transmission ratio, and a transmission mechanism with a self-locking function under certain conditions.
  • One of the most commonly used reducers, and it has low vibration, low noise and low energy consumption.
  • the needle teeth and the cycloid gear in the RV reducer mesh with each other to drive, but the existing needle teeth and the cycloid gear are not sufficiently lubricated, causing the wear and deformation of the cycloid gear.
  • the increase greatly reduces the service life of the whole machine, and the transmission accuracy is low.
  • the present application provides a cycloid wheel with good lubrication performance, reduced wear, high transmission accuracy, and long service life.
  • the present application provides a speed reducer having the above-mentioned cycloidal wheel.
  • the present application provides a robot having the above-mentioned reducer.
  • the present application provides a cycloidal wheel including a plurality of gear teeth, the plurality of gear teeth are evenly distributed on the outer circumferential surface of the cycloidal wheel, and there are teeth between two adjacent gear teeth
  • a groove is provided on at least one of the tooth grooves, and the lubrication groove is recessed toward the axis of the cycloidal wheel.
  • the lubrication groove is located in the middle of the tooth groove in the circumferential direction of the cycloidal wheel.
  • the lubrication groove in the circumferential direction of the cycloidal wheel, the lubrication groove is located in the middle of the tooth groove, and in the axial direction of the cycloidal wheel, the lubrication groove is located in the middle of the cycloidal wheel, so that the stiffness of the teeth of the cycloidal wheel is not affected. And transmission accuracy.
  • a lubricating groove is provided on each of the tooth grooves.
  • the cross section of the lubrication groove in the radial direction of the cycloid wheel is circular or rectangular or oval.
  • the cycloidal wheel further includes a bearing hole, the bearing hole is disposed through the cycloidal wheel in the axial direction of the cycloidal wheel, and at least one lubrication groove communicates with the bearing hole.
  • the number of the bearing holes is at least two, and the at least two bearing holes are evenly distributed in the circumferential direction of the cycloidal wheel.
  • the cycloidal wheel further includes a shaft hole.
  • the shaft hole is disposed through the axis of the cycloidal wheel in the axial direction of the cycloidal wheel.
  • the bearing hole is located between the shaft hole and the gear teeth.
  • the reducer further includes an input shaft, an input gear, a crankshaft, a planetary gear, a needle bearing, a needle gear housing, and a plurality of needle teeth.
  • the input gear is sleeved on the input shaft
  • the planetary gear is sleeved on the crankshaft.
  • the planetary gear and the input gear mesh with each other.
  • the crankshaft has an eccentric part.
  • the needle bearing is sleeved on the eccentric part.
  • the cycloidal wheel is provided with bearing holes. The bearing holes are sleeved on the needle bearing.
  • the teeth of the cycloid wheel mesh with the needle teeth on the inner circumferential surface of the needle tooth shell.
  • the crankshaft has an eccentric portion
  • the needle bearing is sleeved on the eccentric portion
  • the cycloid wheel is provided with a bearing hole
  • the bearing hole is sleeved on the needle bearing
  • a plurality of needle teeth are evenly distributed in the needle tooth shell.
  • the gear teeth of the cycloidal gear mesh with the needle teeth. Because the lubricant is stored in the lubrication groove, during the meshing process of the cycloidal gear and the needle teeth, the flow of the lubricant is beneficial to the gear teeth of the cycloidal gear. Lubrication with the needle teeth effectively reduces the temperature of the needle teeth, reduces the wear between the gear teeth and the needle teeth, improves the transmission accuracy, and increases the service life and reliability of the reducer.
  • the reducer further includes a planet carrier and a rigid disc, the rigid disc and the planet carrier are respectively located at two axial ends of the pinion shell, the cycloid wheel is positioned between the rigid disc and the planet carrier, and the crankshaft is rotatably connected Between the rigid disc and the planet carrier.
  • the number of the cycloid wheels is at least two, and there is a gap between two adjacent cycloid wheels.
  • the present application provides a robot including a speed reducer, the speed reducer includes a cycloid wheel, the cycloid wheel includes a plurality of gear teeth, and the plurality of gear teeth are evenly distributed on the outer circumferential surface of the cycloid wheel There is a tooth groove between two adjacent gear teeth. At least one tooth groove is provided with a lubrication groove, and the lubrication groove is recessed toward the axis of the cycloidal wheel.
  • FIG. 2 is a structural view of the first embodiment of the cycloidal wheel of the present application from a second perspective.
  • FIG. 3 is a structural diagram of a first embodiment of the speed reducer of the present application.
  • Fig. 4 is a sectional view of a first embodiment of a speed reducer of the present application.
  • FIG. 5 is a structural diagram of a second embodiment of the cycloidal wheel of the present application.
  • Fig. 6 is a sectional view of a second embodiment of the speed reducer of the present application.
  • the following embodiments mainly describe the reducer of the present application in detail. Since the reducer of the present application uses the cycloid wheel of the present application, the cycloidal wheel embodiment has been described in the description of the reducer embodiment.
  • the reducer of the present application can be applied to robots, but is not limited to robots. Other equipment with a wide range of transmission ratio requirements can be selected for the reducer of this application, thereby reducing the volume and weight of the equipment, long life, stable accuracy and efficiency. High and smooth transmission.
  • the reducer 2 of this embodiment includes a cycloid wheel 1, a planet carrier 23, a rigid disk 22, an input shaft 24, an input gear (not shown), a crankshaft 25, a planetary gear 214, and a needle bearing 27 ,
  • the needle tooth housing 21 and a plurality of needle teeth 28, the rigid disk 22 and the planet carrier 23 are respectively located at two axial ends of the needle tooth housing 21, specifically, the rigid disk 22 is rotatably mounted on the needle tooth housing through a first bearing 29
  • the first axial end of 21, the planet carrier 23 is rotatably mounted on the second axial end of the needle tooth housing 21 through a second bearing 210.
  • the crankshaft 25 is rotatably connected between the rigid disk 22 and the planetary carrier 23.
  • the first axial end of the crankshaft 25 is rotatably mounted on the planetary carrier 23 through a third bearing 212, and the second axially The end is rotatably mounted on the rigid disc 22 through a fourth bearing 211.
  • the planetary gear 214 is fixedly sleeved on the axial first end of the crankshaft 25, and the planetary gear 214 is located in the slot 231 of the planet carrier 23.
  • the input gear is sleeved on the input shaft 24, and the planetary gear 214 and the input gear mesh with each other, thereby transmitting the driving force of the input shaft 24 to the crankshaft 25.
  • the crankshaft 25 has one or more eccentric portions 26 in the axial middle portion.
  • the crankshaft 25 has two eccentric portions 26, and the axes of the two eccentric portions 26 are arranged in parallel without being collinear.
  • the eccentric portion 26 is located between the planet carrier 23 and the rigid disk 22, and the needle bearing 27 is sleeved on the outer peripheral wall of the eccentric portion 26.
  • the number of needle bearings 27 in this embodiment is the same as the number of the eccentric portions 26, so the needle bearing The number of 27 is also two.
  • the cycloid wheel 1 corresponding to the number of the eccentric portions 26 is disposed between the planet carrier 23 and the rigid disk 22.
  • the cycloid wheel 1 is provided with a bearing hole 12, and the bearing hole 12 is sleeved on the needle bearing 27.
  • the plurality of needles in the needle bearing 27 are in rolling fit with the inner circumferential surface of the bearing hole 12, and the plurality of needles in the needle bearing 27 are in rolling fit with the outer circumferential surface of the eccentric portion 26.
  • a plurality of needle teeth 28 are evenly distributed on the inner circumferential surface of the needle tooth housing 21, and the gear teeth 13 of the cycloid wheel 1 mesh with the needle teeth 28, thereby transmitting the driving force of the crankshaft 25 to the needle tooth housing 21.
  • 21 is a fixed installation, and the driving force of the crankshaft 25 will be transmitted to the planet carrier 23 or the rigid disk 22.
  • the number of the cycloid wheels 1 in this embodiment is the same as the number of the eccentric portions 26, so the number of the cycloid wheels 1 is also two, and there is a gap 213 between the two cycloid wheels 1.
  • the cycloidal wheel 1 includes a plurality of gear teeth 13, bearing holes 12 and a shaft hole 11.
  • the shaft hole 11 is disposed through the axis of the cycloidal wheel 1 in the axial direction of the cycloidal wheel 1.
  • 24 is provided through the shaft hole 11.
  • a plurality of gear teeth 13 are evenly distributed on the outer circumferential surface of the cycloidal wheel 1
  • a bearing hole 12 is located between the shaft hole 11 and the gear teeth 13, and the bearing holes 12 penetrate the cycloidal wheel 1 in the axial direction of the cycloidal wheel 1.
  • the number of the bearing holes 12 is two, and the two bearing holes 12 are evenly distributed in the circumferential direction of the cycloidal wheel 1.
  • a tooth groove 14 is provided between two adjacent gear teeth 13. At least one tooth groove 14 is provided with a lubrication groove 15, and the lubrication groove 15 is recessed toward the axis of the cycloidal wheel 1. In the circumferential direction of the cycloidal wheel 1, the lubrication groove 15 is located in the middle of the tooth groove 14, and in the axial direction of the cycloidal wheel 1, the lubrication groove 15 is located in the middle of the cycloidal wheel 1, so that the stiffness of the tooth 13 is not affected. And transmission accuracy, thereby ensuring the rigidity and transmission accuracy of the cycloidal wheel 1 and the reducer 2.
  • a lubricating groove 15 is provided on each of the tooth grooves 14, or there may be at least two gear teeth 13 between two adjacent lubricating grooves 15, that is, the lubricating grooves 15 in the circumferential direction of the cycloidal wheel 1 At least one tooth space 14 is arranged at intervals.
  • the cross section of the lubrication groove 15 in the radial direction of the cycloidal wheel 1 in this embodiment is circular, and the cross section of the lubrication groove 15 in the radial direction of the cycloidal wheel 1 may also be a rectangular or oval geometric shape.
  • the lubricant flow is beneficial to the swing Lubrication between the gear teeth 13 and the needle teeth 28 of the spool 1, effectively reduces the temperature of the needle teeth 28, reduces the wear between the gear teeth 13 and the needle teeth 28, improves the transmission accuracy, and improves the overall performance of the reducer 2. Life and reliability.
  • the lubricant can be selected from lubricating oil or grease.
  • the lubricant in the lubrication groove 15 can flow into the gap 213 to lubricate the axial end faces of the two cycloid wheels 1 to reduce
  • the wear between the axial end faces of each cycloid wheel 1 further improves the transmission accuracy, and further improves the life and reliability of the reducer 2 as a whole.
  • the cycloidal wheel 1 of this embodiment has a simple production process, convenient processing, high processing efficiency, and low processing cost.
  • the first-stage reduction transmission is completed through the meshing of the input gear and the planetary gear 414.
  • the crankshaft 45 is driven to rotate, and then passes through the cycloidal wheel 3
  • the meshing with the needle teeth 48 completes the second-stage reduction transmission. Since at least one of the tooth grooves 34 of the cycloidal wheel 3 is provided with a lubrication groove 35, a lubricant is stored in the lubrication groove 35.
  • the lubricant flow is beneficial to the swing Lubrication between the gear teeth 33 and the needle teeth 48 of the spool 3 effectively reduces the temperature of the needle teeth 48, reduces the wear between the gear teeth 33 and the needle teeth 48, improves the transmission accuracy, and improves the overall performance of the reducer 4. Life and reliability.
  • the lubricant can be selected from lubricating oil or grease.
  • the lubricant in the lubrication groove 35 can flow into the gap 413 to lubricate the axial end faces of the two cycloid wheels 3, reducing
  • the wear between the axial end faces of each cycloidal wheel 3 further improves the transmission accuracy, and further improves the life and reliability of the reducer 4 as a whole.
  • at least one lubricating groove 35 and the bearing hole 32 communicate with each other, which is conducive to the lubrication of the needle bearing 47, thereby improving the transmission accuracy between the crankshaft 45, the needle bearing 47 and the cycloidal wheel 3, and greatly improving the overall speed of the reducer 4.
  • the cycloidal wheel 3 of this embodiment has a simple production process, convenient processing, high processing efficiency, and low processing cost.

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  • General Engineering & Computer Science (AREA)
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Abstract

一种摆线轮（1）、具有该摆线轮（1）的减速器（2）、以及具有该减速器（2）的机器人，摆线轮（1）包括多个轮齿（13），多个轮齿（13）均匀分布在摆线轮（1）的外圆周面上，两个相邻轮齿（13）之间具有齿槽（14），至少一个齿槽（14）上开设有润滑槽（15），润滑槽（15）朝摆线轮（1）的轴心凹入。该摆线轮（1），其润滑槽（15）内储存着润滑剂，有利于对与摆线轮（1）相配合的传动零部件进行润滑，降低摆线轮（1）的磨损，提高了传动精度，且提高使用寿命及可靠性。并且，摆线轮（1）的生产工艺简单，加工方便，加工效率高，且加工成本低。

Description

摆线轮、减速器以及机器人
相关申请
本申请要求2018年09月19日申请的，申请号为201811091084.9，名称为“摆线轮、减速器以及机器人”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本申请涉及减速器设备技术领域，尤其是涉及一种摆线轮、具有该摆线轮的减速器、以及具有该减速器的机器人。
背景技术
RV减速器由一个行星齿轮减速机的前级和一个摆线针轮减速机的后级组成，RV减速器具有结构紧凑，传动比大，以及在一定条件下具有自锁功能的传动机械，是最常用的减速器之一，而且振动小，噪音低，能耗低。
RV减速器在运行的过程中，RV减速器内的针齿与摆线轮相互啮合传动，但现有的针齿与摆线轮之间的润滑不充分，使得摆线轮的磨损和变形量增大，大大降低了整机的使用寿命，并且传动精度低。
发明内容
为了实现本申请的第一目的，本申请提供一种润滑性能好、降低磨损、传动精度高且使用寿命长的摆线轮。
为了实现本申请的第二目的，本申请提供一种具有上述摆线轮的减速器。
为了实现本申请的第三目的，本申请提供一种具有上述减速器的机器人。
为了实现本申请的第一目的，本申请提供一种摆线轮，包括多个轮齿，多个轮齿均匀分布在摆线轮的外圆周面上，两个相邻轮齿之间具有齿槽，至少一个齿槽上开设有润滑槽，润滑槽朝摆线轮的轴心凹入。
由上述方案可见，摆线轮的两个相邻轮齿之间具有齿槽，至少一个齿槽上开设有润滑槽，润滑槽朝摆线轮的轴心凹入，润滑槽内储存着润滑剂，有利于对与摆线轮相配合的传动零部件进行润滑，降低摆线轮的磨损，提高了传动精度，且提高使用寿命及可靠性。并且，摆线轮的生产工艺简单，加工方便，加工效率高，且加工成本低。
在其中一个实施例中，在摆线轮的周向上，润滑槽位于齿槽的中间。
在其中一个实施例中，在摆线轮的轴向上，润滑槽位于摆线轮的中间。
由上述方案可见，在摆线轮的周向上，润滑槽位于齿槽的中间，在摆线轮的轴向上，润滑槽位于摆线轮的中间，从而不影响摆线轮的轮齿的刚度和传动精度。
在其中一个实施例中，相邻两个润滑槽之间具有至少两个轮齿。
在其中一个实施例中，每个齿槽上均开设有润滑槽。
在其中一个实施例中，润滑槽在摆线轮径向上的截面为圆形或者矩形或者椭圆形。
在其中一个实施例中，摆线轮还包括轴承孔，轴承孔在摆线轮的轴向上贯穿摆线轮设置，至少一个润滑槽与轴承孔相互连通。
在其中一个实施例中，轴承孔的数量为至少两个，至少两个轴承孔在摆线轮的周向上均匀分布。
在其中一个实施例中，摆线轮还包括轴孔，轴孔在摆线轮的轴向上贯穿摆线轮的轴心设置，轴承孔位于轴孔和轮齿之间。
为了实现本申请的第二目的，本申请提供一种减速器，包括摆线轮，摆线轮包括多个轮齿，多个轮齿均匀分布在摆线轮的外圆周面上，两个相邻轮齿之间具有齿槽，至少一个齿槽上开设有润滑槽，润滑槽朝摆线轮的轴心凹入。
由上述方案可见，摆线轮的两个相邻轮齿之间具有齿槽，至少一个齿槽上开设有润滑槽，润滑槽朝摆线轮的轴心凹入，润滑槽内储存着润滑剂，有利于对与摆线轮相配合的传动零部件进行润滑，降低摆线轮的磨损，提高了传动精度，且提高减速器整机的使用寿命及可靠性。并且，摆线轮的生产工艺简单，加工方便，加工效率高，且加工成本低。
在其中一个实施例中，减速器还包括输入轴、输入齿轮、曲轴、行星齿轮、滚针轴承、针齿壳以及多个针齿，输入齿轮套接在输入轴上，行星齿轮套接在曲轴上，行星齿轮与输入齿轮相互啮合，曲轴具有偏心部，滚针轴承套接在偏心部上，摆线轮开设有轴承孔，轴承孔套接在滚针轴承上，多个针齿均匀分布在针齿壳的内圆周面上，摆线轮的轮齿与针齿啮合。
由上述方案可见，曲轴具有偏心部，滚针轴承套接在偏心部上，摆线轮开设有轴承孔，轴承孔套接在滚针轴承上，多个针齿均匀分布在针齿壳的内圆周面上，摆线轮的轮齿与针齿啮合，由于润滑槽内储存着润滑剂，在摆线轮与针齿的啮合过程中，借助润滑剂的流动，有利于摆线轮的轮齿与针齿之间的润滑，对针齿进行有效降温，降低轮齿与针齿之间的磨损，提高了传动精度，且提高减速器整机的使用寿命及可靠性。
在其中一个实施例中，减速器还包括行星架和刚性盘，刚性盘和行星架分别位于针齿 壳的轴向两端，摆线轮位于刚性盘和行星架之间，曲轴可转动地连接在刚性盘与行星架之间。
在其中一个实施例中，摆线轮的数量为至少两个，两个相邻摆线轮之间具有间隙。
由上述方案可见，两个相邻摆线轮之间具有间隙，在减速器运行过程中，润滑槽内的润滑剂可流入该间隙中，对两个摆线轮的轴向端面进行润滑，降低两个摆线轮轴向端面之间的磨损，进一步提高了传动精度，且进一步提高减速器整机的寿命及可靠性。
为了实现本申请的第三目的，本申请提供一种机器人，包括减速器，减速器包括摆线轮，摆线轮包括多个轮齿，多个轮齿均匀分布在摆线轮的外圆周面上，两个相邻轮齿之间具有齿槽，至少一个齿槽上开设有润滑槽，润滑槽朝摆线轮的轴心凹入。
由上述方案可见，摆线轮的两个相邻轮齿之间具有齿槽，至少一个齿槽上开设有润滑槽，润滑槽朝摆线轮的轴心凹入，润滑槽内储存着润滑剂，有利于对与摆线轮相配合的传动零部件进行润滑，降低摆线轮的磨损，提高了传动精度，且提高整机的使用寿命及可靠性。
附图说明
图1是本申请摆线轮第一实施例在第一视角下的结构图。
图2是本申请摆线轮第一实施例在第二视角下的结构图。
图3是本申请减速器第一实施例的结构图。
图4是本申请减速器第一实施例的剖视图。
图5是本申请摆线轮第二实施例的结构图。
图6是本申请减速器第二实施例的剖视图。
具体实施方式
以下实施例主要针对本申请的减速器进行详细说明，由于本申请减速器采用了本申请的摆线轮，在减速器实施例的说明中已对摆线轮实施例进行了说明。本申请减速器可在机器人上应用，但不限于机器人，有大范围传动比需求的其他设备均可选用于本申请减速器，从而减小设备的体积和重量，寿命长，精度保持稳定，效率高且传动平稳。
减速器第一实施例：
参见图1至图4，本实施例的减速器2包括摆线轮1、行星架23、刚性盘22、输入轴24、输入齿轮(未标示)、曲轴25、行星齿轮214、滚针轴承27、针齿壳21以及多个针齿28，刚性盘22和行星架23分别位于针齿壳21的轴向两端，具体地，刚性盘22通过第一 轴承29可转动地安装在针齿壳21的轴向第一端，行星架23通过第二轴承210可转动地安装在针齿壳21的轴向第二端。曲轴25可转动地连接在刚性盘22与行星架23之间，具体地，曲轴25的轴向第一端通过第三轴承212可转动地安装在行星架23上，曲轴25的轴向第二端通过第四轴承211可转动地安装在刚性盘22上。行星齿轮214固定地套接在曲轴25的轴向第一端末端，且行星齿轮214位于行星架23的开槽231内。输入齿轮套接在输入轴24上，行星齿轮214与输入齿轮相互啮合，从而把输入轴24的驱动力传递到曲轴25上。
曲轴25的轴向中部具有一个或多个偏心部26，本实施例曲轴25具有两个偏心部26，两个偏心部26的轴线不共线地平行设置。偏心部26位于行星架23与刚性盘22之间，滚针轴承27套接在偏心部26的外周壁上，本实施例滚针轴承27的数量与偏心部26的数量一致，因此滚针轴承27的数量也是两个。与偏心部26的数量对应的摆线轮1设置在行星架23与刚性盘22之间，摆线轮1开设有轴承孔12，轴承孔12套接在滚针轴承27上。具体地，滚针轴承27内的多个滚针与轴承孔12的内圆周面滚动配合，且滚针轴承27的多个滚针与偏心部26的外圆周面滚动配合。多个针齿28均匀分布在针齿壳21的内圆周面上，摆线轮1的轮齿13与针齿28啮合，从而把曲轴25的驱动力传递给针齿壳21，若针齿壳21为固定安装，则曲轴25的驱动力将传递给行星架23或者刚性盘22。其中，本实施例摆线轮1的数量与偏心部26的数量一致，因此摆线轮1的数量也是两个，两个摆线轮1之间具有间隙213。
参见图1和图2，摆线轮1包括多个轮齿13、轴承孔12以及轴孔11，轴孔11在摆线轮1的轴向上贯穿摆线轮1的轴心设置，输入轴24贯穿轴孔11设置。多个轮齿13均匀分布在摆线轮1的外圆周面上，轴承孔12位于轴孔11和轮齿13之间，并且轴承孔12在摆线轮1的轴向上贯穿摆线轮1设置。本实施例轴承孔12的数量为两个，两个轴承孔12在摆线轮1的周向上均匀分布。
两个相邻轮齿13之间具有齿槽14，至少一个齿槽14上开设有润滑槽15，润滑槽15朝摆线轮1的轴心凹入。在摆线轮1的周向上，该润滑槽15位于齿槽14的中间，在摆线轮1的轴向上，该润滑槽15位于摆线轮1的中间，从而不影响轮齿13的刚度和传动精度，从而保证了摆线轮1以及减速器2整机的刚度和传动精度。本实施例在每个齿槽14上均开设有润滑槽15，也可以是相邻两个润滑槽15之间具有至少两个轮齿13，即在摆线轮1的周向上润滑槽15以至少一个齿槽14间隔地布置。本实施例润滑槽15在摆线轮1径向上的截面为圆形，润滑槽15在摆线轮1径向上的截面也可以为矩形、椭圆形等几何形状。
在减速器2运行的过程中，通过输入齿轮与行星齿轮214的啮合完成第一级减速传动， 同时由于行星齿轮214与曲轴25之间的约束作用，带动曲轴25旋转，随后通过摆线轮1与针齿28的啮合完成第二级减速传动。由于摆线轮1的至少一个齿槽14上开设有润滑槽15，润滑槽15内储存着润滑剂，在摆线轮1与针齿28的啮合过程中，借助润滑剂的流动，有利于摆线轮1的轮齿13与针齿28之间的润滑，对针齿28进行有效降温，降低轮齿13与针齿28之间的磨损，提高了传动精度，且提高减速器2整机的寿命及可靠性。其中，润滑剂可选用润滑油或润滑脂。
本实施例两个摆线轮1之间具有间隙213，在运行过程中，润滑槽15内的润滑剂可流入该间隙213中，对两个摆线轮1的轴向端面进行润滑，降低两个摆线轮1轴向端面之间的磨损，进一步提高了传动精度，且进一步提高减速器2整机的寿命及可靠性。并且，本实施例摆线轮1的生产工艺简单，加工方便，加工效率高，且加工成本低。
减速器第二实施例：
作为对本申请减速器第二实施例的说明，以下仅对与减速器第一实施例的不同之处进行说明。
参见图5和图6，摆线轮3包括多个轮齿33、轴承孔32以及轴孔31，轴孔31在摆线轮3的轴向上贯穿摆线轮3的轴心设置，输入轴44贯穿轴孔31设置。多个轮齿33均匀分布在摆线轮3的外圆周面上，轴承孔32位于轴孔31和轮齿33之间，并且轴承孔32在摆线轮3的轴向上贯穿摆线轮3设置。本实施例轴承孔32的数量为两个，两个轴承孔32在摆线轮3的周向上均匀分布。
摆线轮3的两个相邻轮齿33之间具有齿槽34，至少一个齿槽34上开设有润滑槽35，润滑槽35朝摆线轮3的轴心凹入。其中，至少一个润滑槽35与轴承孔32相互连通。本实施例在每个齿槽34上均开设有润滑槽35，在摆线轮3径向上分别与两个轴承孔32的内圆周面间距较小的齿槽34上的润滑槽35与轴承孔32连通。
在减速器4运行的过程中，通过输入齿轮与行星齿轮414的啮合完成第一级减速传动，同时由于行星齿轮414与曲轴45之间的约束作用，带动曲轴45旋转，随后通过摆线轮3与针齿48的啮合完成第二级减速传动。由于摆线轮3的至少一个齿槽34上开设有润滑槽35，润滑槽35内储存着润滑剂，在摆线轮3与针齿48的啮合过程中，借助润滑剂的流动，有利于摆线轮3的轮齿33与针齿48之间的润滑，对针齿48进行有效降温，降低轮齿33与针齿48之间的磨损，提高了传动精度，且提高减速器4整机的寿命及可靠性。其中，润滑剂可选用润滑油或润滑脂。
本实施例两个摆线轮3之间具有间隙413，在运行过程中，润滑槽35内的润滑剂可流入该间隙413中，对两个摆线轮3的轴向端面进行润滑，降低两个摆线轮3轴向端面之间 的磨损，进一步提高了传动精度，且进一步提高减速器4整机的寿命及可靠性。同时，至少一个润滑槽35与轴承孔32相互连通，有利于滚针轴承47的润滑，从而提高了曲轴45、滚针轴承47以及摆线轮3之间的传动精度，大大提高减速器4整机的寿命及可靠性。并且，本实施例摆线轮3的生产工艺简单，加工方便，加工效率高，且加工成本低。
以上实施例，只是本申请的较佳实例，并非来限制本申请实施范围，故凡依本申请范围的构造、特征及原理所做的等效变化或修饰，均应包括于本申请范围内。

Claims (14)

  1. 一种摆线轮，包括多个轮齿，多个所述轮齿均匀分布在所述摆线轮的外圆周面上，两个相邻所述轮齿之间具有齿槽，其特征在于：
    至少一个所述齿槽上开设有润滑槽，所述润滑槽朝所述摆线轮的轴心凹入。
  2. 根据权利要求1所述的摆线轮，其特征在于：
    在所述摆线轮的周向上，所述润滑槽位于所述齿槽的中间。
  3. 根据权利要求1或2所述的摆线轮，其特征在于：
    在所述摆线轮的轴向上，所述润滑槽位于所述摆线轮的中间。
  4. 根据权利要求1或2所述的摆线轮，其特征在于：
    相邻两个所述润滑槽之间具有至少两个所述轮齿。
  5. 根据权利要求1或2所述的摆线轮，其特征在于：
    每个所述齿槽上均开设有所述润滑槽。
  6. 根据权利要求1或2所述的摆线轮，其特征在于：
    所述润滑槽在所述摆线轮径向上的截面为圆形或者矩形或者椭圆形。
  7. 根据权利要求1或2所述的摆线轮，其特征在于：
    所述摆线轮还包括轴承孔，所述轴承孔在所述摆线轮的轴向上贯穿所述摆线轮设置，至少一个所述润滑槽与所述轴承孔相互连通。
  8. 根据权利要求7所述的摆线轮，其特征在于：
    所述轴承孔的数量为至少两个，至少两个所述轴承孔在所述摆线轮的周向上均匀分布。
  9. 根据权利要求8所述的摆线轮，其特征在于：
    所述摆线轮还包括轴孔，所述轴孔在所述摆线轮的轴向上贯穿所述摆线轮的轴心设置，所述轴承孔位于所述轴孔和所述轮齿之间。
  10. 减速器，包括摆线轮，其特征在于：
    所述摆线轮为上述权利要求1至9任一项中的摆线轮。
  11. 根据权利要求10所述的减速器，其特征在于：
    所述减速器还包括输入轴、输入齿轮、曲轴、行星齿轮、滚针轴承、针齿壳以及多个针齿，所述输入齿轮套接在所述输入轴上，所述行星齿轮套接在所述曲轴上，所述行星齿轮与所述输入齿轮相互啮合；
    所述曲轴具有偏心部，所述滚针轴承套接在所述偏心部上，所述摆线轮开设有所述轴承孔，所述轴承孔套接在所述滚针轴承上；
    多个所述针齿均匀分布在所述针齿壳的内圆周面上，所述摆线轮的所述轮齿与所述针齿啮合。
  12. 根据权利要求11所述的减速器，其特征在于：
    所述减速器还包括行星架和刚性盘，所述刚性盘和所述行星架分别位于所述针齿壳的轴向两端，所述摆线轮位于所述刚性盘和所述行星架之间，所述曲轴可转动地连接在所述刚性盘与所述行星架之间。
  13. 根据权利要求12所述的减速器，其特征在于：
    所述摆线轮的数量为至少两个，两个相邻所述摆线轮之间具有间隙。
  14. 机器人，包括减速器，其特征在于：
    所述减速器为上述权利要求10至13任一项中的减速器。
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CN107654611A (zh) * 2017-10-25 2018-02-02 珠海格力节能环保制冷技术研究中心有限公司 齿轮传动机构及具有其的减速装置
CN207500434U (zh) * 2017-11-29 2018-06-15 泸州邦立减速机有限责任公司 一种用于行星减速机的行星齿轮
CN207830505U (zh) * 2018-01-23 2018-09-07 华南理工大学 一种rv减速器摆线轮

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JP7203966B2 (ja) 2018-11-26 2023-01-13 グリー エレクトリック アプライアンシーズ インク オブ ズーハイ サイクロイド歯車及び減速機

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