WO2020056962A1 - Roue cycloïdale, réducteur et robot - Google Patents

Roue cycloïdale, réducteur et robot 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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WO
WIPO (PCT)
Prior art keywords
wheel
cycloidal wheel
cycloid
cycloidal
gear
Prior art date
Application number
PCT/CN2018/122711
Other languages
English (en)
Chinese (zh)
Inventor
梁光盛
胡余生
钟成堡
崔中
程中甫
刘成
孙豹
田珍珍
Original Assignee
珠海格力电器股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 珠海格力电器股份有限公司 filed Critical 珠海格力电器股份有限公司
Publication of WO2020056962A1 publication Critical patent/WO2020056962A1/fr

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-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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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)

Abstract

La présente invention concerne une roue cycloïdale (1), un réducteur (2) doté de la roue cycloïdale (1), et un robot doté du réducteur (2). La roue cycloïdale (1) comprend une pluralité de dents d'engrenage (13), la pluralité de dents d'engrenage (13) étant uniformément réparties sur une surface circonférentielle externe de la roue cycloïdale (1), une rainure de dent (14) étant disposée entre deux dents d'engrenage adjacentes (13), au moins une rainure de dent (14) étant pourvue d'une rainure de lubrification (15), et la rainure de lubrification (15) étant évidée vers un axe de la roue cycloïdale (1). Un lubrifiant est stocké dans la rainure de lubrification (15) de la roue cycloïdale (1), ce qui facilite la lubrification des parties de transmission coopérant avec la roue cycloïdale (1), de telle sorte que l'usure de la roue cycloïdale (1) est réduite, la précision de transmission est améliorée, et la durée de vie et la fiabilité sont améliorées. De plus, la roue cycloïdale (1) présente un processus de production simple, un traitement pratique, une efficacité de traitement élevée et un faible coût de traitement.
PCT/CN2018/122711 2018-09-19 2018-12-21 Roue cycloïdale, réducteur et robot WO2020056962A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811091084.9 2018-09-19
CN201811091084.9A CN109139861A (zh) 2018-09-19 2018-09-19 摆线轮、减速器以及机器人

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Publication Number Publication Date
WO2020056962A1 true WO2020056962A1 (fr) 2020-03-26

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WO (1) WO2020056962A1 (fr)

Cited By (1)

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JP2022508033A (ja) * 2018-11-26 2022-01-19 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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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109083984B (zh) * 2018-10-12 2024-07-23 珠海格力电器股份有限公司 减速器、减速电机和机器人
CN109854685A (zh) * 2019-01-25 2019-06-07 南京高速齿轮制造有限公司 偏心摆动型齿轮减速装置
CN111664229A (zh) * 2020-07-13 2020-09-15 珠海格力电器股份有限公司 减速器和机器人
CN112161033A (zh) * 2020-11-10 2021-01-01 南京南传智能技术有限公司 摆线齿轮及减速机
CN113251128A (zh) * 2021-05-13 2021-08-13 浙江雅博汽配有限公司 一种具有直接成型功能的齿轮

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CN106678281A (zh) * 2016-12-08 2017-05-17 华南理工大学 一种基于间隙分配和相位对齿原则的rv减速器装配方法
CN206754321U (zh) * 2017-04-24 2017-12-15 杭州高烯科技有限公司 一种基于石墨烯的高散热齿轮
CN206889617U (zh) * 2017-05-18 2018-01-16 重庆巨泰机械有限公司 主动锥齿轮
JP2018013190A (ja) * 2016-07-21 2018-01-25 Ntn株式会社 インホイールモータ駆動装置
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CN207178619U (zh) * 2017-09-11 2018-04-03 武汉快思维机器人有限公司 一种机器人用自润滑齿轮
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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JP2018013190A (ja) * 2016-07-21 2018-01-25 Ntn株式会社 インホイールモータ駆動装置
CN106678281A (zh) * 2016-12-08 2017-05-17 华南理工大学 一种基于间隙分配和相位对齿原则的rv减速器装配方法
CN206754321U (zh) * 2017-04-24 2017-12-15 杭州高烯科技有限公司 一种基于石墨烯的高散热齿轮
CN206889617U (zh) * 2017-05-18 2018-01-16 重庆巨泰机械有限公司 主动锥齿轮
CN207178619U (zh) * 2017-09-11 2018-04-03 武汉快思维机器人有限公司 一种机器人用自润滑齿轮
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
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022508033A (ja) * 2018-11-26 2022-01-19 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
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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