WO2020057164A1 - Unité de transmission cycloïdale vectorielle - Google Patents

Unité de transmission cycloïdale vectorielle Download PDF

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Publication number
WO2020057164A1
WO2020057164A1 PCT/CN2019/087779 CN2019087779W WO2020057164A1 WO 2020057164 A1 WO2020057164 A1 WO 2020057164A1 CN 2019087779 W CN2019087779 W CN 2019087779W WO 2020057164 A1 WO2020057164 A1 WO 2020057164A1
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WO
WIPO (PCT)
Prior art keywords
cycloid
plate
fixing
transmission unit
ball
Prior art date
Application number
PCT/CN2019/087779
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English (en)
Chinese (zh)
Inventor
黄志�
叶华平
张晓航
Original Assignee
海尚集团有限公司
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 海尚集团有限公司 filed Critical 海尚集团有限公司
Publication of WO2020057164A1 publication Critical patent/WO2020057164A1/fr

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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
    • 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
    • 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
    • F16H2001/325—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 a carrier with pins guiding at least one orbital gear with circular holes
    • 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
    • F16H2001/328—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 balancing means

Definitions

  • the present invention relates to the technical field of mechanical transmission, and in particular, to a vector cycloidal speed changing unit applied to a multi-joint robot.
  • CN102767600A published in 2012, discloses a BS speed reducer that uses S-shaped cycloid grooves and its built-in balls to reduce speed. This technology does not require gear or worm gear transmission to achieve speed change. To a certain extent, the noise of the reducer is reduced, and the transmission efficiency is improved.
  • Bulletin number CN104964011A discloses a cross-slider drive speed reducer for a multi-joint robot. This technology also uses the transmission of the driving ball in the motion track to achieve speed reduction, which reduces the speed of the speed reducer to a certain extent. Noise improves transmission efficiency.
  • the application number is 201610997116.6
  • the application titled Follower Drive Reducer discloses that the transmission ball is fixed on the transmission ball fixing hole on the output shaft through the transmission ball, so that the transmission ball moves in the ball movement track of the differential transmission, The ball will not shift during the movement to ensure the normal movement of the reducer.
  • the balls move in an arc-shaped groove, and the balls themselves are spherical, Therefore, the force of the groove on the balls is in all directions. Therefore, during the speed change process, the speed change unit that performs the speed change function not only has a radial force but also an axial force during the transmission process, and the axial force is unidirectional. Axial force, so after working for a long time, each component is continuously squeezed in the axial direction, which generates huge friction force, which causes the output of the transmission to be unstable, stepping vibration, large heat generation, high wear rate and other undesirable phenomena. .
  • the present invention provides a vector cycloidal transmission unit that does not generate an axial force.
  • a vector cycloidal transmission unit comprising a cycloidal disc and a plurality of balls distributed around a circumferential direction, and the axial sides of the cycloidal disc are respectively provided
  • There are an upper fixing splint and a lower fixing splint the upper fixing splint and the lower fixing splint are fixedly connected, and the cycloid plate and the upper fixing splint are respectively provided with cycloid grooves and ball fixing holes on the opposite faces, and the cycloid plate and the lower fixing splint Opposite surfaces of the trochoid are also provided with cycloid grooves and ball fixing holes, respectively.
  • Balls are placed between the cycloid grooves and ball fixing holes, so that the cycloid plate and the upper and lower fixed clamping plates form a coordinated and coordinated cycloidal movement.
  • the inner wall of the cycloid groove is provided in an arc surface, when the ball performs a cycloidal movement, a unidirectional axial component of force is generated, and the cycloid groove is provided on the cycloid plate.
  • the ball fixing holes are set on the upper and lower fixing clamps.
  • the cycloid disk is placed between the upper and lower clamping clamps.
  • the axial component forces of the two rows of balls act on the upper and lower clamps, respectively.
  • the clamp plate and the lower clamp plate form a force.
  • the upper clamp plate and the lower clamp plate are fixedly connected, that is, the upper clamp plate and the lower clamp plate are immovable, the upper clamp plate and the lower clamp plate will react against the balls. Also, because the parameters of the two cycloid grooves and the balls are completely the same, the magnitude of the acting force and the reaction force are equal, and the directions are opposite, so that the axial component force of the cycloid plate is eliminated.
  • the axial separation is also eliminated, or the cycloid groove is provided on the lower side of the upper fixed plate and the cycloid plate, and the ball fixing groove is provided on the lower side.
  • the upper side of the fixed clamping plate and the cycloid plate, or the cycloid groove is provided on the upper side of the lower fixed clamping plate and the cycloid plate, and the ball fixing groove is provided on the lower side of the upper fixed plate and the cycloid plate.
  • the axial separation will be eliminated.
  • the transmission unit does not have the input and output parts of a traditional reducer. The emergence of such a transmission unit can break through the traditional design of the transmission mechanism in robots or other fields, and provides the basis and core technology for achieving diversified design ideas .
  • the upper fixed clamping plate and the lower fixed clamping plate are arranged to form a ring-shaped box body, and an inner wall of the box body is provided with a ring-shaped clamping cavity for installing the cycloid disk.
  • the diameter is smaller than the outer diameter of the annular clamping cavity.
  • the annular clamping cavity is provided at the connection between the upper fixed clamping plate and the lower fixed clamping plate.
  • the annular clamping cavity may be separately provided on one of the clamping plates, and the other clamping plate serves as a cover plate, or may be half disposed on the clamping plate.
  • the upper fixed clamping plate and the other half are arranged on the lower fixed clamping plate.
  • the upper fixed clamping plate and the lower fixed clamping plate are combined to form a complete annular clamping cavity.
  • the outer diameter of the clamping cavity must be larger than the diameter of the cycloid disk, so that the cycloid disk can have a swing space in the radial direction, the structure is simple, and the processing is convenient.
  • the cycloid disc is provided with an input-output driving hole.
  • the input / output driving hole may also be a driving key, which is used to install a driving mechanism or connect an output shaft.
  • the cycloid groove is provided on the upper side and the lower side of the cycloid disk, and the ball fixing hole is provided on the upper fixing plate and the lower fixing plate.
  • the two cycloid grooves are symmetrically arranged here, and the two rows of ball fixing holes are also symmetrically arranged to maintain the consistency of the cycloidal movement.
  • the cycloid groove is provided on the upper fixing plate and the lower fixing plate, and the ball fixing hole is provided on the upper side and the lower side of the cycloid plate.
  • the two cycloid grooves are symmetrically arranged here, and the two rows of ball fixing holes are also symmetrically arranged to maintain the consistency of the cycloidal movement.
  • the cycloid groove is provided on the upper side of the cycloid disc and the lower fixed clamping plate.
  • the ball fixing holes are arranged on the lower side of the cycloid disk and the upper fixing clamp plate.
  • the two cycloid grooves are the same in size and position, that is, the two cycloid grooves can completely overlap in the axial direction, and the orientation and arrangement of the two rows of ball fixing holes are also completely the same. Line motion consistency.
  • the cycloid groove is provided on a lower side of the cycloid disc and an upper fixing clamp plate.
  • the ball fixing holes are arranged on the upper side of the cycloid disk and the lower fixing clamp plate.
  • the two cycloidal grooves are the same in size and position, that is, the two cycloidal grooves can completely overlap in the axial direction, and the orientation and arrangement of the two rows of ball fixing holes are completely the same. Line motion consistency.
  • the upper fixing clamp plate and the lower fixing clamp plate are both provided with mounting holes distributed along a circumferential direction thereof.
  • the mounting holes can be used to connect with a robot or other structures.
  • Each mounting hole on the upper clamping plate is preferably aligned with each mounting hole on the lower clamping plate.
  • the structure is simple and easy to install. .
  • FIG. 1 is a schematic structural diagram of a speed changing unit according to a specific embodiment of the present invention.
  • FIG. 2 is a cross-sectional view taken along A-A of FIG. 1;
  • FIG. 3 is an exploded view of the structure of a transmission unit according to a specific embodiment of the present invention.
  • FIG. 4 is an exploded view of the structure of a transmission unit according to a specific embodiment of the present invention.
  • FIG. 5 is a structural diagram of a speed changing unit according to a specific embodiment of the present invention.
  • FIG. 6 is an application structural diagram of a speed changing unit according to a specific embodiment of the present invention.
  • FIG. 7 is an A-A cross-sectional view of FIG. 6;
  • FIG. 8 is an exploded view of an application structure of a transmission unit according to a specific embodiment of the present invention.
  • FIG. 9 is an exploded view of a structure of a driving mechanism according to a specific embodiment of the present invention.
  • a vector cycloidal transmission unit includes an upper fixed clamping plate 1, a lower fixed clamping plate 2, and a pendulum disposed between the upper fixed clamping plate 1 and the lower fixed clamping plate 2.
  • the bobbin 3 is fixedly connected to the upper fixed clamping plate 1 and the lower fixed clamping plate 2.
  • the opposite surfaces of the cycloid disk 3 and the upper fixed clamping plate 1 are respectively provided with a cycloid groove 31 and ball fixing holes 11, 21, and a cycloid disk 3 Cycloidal grooves 31 and ball fixing holes 11, 21 are also provided on the opposite surfaces of the lower fixed clamping plate 2 between the cycloidal plate 3 and the upper fixed clamping plate 1, and between the cycloidal plate 3 and the lower fixed clamping plate 2.
  • Both are provided with balls 4, the balls 4 are located in the cycloid groove 31 and the ball fixing holes 11 and 21, so that the cycloid plate 3 and the upper fixed clamping plate 1 and the lower fixed clamping plate 2 form a cycloid motion cooperation, and the two cycloid grooves 31 are consistent or
  • the two ball fixing holes 11, 21 are arranged symmetrically or symmetrically.
  • the inner wall of the cycloid groove 31 is arranged in an arc surface, when the ball 4 performs a cycloidal motion, a unidirectional axial component of force is generated, and the cycloid groove 31 is provided on the upper and lower sides of the cycloid plate 3
  • the ball fixing holes 11 and 21 are provided on the upper fixing clamp plate 1 and the lower fixing clamp plate 2 as an example.
  • the cycloid disc 3 is placed between the upper fixing clamp plate 1 and the lower fixed clamp plate 2.
  • the clamp plate 1 and the lower fixed clamp plate 2 have a reaction force on the ball 4, and because the parameters of the two cycloid grooves 31 and the ball 4 are completely the same, the magnitude of the acting force and the reaction force are equal, and the directions are opposite, so that the axial direction of the cycloid plate 3
  • the component force is eliminated, and the same can be obtained.
  • the cycloid groove 31 is provided on the upper fixed clamping plate 1 and the lower fixed clamping plate 2, and the ball fixing holes 11, 21 are provided on the upper and lower sides of the cycloid disc 3, the axial direction The separation will also be eliminated, or the cycloidal groove 31 is fixed on the upper side.
  • the lower side of the clamping plate 1 and the cycloid plate 3, the ball 4 fixing groove is provided on the upper side of the lower fixed clamping plate 2 and the cycloid plate 3, or the cycloid groove 31 is provided on the upper side of the lower fixing plate 2 and the cycloid plate 3, and the ball 4
  • the fixing groove is arranged on the lower side of the upper fixing clamp plate 1 and the cycloid disc 3, and the axial separation will be eliminated.
  • the transmission unit does not have the input and output parts of a traditional reducer. The emergence of this transmission unit can break through The design of the transmission mechanism of traditional thinking in robots or other fields provides the foundation and core technology for the realization of diversified design ideas.
  • the upper fixed clamping plate 1 and the lower fixed clamping plate 2 are arranged to form a ring-shaped box body A.
  • the inner wall of the box body A is provided with a ring-shaped clamping cavity A 1 for mounting the cycloid disk 3,
  • the diameter is smaller than the outer diameter of the annular clamping cavity A 1.
  • the annular clamping cavity A1 is provided at the connection between the upper fixed clamping plate 1 and the lower fixed clamping plate 2.
  • the annular clamping cavity A1 can be separately provided on one of the clamping plates, and the other clamping plate serves as a cover plate, or it can also be half installed on the upper fixing clamping plate.
  • a complete annular clamping cavity Al is formed later, because the cycloid disk 3 has both a radial cycloidal movement and a circumferential rotational movement, the outer diameter of the annular clamping cavity A1 should be larger than the diameter of the cycloid disk 3, so that the cycloid Only the disk 3 can have a swing space in the radial direction, the structure is simple, and the processing is convenient.
  • the cycloid grooves 31 are provided on the upper and lower sides of the cycloid disc 3, and the ball fixing holes 11, 21 are provided on the upper fixing clamp 1 and the lower fixing clamp 2.
  • the two cycloid grooves 31 are symmetrically arranged, and the two rows of ball fixing holes 11, 21 are also symmetrically arranged to maintain the consistency of the cycloidal movement.
  • the cycloid grooves 31 are provided on the upper fixed clamping plate 1 and the lower fixed clamping plate 2, and the ball fixing holes 11, 21 are provided on the upper side and the lower side of the cycloid plate 3.
  • the two cycloid grooves 31 are symmetrically arranged, and the two rows of ball fixing holes 11, 21 are also symmetrically arranged to maintain the consistency of the cycloidal movement.
  • the cycloid grooves 31 are provided on the upper side of the cycloid plate 3 and the lower fixed clamping plate 2.
  • Ball fixing holes 11 and 21 are provided on the lower side of the cycloid plate 3 and the upper fixed clamping plate 1.
  • the two cycloid grooves 31 are the same in size and position, that is, the two cycloid grooves 31 can completely overlap in the axial direction, and the orientation and arrangement of the two rows of ball fixing holes 11 and 21 are completely the same. consistency.
  • the cycloid groove 31 is provided on the lower side of the cycloid plate 3 and the upper fixed clamping plate 1, and the ball fixing holes 11 and 21 are provided on the upper side of the cycloid plate 3 and the lower fixed clamping plate 2.
  • the two cycloid grooves 31 are the same in size and position, that is, the two cycloid grooves 31 can completely overlap in the axial direction, and the orientation and arrangement of the two rows of ball fixing holes 11 and 21 are completely the same. consistency.
  • the above-mentioned upper fixing splint 1 and lower fixing splint 2 are provided with mounting holes 12, 22, and mounting holes 12, 22 arranged along the circumferential direction thereof along the axial direction of the upper fixing splint 1 or the lower fixing splint 2.
  • the mounting holes 12 and 22 can be used to connect with robots or other structures.
  • Each of the mounting holes 12 and 22 on the preferred upper fixing splint 1 and the mounting holes 12 and 22 on the lower fixing splint 2 are aligned and arranged correspondingly, and the structure is simple. Easy to install.
  • the cycloid disc 3 is provided with a driving mechanism 5 for driving its radial translation and the output shaft 6 linked with the cycloid disc 3.
  • the cycloid disc 3 is provided with three inputs and outputs in a triangular distribution.
  • the input and output driving holes 32 are provided with a rotating shaft 51.
  • the rotating shaft 51 is provided with an eccentric wheel 511.
  • the eccentric wheel 511 faces the input and output driving holes 32 and eccentric wheel 511.
  • the upper sleeve is provided with a bearing 52, the upper and lower sides of the eccentric wheel 511 are provided with tapered bearings 53, the one end of the rotating shaft 51 is provided with a transmission gear 54, the transmission gear 54 is sleeved with a planetary gear 55, and the planetary gear 55 meshes with the transmission gear 54
  • the three planetary gears 55 are driven by a driving gear disposed between the three, the rotating shaft 51, the transmission gear 54, the planetary gear 55 and
  • the driving gear constitutes the driving mechanism 5 described above.
  • the driving mechanism 5 uses the principle of planetary transmission.
  • the transmission unit of the present application may also be driven by other transmissions.
  • an eccentric shaft may be provided in the middle of the cycloid disc 3 to drive.
  • the output shaft 6 is divided into two parts, which are respectively arranged on the corresponding sides of the cycloid disk 3 to constitute an upper output terminal 61 and a lower output terminal 62.
  • the upper output terminal 61 and the lower output terminal 62 are connected through the input and output driving holes 33.
  • the pin 63 is linked, and the input-output driving hole 33 and the connecting pin 63 are clearance-fitted.
  • the driving gear, the planetary gear 55, and the transmission gear 54 drive the cycloid disc 3 to move radially through the planetary transmission.
  • the ball 4 The movement in the cycloid groove 31 drives the rotation of the cycloid disk 3, thereby driving the output shaft 6 to rotate.
  • the centroid of the cycloid disk 3 revolves At the same time, it rotates around its own axis to achieve a deceleration transmission from the rotating shaft to the output shaft 6 and vice versa.
  • an upper connection cover 7 is connected to the upper fixed clamping plate 1, and the lower fixed
  • a lower connection cover 8 is connected to the splint 2
  • the upper connection cover 7 and the upper fixing splint 1 are fixed by screws in the mounting holes 12, 22, and the lower connection cover 8 and the lower fixing splint 2 are connected in the mounting holes 12, 22
  • the upper connection cover 7 and the lower connection cover 8 also form a ring shape.
  • the upper output end 61 and the lower output end 62 pass through the upper connection cover 7 and the lower connection cover 8, respectively.
  • the upper fixing clamp plate 1, the upper connection cover 7 and the upper Crossed roller bearings 71, 81 are provided between the output ends 61, and cross roller bearings 71, 81 are also provided between the lower fixed clamping plate 2, the lower connection cover 8 and the lower output end 62.
  • the planetary gear 55 and the driving gear are located on the upper side.
  • the output 61 is outside.

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

Abstract

La présente invention concerne une unité de transmission cycloïdale vectorielle comprenant un disque cycloïdal (3) et de multiples billes réparties de manière circonférentielle (4). Une plaque de fixation et de maintien supérieure (1) et une plaque de fixation et de maintien inférieure (2) sont respectivement disposées sur deux côtés axiaux du disque cycloïdal (3). La plaque de fixation et de maintien supérieure (1) est raccordée à demeure à la plaque de fixation et de maintien inférieure (2). Une fente cycloïdale (31) et des trous de fixation de bille (11, 21) sont disposés respectivement sur des surfaces opposées du disque cycloïdal (3) et de la plaque de fixation et de maintien supérieure (1). Une fente cycloïdale (31) et des trous de fixation de bille (11, 21) sont également disposés respectivement sur des surfaces opposées du disque cycloïdal (3) et de la plaque de fixation et de maintien inférieure (2). Les billes (4) sont placées entre la fente cycloïdale (31) et les trous de fixation de bille (11, 21), de telle sorte qu'un mouvement cycloïdal coordonné est obtenu entre le disque cycloïdal (3) et la plaque de fixation et de maintien supérieure (1) et entre le disque cycloïdal (3) et la plaque de fixation et de maintien inférieure (2). L'unité de transmission cycloïdale vectorielle ayant la structure ci-dessus ne génère pas de force axiale.
PCT/CN2019/087779 2018-09-18 2019-05-21 Unité de transmission cycloïdale vectorielle WO2020057164A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811089293.XA CN109139811A (zh) 2018-09-18 2018-09-18 矢量摆线变速单元
CN201811089293.X 2018-09-18

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WO2020057164A1 true WO2020057164A1 (fr) 2020-03-26

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PCT/CN2019/087779 WO2020057164A1 (fr) 2018-09-18 2019-05-21 Unité de transmission cycloïdale vectorielle

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WO (1) WO2020057164A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
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CN109139811A (zh) * 2018-09-18 2019-01-04 海尚集团有限公司 矢量摆线变速单元
CN110230525A (zh) * 2019-06-18 2019-09-13 海尚集团有限公司 具有矢量摆线变速机构的可变气门正时装置
CN113804440A (zh) * 2021-08-16 2021-12-17 人本股份有限公司 测试油浴润滑轴承摩擦力矩的试验装置

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JP2009024765A (ja) * 2007-07-19 2009-02-05 Nsk Ltd ボール式減速機
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CN109139811A (zh) * 2018-09-18 2019-01-04 海尚集团有限公司 矢量摆线变速单元

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