WO2020107983A1 - 摆线轮及减速机 - Google Patents

摆线轮及减速机 Download PDF

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Publication number
WO2020107983A1
WO2020107983A1 PCT/CN2019/103970 CN2019103970W WO2020107983A1 WO 2020107983 A1 WO2020107983 A1 WO 2020107983A1 CN 2019103970 W CN2019103970 W CN 2019103970W WO 2020107983 A1 WO2020107983 A1 WO 2020107983A1
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WO
WIPO (PCT)
Prior art keywords
oil
cycloid wheel
oil passage
cycloid
hole
Prior art date
Application number
PCT/CN2019/103970
Other languages
English (en)
French (fr)
Chinese (zh)
Inventor
郭霜
许甲岿
刘成
李婉
周丹
钟成堡
程中甫
孙豹
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
Priority to JP2021521770A priority Critical patent/JP7203966B2/ja
Publication of WO2020107983A1 publication Critical patent/WO2020107983A1/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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—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
    • F16H57/0431—Means for guiding lubricant directly onto a tooth surface or to foot areas of a gear, e.g. by holes or grooves in a tooth flank
    • 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
    • F16H57/0434—Features relating to lubrication or cooling or heating relating to lubrication supply, e.g. pumps ; Pressure control
    • F16H57/0435—Pressure control for supplying lubricant; Circuits or valves therefor

Definitions

  • the present application relates to the field of reducers, and in particular, to a cycloid wheel and reducer.
  • RV reducer is one of the core components of robot transmission. Compared with other deceleration methods, RV reducers have the advantages of large reduction ratio, coaxial transmission, high transmission accuracy, high rigidity, and compact structure. They are widely used in electronics, aerospace, robotics and other industries.
  • the structure of RV reducer is complicated, including cycloid wheel, crank shaft, pin gear shell, planet carrier and rigid disc. The cycloid wheel is an important part of the RV reducer.
  • the commonly used robot RV reducer uses two cycloid wheels, which are used in pairs. At both ends of each cycloid wheel, one side is in contact with the end surface of the other cycloid wheel, and the other side is in contact with the end surface of the outer ring of the main bearing. There is a phase difference, and the cycloid wheel is doing eccentric motion, so each pair of two end surfaces that are in contact with each other will slip between each other.
  • lubricant will be sealed into the housing.
  • the lubricant will move in the housing, so that the lubricant will be spread all over the pendulum Between all teeth of the reel. Because the gap between the end surface of the cycloid wheel and the end surface of the outer ring of the main bearing, and the end surfaces of the two cycloid wheels that are in contact with each other are very small.
  • the lubricant When relative motion occurs, the lubricant will be squeezed out, so that the dry friction between the end surfaces that are in contact with each other will increase the wear speed of the end surface of the cycloid wheel, and ultimately reduce the transmission accuracy and service life of the cycloid wheel .
  • the present application provides a cycloid wheel and a reducer, which aims to improve the problem of greater wear on the end surface of the cycloid wheel when the reducer is in operation.
  • a cycloid wheel includes a cycloid wheel body, a groove, a first oil passage and a second oil passage are provided on an end surface of the cycloid wheel body, the first oil passage is arranged around the groove, Both ends of the second oil passage communicate with the first oil passage and the groove, respectively.
  • both ends of the cycloid body are provided with the groove, the first oil path and the second oil path, and the two ends of the cycloid body
  • the groove, the first oil passage, and the second oil passage are all directly opposite.
  • the cycloid wheel body is further provided with an oil-through hole, the oil-through hole penetrates both end surfaces of the cycloid wheel body, and the oil-through hole and the cycloid wheel body are both The first oil passages on the end faces all intersect.
  • both ends of the second oil passage communicate with the oil through hole and the groove, respectively.
  • the cycloid body is provided with an eccentric shaft hole penetrating through both ends of the cycloid body, the eccentric shaft hole is located in the groove, and the second oil passage is away from the One end of the oil through hole communicates with the eccentric shaft hole.
  • the two eccentric shaft holes are symmetrical about the axis of the cycloid body, and the number of the oil through holes is the same as the number of the eccentric shaft holes ,
  • the two eccentric shaft holes are on the same straight line as the center of the two oil through holes, and the two oil through holes are symmetrical about the axis of the cycloidal body revolution.
  • the second oil passage extends in the radial direction of the cycloid body.
  • the first oil passage is in a circular ring shape, and the first oil passage is centered on the revolution axis of the cycloid wheel.
  • the eccentric amount of the cycloid body during revolution is e, and the diameter of the oil passage hole is greater than 4e.
  • the minimum distance of each of the oil through holes from the outer contour of the cycloid body is less than 4e.
  • the gerotor body is further provided with a plurality of upright holes, the upright holes penetrate the two end surfaces of the gerotor body, at least one of the upright holes and the two end surfaces of the gerotor body The first oil circuit on the intersection intersects.
  • a speed reducer comprising the cycloid wheel according to any one of the above.
  • the beneficial effect of this application is that the cycloid wheel obtained by the above design in this application has grooves on the end face of the cycloid wheel body, so when installed in the reducer, the end face of the cycloid wheel body actually contacts with other parts
  • the part is the end face that surrounds the groove.
  • a first oil passage and a second oil passage are provided on the end surface around the groove; wherein, the first oil passage is arranged around the groove, that is, on the end surface around the groove; the second oil passage divides the groove Communicate with the first oil passage. Due to the existence of the groove, lubricant is stored in the groove, and the second oil passage can drain the lubricant in the groove into the first oil passage.
  • the lubricant in the first oil passage can lubricate the end face of the cycloid wheel body and the end face of the parts in contact with it, preventing the end face of the cycloid wheel body from contacting Dry grinding occurs between components to reduce wear on the end face of the gerotor body.
  • FIG. 1 is a schematic structural diagram of a cycloid wheel provided by an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of a reducer provided by an embodiment of the present application.
  • first and second are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
  • the features defined as “first” and “second” may explicitly or implicitly include one or more of the features.
  • the meaning of “plurality” is two or more, unless otherwise specifically limited.
  • the terms “installation”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , Or integrated; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediary, it can be the connection between two components or the interaction between two components.
  • installation can be a fixed connection or a detachable connection , Or integrated; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediary, it can be the connection between two components or the interaction between two components.
  • the first feature is “above” or “below” the second feature and may include the first and second features being in direct contact, and may also include the first and second features Contact not directly but through another feature between them.
  • the first feature is “above”, “above” and “above” the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is less horizontal than the second feature.
  • Embodiment 1 provides a cycloid wheel including: a cycloid wheel body 1, a groove 5, a first oil passage 2 and a
  • the second oil passage 3 and the first oil passage 2 are arranged around the groove 5, and both ends of the second oil passage 3 communicate with the first oil passage 2 and the groove 5 respectively.
  • the groove 5 is embodied as a circular groove 5 centered on the axis of the cycloid wheel, and the first oil passage 2 and the second oil passage 3 are both embodied as a groove-like structure with an open upper end. That is to say, the openings of the first oil passage 2 and the second oil passage 3 are on the end surface of the cycloid body 1.
  • the cycloid wheel provided in this embodiment is provided with a groove 5 on the end surface of the cycloid body 1, so when installed in the reducer, the part of the cycloid body 1 that actually contacts the other end is surrounded by the concave The end face around the groove 5.
  • a first oil passage 2 and a second oil passage 3 are provided on the end surface around the groove 5; wherein, the first oil passage 2 is provided around the groove 5, that is, on the end surface around the groove 5;
  • the second oil passage 3 communicates the groove 5 and the first oil passage 2 with each other.
  • the second oil passage 3 can drain the lubricant in the groove 5 into the first oil passage 2, because the first oil passage 2 is disposed in the groove 5
  • the lubricant in the first oil passage 2 can lubricate between the end face of the cycloid body 1 and the end face of the parts in contact with it to prevent The occurrence of dry grinding between the end surface of the cycloid body 1 and the parts at the junction occurs, reducing wear on the end surface of the cycloid body 1.
  • both ends of the cycloid body 1 are provided with grooves 5, a first oil passage 2 and a second oil passage 3, and the grooves 5 on both ends of the cycloid body 1 , The first oil passage 2 and the second oil passage 3 are set directly opposite.
  • both end faces of the cycloid body 1 are provided with grooves 5, ⁇ 2 ⁇ 3 ⁇ One oil way 2 and the second oil way 3.
  • the end surface of the cycloid body 1 that contacts the adjacent cycloid wheel and the end surface that contacts the main bearing 8 can be lubricated with lubricant, thereby reducing the amount of Wear of the body 1.
  • the cycloid body 1 is further provided with an oil hole 4, the oil hole 4 penetrates the two ends of the cycloid body 1, and the oil hole 4 and the two sides of the cycloid body 1
  • the first oil circuit 2 all intersects.
  • the oil hole 4 can connect the two first oil passages 2 on both ends of the cycloid wheel body 1 to form a radial channel. Since the reducer may be placed at various angles in actual application, the cycloid The wheel body 1 is not necessarily horizontal. When the cycloid wheel body 1 is inclined, the lubricant may cause uneven position distribution under the action of gravity, so that the amount of lubricant on the two ends of the cycloid wheel body 1 is different.
  • both ends of the second oil passage 3 communicate with the oil through hole 4 and the groove 5 respectively.
  • the oil passage 4 is provided at the connection between the first oil passage 2 and the second oil passage 3, and can connect the first oil passage 2 and the second oil passage 3 on both end surfaces of the cycloid body 1.
  • the radial channel has a better drainage effect on the lubricant, so that the lubricant in the grooves 5 on the two end surfaces can also circulate through the second oil passage 3 and the oil through hole 4 to further enhance the circulation of the lubricant.
  • the cycloid body 1 is provided with an eccentric shaft hole 6 penetrating through both ends of the cycloid body 1, the eccentric shaft hole 6 is located in the groove 5, and the second oil passage 3 is away from the oil hole One end of 4 is connected to the eccentric shaft hole 6.
  • the second oil passage 3 extends along the radial direction of the cycloid body 1.
  • the cycloid body 1 is provided with an eccentric shaft hole 6 for mounting the eccentric shaft 9. Since most of the reducers need to be provided with two eccentric shafts 9, in the present embodiment, two eccentric shafts are provided on the cycloid body 1 Hole 6. Since lubricant also exists between the inner side wall of the eccentric shaft hole 6 and the outer peripheral surface of the eccentric shaft 9, when the end of the second oil passage 3 away from the first oil passage 2 communicates with the eccentric shaft hole 6, the second oil passage 3 also The lubricant in the eccentric shaft hole 6 can be drained into the first oil passage 2, so that the lubricant in the first oil passage 2 is more sufficient, and the lubrication effect on the end surface of the cycloid body 1 is better.
  • each eccentric shaft hole 6 is correspondingly provided with an oil through hole 4 and a second oil passage 3, and the second oil passage 3 extends along the radial direction of the cycloid body 1, and the two eccentric shafts
  • the hole 6 and the two oil through holes 4 are on the same straight line, so that when the eccentric wheel body 1 rotates eccentrically, the lubricant can better flow from the second oil passage 3 to the oil through hole under the action of inertia Within 4, the circulation effect of lubricant is better.
  • the depth of the second oil passage 3 is greater than the depth of the groove 5, which is specifically embodied in that a part of the second oil passage 3 in the groove 5 is on the ground of the groove 5 Up and down.
  • the first oil passage 2 has a circular ring shape, and the first oil passage 2 is centered on the revolution axis of the cycloid wheel . Even though the cycloid body 1 is eccentric when it is working, the movement trajectory is still circular. Setting the first oil passage 2 into a circular ring can make the lubricant better in the first oil under the action of inertia Circulate on Road 2.
  • the first oil passage 2 may also be provided in other shapes, such as a polygon.
  • the cycloid body 1 is further provided with a plurality of column holes 7.
  • the column holes 7 penetrate through the two end surfaces of the cycloid body 1, and at least one column hole 7 and the two sides of the cycloid body 1
  • the first oil circuit 2 intersects.
  • lubricant is also present in the column hole 7.
  • the column hole 7 intersects the first oil passage 2, which can circulate the lubricant in the column hole 7 into the first oil passage 2, so that the first oil passage 2
  • the lubricant inside is more abundant, and the lubrication effect on the end face of the cycloid body 1 is better.
  • the eccentric amount of the cycloid body 1 during revolution is e, and the diameter of the oil-through hole 4 is greater than 4e.
  • the minimum distance of each oil hole 4 from the outer contour of the gerotor body 1 is less than 4e.
  • the two eccentric wheel bodies are gradually offset by a certain distance due to relative sliding.
  • the offset distance is the largest, which is 4e.
  • the diameter of the oil through hole 4 is greater than 4e, so even when the distance between the two eccentric wheel bodies is the largest, the oil through holes 4 on the two eccentric wheel bodies still partially overlap, making the two through holes The oil holes 4 maintain communication, so that the lubricant can normally flow between the two oil through holes 4.
  • the maximum distance between the two cycloidal bodies 1 to move to each other is 4e.
  • the minimum distance between each oil hole 4 and the outer contour of the cycloidal body 1 is less than 4e.
  • the oil hole 4 When the mutual movement distance of the cycloid body 1 is greater than the distance between the oil hole 4 and the outer contour of the cycloid body 1, the oil hole 4 is no longer completely blocked by the end surface of the other cycloid body 1, so that the oil hole 4 It can communicate with the space outside the outer peripheral surface of the gerotor body 1, so that the oil through hole 4 can also guide the lubricant in this space to the first oil passage 2, and improve the lubrication of the end surface of the gerotor body effect.
  • an embodiment of the present application further provides a speed reducer, and the speed reducer includes the cycloid wheel of any of the foregoing embodiments.
  • the reducer provided by the embodiment of the present application may be an RV reducer.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)
PCT/CN2019/103970 2018-11-26 2019-09-02 摆线轮及减速机 WO2020107983A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2021521770A JP7203966B2 (ja) 2018-11-26 2019-09-02 サイクロイド歯車及び減速機

Applications Claiming Priority (2)

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CN201811418923.3A CN109404497A (zh) 2018-11-26 2018-11-26 一种摆线轮及减速机
CN201811418923.3 2018-11-26

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113700802A (zh) * 2021-08-16 2021-11-26 珠海格力电器股份有限公司 一种曲柄组件、减速器和机器人

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Publication number Priority date Publication date Assignee Title
CN109404497A (zh) * 2018-11-26 2019-03-01 珠海格力电器股份有限公司 一种摆线轮及减速机

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US5624344A (en) * 1995-05-01 1997-04-29 Zexel Torsen Inc. Lubrication system for a parallel-axis differential
JP2009257494A (ja) * 2008-04-17 2009-11-05 Ntn Corp モータ駆動装置およびインホイールモータ駆動装置
CN202937400U (zh) * 2012-10-17 2013-05-15 徐州市峰利液压机械有限公司 高效非圆齿轮液压马达
CN203098817U (zh) * 2013-03-21 2013-07-31 瑞安市车辆配件厂 半轴齿轮止推垫片
CN203656150U (zh) * 2014-01-08 2014-06-18 杭州速力机电设备有限公司 一种多轴器润滑结构
CN204403322U (zh) * 2014-12-30 2015-06-17 广西玉柴机器股份有限公司 一种发动机惰齿轮
CN106594234A (zh) * 2015-10-19 2017-04-26 南通市成生齿轮厂 一种具有较长寿命的齿轮
CN206054175U (zh) * 2016-08-30 2017-03-29 宁波中意液压马达有限公司 一种摆线液压马达的配油盘
TWM548755U (zh) * 2017-05-24 2017-09-11 Li Ming Machinery Co Ltd 具有軸承潤滑結構的擺線齒輪減速機
CN109404497A (zh) * 2018-11-26 2019-03-01 珠海格力电器股份有限公司 一种摆线轮及减速机

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113700802A (zh) * 2021-08-16 2021-11-26 珠海格力电器股份有限公司 一种曲柄组件、减速器和机器人

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