WO2020258443A1 - Differential cycloidal variable speed apparatus - Google Patents
Differential cycloidal variable speed apparatus Download PDFInfo
- Publication number
- WO2020258443A1 WO2020258443A1 PCT/CN2019/098589 CN2019098589W WO2020258443A1 WO 2020258443 A1 WO2020258443 A1 WO 2020258443A1 CN 2019098589 W CN2019098589 W CN 2019098589W WO 2020258443 A1 WO2020258443 A1 WO 2020258443A1
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- Prior art keywords
- cycloidal
- groove
- disk
- ball fixing
- fixing hole
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
Definitions
- the invention relates to the technical field of mechanical transmission, in particular to a differential cycloid transmission device which is an improvement on the "vector cycloid transmission unit" previously applied for.
- the transmission devices used in robots, precision machine tools, aerospace and other precision servo mechanisms require high transmission accuracy, high transmission rigidity, large transmission ratio, high transmission efficiency, small size, light weight, small transmission backlash, and high transmission Features such as small moment of inertia.
- the applicant’s earlier application disclosed an application titled “Vector Cycloid Transmission Unit” and the application number is 201821529100.3.
- a pair of fixedly connected splints are used to clamp the cycloidal disk so that the cycloidal disk is fixed on the splint and The lower fixed splint makes a cycloidal motion.
- the input structure and the output structure need to be additionally connected.
- the general input structure and output structure combined with the transmission unit have the same volume Larger.
- the present invention provides a differential cycloid transmission with a high transmission ratio or a low transmission ratio.
- a differential cycloid speed change device including a cycloid disk, the axial ends of the cycloid disk are A and B respectively, and the A of the cycloid disk Surface and B surface are respectively provided with a number of first and second balls distributed around the circumference, and the installation cavity for the installation of the cycloidal disk is provided on the body of the transmission device, wherein the cycloidal disk is input by the transmission device
- the shaft is eccentrically driven.
- a first cycloidal groove and a number of first ball fixing holes distributed around the circumference are arranged between the A surface of the cycloidal disk and the opposite surface on the mounting cavity opposite to the A surface.
- the B surface of the cycloidal disk A second cycloidal groove and a number of second ball fixing holes distributed around the circumference are provided between the output shaft of the speed change device, and the first ball is placed between the first cycloidal groove and the first ball fixing hole and the second The ball is placed between the second cycloidal groove and the second ball fixing hole to make the cycloidal disk perform cycloidal motion, the output shaft is driven by the cycloidal disk, and the number of tooth profiles of the first cycloidal groove is less than or greater than that of the second pendulum The number of tooth profiles of the slot.
- the tooth profile ratios of the first cycloidal groove and the second cycloidal groove are different, and the gear ratio of the speed change is also different, and the first cycloidal groove and the first ball fixing hole and the second cycloidal groove
- the number of tooth profiles of the first trochoid groove can be less than the number of tooth profiles of the second trochoid groove, or it can be greater than that of the second trochoid groove.
- the number of tooth profiles of the bicycloid groove can be less than the number of tooth profiles of the second trochoid groove, or it can be greater than that of the second trochoid groove.
- the number of the first balls is one more than the number of tooth profiles of the first trochoid groove
- the number of the second balls is one more than the number of tooth profiles of the second trochoid groove.
- the preferred difference between the number of first balls and the number of tooth profiles of the first trochoid groove is 1, and the difference between the number of second balls and the number of tooth profiles of the second trochoid groove is also 1.
- the number of first balls can be 1 ⁇ n more than the number of tooth profiles of the first trochoid groove
- the number of second balls can be 1 ⁇ n more than the number of tooth profiles of the second trochoid groove
- the diameter of the first ball is The diameter of the second ball is not limited, and the diameter of the first ball and the diameter of the second ball may be the same or different.
- the body includes a housing and a cover plate, and the first cycloidal groove or the first ball fixing hole is provided on the cover plate.
- the body is a co-located structure, which facilitates installation.
- the housing and the cover can be connected by detachable fasteners such as screws.
- the housing can also be composed of multiple parts.
- the first cycloidal groove is provided on the opposite surface of the cover plate and the A surface of the cycloidal disk
- the first ball fixing hole is provided on the A surface of the cycloidal disk
- the second The cycloidal groove is arranged on the B surface of the cycloidal disk
- the second ball fixing hole is arranged on the opposite surface of the output shaft and the B surface of the cycloidal disk.
- the first cycloidal groove is provided on the A surface of the cycloidal disk
- the first ball fixing hole is provided on the opposite surface of the cover plate and the A surface of the cycloidal disk
- the second The cycloidal groove is arranged on the opposite surface of the output shaft opposite to the surface B of the cycloidal disk
- the second ball fixing hole is arranged on the surface B of the cycloidal disk.
- the first cycloidal groove is provided on the A surface of the cycloidal disk
- the first ball fixing hole is provided on the opposite surface of the cover plate and the A surface of the cycloidal disk
- the second The cycloidal groove is arranged on the B surface of the cycloidal disk
- the second ball fixing hole is arranged on the opposite surface of the output shaft and the B surface of the cycloidal disk.
- the first cycloidal groove is provided on the opposite surface of the cover plate and the A surface of the cycloidal disk
- the first ball fixing hole is provided on the A surface of the cycloidal disk
- the second The cycloidal groove is arranged on the opposite surface of the output shaft opposite to the surface B of the cycloidal disk
- the second ball fixing hole is arranged on the surface B of the cycloidal disk.
- Figure 1 is a structural cross-sectional view of specific embodiment 1 of the present invention.
- Figure 2 is an exploded view of the structure of specific embodiment 1 of the present invention.
- Figure 3 is an exploded view of the structure of specific embodiment 1 of the present invention.
- Figure 4 is a cross-sectional view of the structure of Embodiment 2 of the present invention.
- Figure 5 is a cross-sectional view of the structure of Embodiment 3 of the present invention.
- Fig. 6 is a structural cross-sectional view of Embodiment 4 of the present invention.
- a differential cycloid transmission device includes a cycloid disk 1.
- the two axial ends of the cycloid disk 1 are A and B surfaces, respectively.
- a surface and B surface of 1 are respectively provided with a number of first balls A1 and second balls B1 distributed around the circumference, and also includes a body 2, an input shaft 3 and an output shaft 4, and a cycloidal disk is provided on the body 2.
- 1 Install the installation cavity 21, the cycloidal disk 1 is eccentrically driven by the input shaft 3.
- a first cycloidal groove 01 and a circumference are provided between the A surface of the cycloidal disk 1 and the opposite surface of the installation cavity 21 opposite to the A surface
- the ball A1 is placed between the first cycloidal groove 01 and the first ball fixing hole 02 and the second ball B1 is placed between the second cycloidal groove 03 and the second ball fixing hole 04 to make the cycloid disk 1 perform a cycloidal motion
- the number of tooth profiles of the first trochoid slot 01 is smaller or greater than the number of tooth profiles of the second trochoid slot 03.
- the output shaft 4 is driven by the cycloid disk 1, and a cross ball bearing 22 is arranged between the output shaft 4 and the body 2.
- some necessary bearings or rollers, roller cages, oil seals, and seals are required between these components. Rings, connecting screws, etc. will not be described in detail here.
- the tooth profile ratios of the first cycloidal groove 01 and the second cycloidal groove 03 are different, and the transmission ratio of the speed change is also different.
- the number of tooth profiles of the first cycloidal groove 01 can be less than
- the number of tooth profiles of the second trochoid groove 03 may also be greater than the number of tooth profiles of the second trochoid groove 03.
- the number of the aforementioned first balls A1 is one more than the number of tooth profiles of the first trochoid groove 01
- the number of the second balls B1 is one more than the number of tooth profiles of the second trochoid groove 03.
- the difference between the number of first balls A1 and the number of tooth profiles of the first trochoid groove 01 is 1, and the difference between the number of second balls B1 and the number of tooth profiles of the second trochoid groove 03 is also 1, of course
- the number of first balls A1 can be 1 ⁇ n more than the number of tooth profiles of the first cycloidal groove 01
- the number of second balls B1 can be 1 ⁇ n more than the number of tooth profiles of the second cycloidal groove 03, where the first The diameter of the ball A1 and the diameter of the second ball B1 are not limited, and the diameter of the first ball A1 and the diameter of the second ball B1 may be the same or different.
- the above-mentioned body 2 includes a housing 23 and a cover plate 24.
- the first cycloidal groove 01 or the first ball fixing hole 02 is provided on the cover plate 24.
- the body 2 has a structure that is arranged in conjunction, which is convenient for installation.
- the housing 23 and the cover 24 can be connected by detachable fasteners such as screws.
- the housing 23 can also be composed of multiple components.
- Embodiment 1 as shown in Figure 1, the first cycloidal groove 01 is provided on the opposite surface of the cover plate 24 opposite to the surface A of the cycloidal disk 1, and the first ball fixing hole 02 is provided on the surface A of the cycloidal disk 1, so The second cycloidal groove 03 is provided on the surface B of the cycloidal disk 1, and the second ball fixing hole 04 is provided on the opposite surface of the output shaft 4 opposite to the surface B of the cycloidal disk 1.
- Embodiment 2 as shown in Figure 4, the first cycloidal groove 01 is provided on the A surface of the cycloidal disk 1, and the first ball fixing hole 02 is provided on the opposite surface of the cover plate 24 opposite to the A surface of the cycloidal disk 1, so The second cycloidal groove 03 is provided on the opposite surface of the output shaft 4 opposite to the surface B of the cycloidal disk 1, and the second ball fixing hole 04 is provided on the surface B of the cycloidal disk 1.
- Embodiment 3 as shown in Figure 5, the first cycloidal groove 01 is provided on the A surface of the cycloidal disk 1, and the first ball fixing hole 02 is provided on the opposite surface of the cover plate 24 opposite to the A surface of the cycloidal disk 1, so The second cycloidal groove 03 is provided on the surface B of the cycloidal disk 1, and the second ball fixing hole 04 is provided on the opposite surface of the output shaft 4 opposite to the surface B of the cycloidal disk 1.
- Embodiment 4 as shown in Figure 6, the first cycloidal groove 01 is provided on the opposite surface of the cover plate 24 opposite to the surface A of the cycloidal disk 1, and the first ball fixing hole 02 is provided on the surface A of the cycloidal disk 1, so The second cycloidal groove 03 is provided on the opposite surface of the output shaft 4 opposite to the surface B of the cycloidal disk 1, and the second ball fixing hole 04 is provided on the surface B of the cycloidal disk 1.
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Abstract
A differential cycloidal variable speed apparatus, comprising a cycloidal disc (1), surface A and surface B of the cycloidal disc respectively being provided with a plurality of first ball bearings (A1) and second ball bearings (B1) distributed circumferentially, an installation cavity (21) for the installation of the cycloidal disc being arranged on the body (2) of the variable speed apparatus, the cycloidal disc being eccentrically driven by an input shaft (03) in the variable speed apparatus, a first cycloidal groove (01) and a plurality of circumferentially distributed first ball bearing fixing holes (02) being arranged between surface A of the cycloidal disc and the opposite surface of the installation cavity opposite to surface A, a second cycloidal groove (03) and a plurality of circumferentially distributed second ball bearing fixing holes (04) being arranged between surface B of the cycloidal disc and an output shaft of the variable speed apparatus, the first ball bearings being placed between the first cycloidal groove and the first ball bearing fixing holes and the second ball bearings being placed between the second cycloidal groove and the second ball bearing fixing holes such that the cycloidal disc makes cycloidal movements, the output shaft (4) being driven by the cycloidal disc, and the number of tooth profiles of the first cycloidal groove being less than or greater than the number of tooth profiles of the second cycloidal groove.
Description
本发明涉及机械传动技术领域，特别是一种对在先申请“矢量摆线变速单元”进行改进的差动摆线变速装置。The invention relates to the technical field of mechanical transmission, in particular to a differential cycloid transmission device which is an improvement on the "vector cycloid transmission unit" previously applied for.
目前，应用于机器人、精密机床、航空航天等精密伺服机构的传动装置要求有高传动精度，高传动刚度，传动比大，传动效率高，体积小、重量轻，传动回差小，转动件的转动惯量小等特点。本申请人的在先申请中公开的一项名称为“矢量摆线变速单元”申请号为201821529100.3，采用一对固定连接的夹板对摆线盘进行夹持，使摆线盘在上固定夹板和下固定夹板之间做摆线运动，该技术方案在使用时，需另外连接输入结构和输出结构，存在传动比较小的问题，而且一般的输入结构和输出结构与该变速单元结合后的体积均较大。At present, the transmission devices used in robots, precision machine tools, aerospace and other precision servo mechanisms require high transmission accuracy, high transmission rigidity, large transmission ratio, high transmission efficiency, small size, light weight, small transmission backlash, and high transmission Features such as small moment of inertia. The applicant’s earlier application disclosed an application titled "Vector Cycloid Transmission Unit" and the application number is 201821529100.3. A pair of fixedly connected splints are used to clamp the cycloidal disk so that the cycloidal disk is fixed on the splint and The lower fixed splint makes a cycloidal motion. When this technical solution is used, the input structure and the output structure need to be additionally connected. There is a problem of relatively small transmission, and the general input structure and output structure combined with the transmission unit have the same volume Larger.
为了克服现有技术的不足，本发明提供了一种具有高传动比或低传动比的差动摆线变速装置。In order to overcome the shortcomings of the prior art, the present invention provides a differential cycloid transmission with a high transmission ratio or a low transmission ratio.
为了实现上述目的，本发明采用的技术方案是：一种差动摆线变速装置，包括摆线盘，所述摆线盘的轴向两端面分别为A面和B面，摆线盘的A面和B面上分别设置有绕周向分布的若干个第一滚珠和第二滚珠，供摆线盘安装的安装腔设置在变速装置的机体上，其中，摆线盘由变速装置中的输入轴偏心驱动，摆线盘的A面和安装腔上与A面相对的相对面之间设置有第一摆线槽和绕周向分布的若干个第一滚珠固定孔，摆线盘的B面与变速装置的输出轴之间设置有第二摆线槽和绕周向分布的若干个第二滚珠固定孔，第一滚珠置于第一摆线槽和第一滚珠固定孔之间以及第二滚珠置于第二摆线槽和第二滚珠固定孔之间使摆线盘做摆线运动，输出轴由摆线盘驱动，所述第一摆线槽的齿廓数小于或大于第二摆线槽的齿廓数。In order to achieve the above objective, the technical solution adopted by the present invention is: a differential cycloid speed change device, including a cycloid disk, the axial ends of the cycloid disk are A and B respectively, and the A of the cycloid disk Surface and B surface are respectively provided with a number of first and second balls distributed around the circumference, and the installation cavity for the installation of the cycloidal disk is provided on the body of the transmission device, wherein the cycloidal disk is input by the transmission device The shaft is eccentrically driven. A first cycloidal groove and a number of first ball fixing holes distributed around the circumference are arranged between the A surface of the cycloidal disk and the opposite surface on the mounting cavity opposite to the A surface. The B surface of the cycloidal disk A second cycloidal groove and a number of second ball fixing holes distributed around the circumference are provided between the output shaft of the speed change device, and the first ball is placed between the first cycloidal groove and the first ball fixing hole and the second The ball is placed between the second cycloidal groove and the second ball fixing hole to make the cycloidal disk perform cycloidal motion, the output shaft is driven by the cycloidal disk, and the number of tooth profiles of the first cycloidal groove is less than or greater than that of the second pendulum The number of tooth profiles of the slot.
上述技术方案中，第一摆线槽和第二摆线槽的齿廓数比值不一样，变速的传动比也不一样，且第一摆线槽和第一滚珠固定孔以及第二摆线槽和第二滚珠固定孔设置的位置不一样时，其输入和输出的相对转动方向也会改变，第一摆线槽的齿廓数可以小于第二摆线槽的齿廓数，也可以大于第二摆线槽的齿廓数。In the above technical solution, the tooth profile ratios of the first cycloidal groove and the second cycloidal groove are different, and the gear ratio of the speed change is also different, and the first cycloidal groove and the first ball fixing hole and the second cycloidal groove When the position of the second ball fixing hole is different, the relative rotation direction of its input and output will also change. The number of tooth profiles of the first trochoid groove can be less than the number of tooth profiles of the second trochoid groove, or it can be greater than that of the second trochoid groove. The number of tooth profiles of the bicycloid groove.
作为本发明的进一步设置，所述第一滚珠的数量比第一摆线槽的齿廓数多1，第二滚珠的数量比第二摆线槽的齿廓数多1。As a further arrangement of the present invention, the number of the first balls is one more than the number of tooth profiles of the first trochoid groove, and the number of the second balls is one more than the number of tooth profiles of the second trochoid groove.
上述技术方案中，优选的第一滚珠的数量与第一摆线槽的齿廓数的差值为1，第二滚珠的数量与第二摆线槽的齿廓数的差值也为1，当然第一滚珠的数量可以比第一摆线槽的齿廓数多1~n，第二滚珠的数量可以比第二摆线槽的齿廓数多1~n，此处第一滚珠的直径和第二滚珠的直径不做限定，且第一滚珠的直径与第二滚珠的直径可以一样也可以不一样。In the above technical solution, the preferred difference between the number of first balls and the number of tooth profiles of the first trochoid groove is 1, and the difference between the number of second balls and the number of tooth profiles of the second trochoid groove is also 1. Of course, the number of first balls can be 1~n more than the number of tooth profiles of the first trochoid groove, and the number of second balls can be 1~n more than the number of tooth profiles of the second trochoid groove, where the diameter of the first ball is The diameter of the second ball is not limited, and the diameter of the first ball and the diameter of the second ball may be the same or different.
作为本发明的进一步设置，所述机体包括外壳和盖板，第一摆线槽或第一滚珠固定孔设置在盖板上。As a further arrangement of the present invention, the body includes a housing and a cover plate, and the first cycloidal groove or the first ball fixing hole is provided on the cover plate.
上述技术方案中，机体为相合设置的结构，这样方便安装，外壳和盖板可通过螺丝等可拆卸的紧固件连接，当然外壳也可以是多个部件组成。In the above technical solution, the body is a co-located structure, which facilitates installation. The housing and the cover can be connected by detachable fasteners such as screws. Of course, the housing can also be composed of multiple parts.
作为本发明的进一步设置，所述第一摆线槽设置在盖板与摆线盘的A面相对的相对面上，第一滚珠固定孔设置在摆线盘的A面上，所述第二摆线槽设置在摆线盘的B面上，第二滚珠固定孔设置在输出轴与摆线盘的B面相对的相对面上。As a further arrangement of the present invention, the first cycloidal groove is provided on the opposite surface of the cover plate and the A surface of the cycloidal disk, the first ball fixing hole is provided on the A surface of the cycloidal disk, and the second The cycloidal groove is arranged on the B surface of the cycloidal disk, and the second ball fixing hole is arranged on the opposite surface of the output shaft and the B surface of the cycloidal disk.
上述技术方案中，In the above technical solution,
作为本发明的进一步设置，所述第一摆线槽设置在摆线盘的A面上，第一滚珠固定孔设置在盖板与摆线盘的A面相对的相对面上，所述第二摆线槽设置在输出轴与摆线盘的B面相对的相对面上，第二滚珠固定孔设置在摆线盘的B面上。As a further arrangement of the present invention, the first cycloidal groove is provided on the A surface of the cycloidal disk, the first ball fixing hole is provided on the opposite surface of the cover plate and the A surface of the cycloidal disk, and the second The cycloidal groove is arranged on the opposite surface of the output shaft opposite to the surface B of the cycloidal disk, and the second ball fixing hole is arranged on the surface B of the cycloidal disk.
上述技术方案中，In the above technical solution,
作为本发明的进一步设置，所述第一摆线槽设置在摆线盘的A面上，第一滚珠固定孔设置在盖板与摆线盘的A面相对的相对面上，所述第二摆线槽设置在摆线盘的B面上，第二滚珠固定孔设置在输出轴与摆线盘的B面相对的相对面上。As a further arrangement of the present invention, the first cycloidal groove is provided on the A surface of the cycloidal disk, the first ball fixing hole is provided on the opposite surface of the cover plate and the A surface of the cycloidal disk, and the second The cycloidal groove is arranged on the B surface of the cycloidal disk, and the second ball fixing hole is arranged on the opposite surface of the output shaft and the B surface of the cycloidal disk.
上述技术方案中，In the above technical solution,
作为本发明的进一步设置，所述第一摆线槽设置在盖板与摆线盘的A面相对的相对面上，第一滚珠固定孔设置在摆线盘的A面上，所述第二摆线槽设置在输出轴与摆线盘的B面相对的相对面上，第二滚珠固定孔设置在摆线盘的B面上。As a further arrangement of the present invention, the first cycloidal groove is provided on the opposite surface of the cover plate and the A surface of the cycloidal disk, the first ball fixing hole is provided on the A surface of the cycloidal disk, and the second The cycloidal groove is arranged on the opposite surface of the output shaft opposite to the surface B of the cycloidal disk, and the second ball fixing hole is arranged on the surface B of the cycloidal disk.
上述技术方案中，In the above technical solution,
采用上述方案，通过改变第一滚珠固定孔和第一摆线槽设置位置以及第二滚珠固定孔和第二摆线槽的设置位置可实现高传动比或低传动比，解决现有的传送结构的传动比均较低的问题，且体积小。By adopting the above solution, by changing the setting positions of the first ball fixing hole and the first cycloidal groove, and the setting positions of the second ball fixing hole and the second cycloidal groove, a high transmission ratio or a low transmission ratio can be achieved, and the existing transmission structure can be solved The transmission ratio is low, and the volume is small.
下面结合附图对本发明作进一步描述。The present invention will be further described below in conjunction with the drawings.
附图1为本发明具体实施例1的结构剖视图；Figure 1 is a structural cross-sectional view of specific embodiment 1 of the present invention;
附图2为本发明具体实施例1的结构爆炸图；Figure 2 is an exploded view of the structure of specific embodiment 1 of the present invention;
附图3为本发明具体实施例1的结构爆炸图；Figure 3 is an exploded view of the structure of specific embodiment 1 of the present invention;
附图4为本发明具体实施例2的结构剖视图；Figure 4 is a cross-sectional view of the structure of Embodiment 2 of the present invention;
附图5为本发明具体实施例3的结构剖视图；Figure 5 is a cross-sectional view of the structure of Embodiment 3 of the present invention;
附图6为本发明具体实施例4的结构剖视图。Fig. 6 is a structural cross-sectional view of Embodiment 4 of the present invention.
本发明的具体实施例如图1-3所示，一种差动摆线变速装置，包括摆线盘1，所述摆线盘1的轴向两端面分别为A面和B面，摆线盘1的A面和B面上分别设置有绕周向分布的若干个第一滚珠A1和第二滚珠B1，还包括机体2、输入轴3和输出轴4，机体2上设置有供摆线盘1安装的安装腔21，摆线盘1由输入轴3偏心驱动，摆线盘1的A面和安装腔21上与A面相对的相对面之间设置有第一摆线槽01和绕周向分布的若干个第一滚珠固定孔02，摆线盘1的B面与输出轴4之间设置有第二摆线槽03和绕周向分布的若干个第二滚珠固定孔04，第一滚珠A1置于第一摆线槽01和第一滚珠固定孔02之间以及第二滚珠B1置于第二摆线槽03和第二滚珠固定孔04之间使摆线盘1做摆线运动，所述第一摆线槽01的齿廓数小于或大于第二摆线槽03的齿廓数。输出轴4由摆线盘1驱动，输出轴4与机体2之间设置有十字交叉滚珠轴承22，另外这些部件之间还需要配置一些必要的轴承或滚柱、滚柱保持架、油封、密封圈、连接螺钉等在此不再详述，第一摆线槽01和第二摆线槽03的齿廓数比值不一样，变速的传动比也不一样，且第一摆线槽01和第一滚珠固定孔02以及第二摆线槽03和第二滚珠固定孔04设置的位置不一样时，其输入和输出的相对转动方向也会改变，第一摆线槽01的齿廓数可以小于第二摆线槽03的齿廓数，也可以大于第二摆线槽03的齿廓数。The specific embodiment of the present invention is shown in Figs. 1-3. A differential cycloid transmission device includes a cycloid disk 1. The two axial ends of the cycloid disk 1 are A and B surfaces, respectively. A surface and B surface of 1 are respectively provided with a number of first balls A1 and second balls B1 distributed around the circumference, and also includes a body 2, an input shaft 3 and an output shaft 4, and a cycloidal disk is provided on the body 2. 1 Install the installation cavity 21, the cycloidal disk 1 is eccentrically driven by the input shaft 3. A first cycloidal groove 01 and a circumference are provided between the A surface of the cycloidal disk 1 and the opposite surface of the installation cavity 21 opposite to the A surface There are a number of first ball fixing holes 02 distributed in the same direction, a second cycloidal groove 03 and a number of second ball fixing holes 04 distributed around the circumference are arranged between the surface B of the cycloid disk 1 and the output shaft 4. The ball A1 is placed between the first cycloidal groove 01 and the first ball fixing hole 02 and the second ball B1 is placed between the second cycloidal groove 03 and the second ball fixing hole 04 to make the cycloid disk 1 perform a cycloidal motion , The number of tooth profiles of the first trochoid slot 01 is smaller or greater than the number of tooth profiles of the second trochoid slot 03. The output shaft 4 is driven by the cycloid disk 1, and a cross ball bearing 22 is arranged between the output shaft 4 and the body 2. In addition, some necessary bearings or rollers, roller cages, oil seals, and seals are required between these components. Rings, connecting screws, etc. will not be described in detail here. The tooth profile ratios of the first cycloidal groove 01 and the second cycloidal groove 03 are different, and the transmission ratio of the speed change is also different. When the positions of the first ball fixing hole 02 and the second cycloidal groove 03 and the second ball fixing hole 04 are different, the relative rotation direction of its input and output will also change. The number of tooth profiles of the first cycloidal groove 01 can be less than The number of tooth profiles of the second trochoid groove 03 may also be greater than the number of tooth profiles of the second trochoid groove 03.
上述第一滚珠A1的数量比第一摆线槽01的齿廓数多1，第二滚珠B1的数量比第二摆线槽03的齿廓数多1。优选的第一滚珠A1的数量与第一摆线槽01的齿廓数的差值为1，第二滚珠B1的数量与第二摆线槽03的齿廓数的差值也为1，当然第一滚珠A1的数量可以比第一摆线槽01的齿廓数多1~n，第二滚珠B1的数量可以比第二摆线槽03的齿廓数多1~n，此处第一滚珠A1的直径和第二滚珠B1的直径不做限定，且第一滚珠A1的直径与第二滚珠B1的直径可以一样也可以不一样。The number of the aforementioned first balls A1 is one more than the number of tooth profiles of the first trochoid groove 01, and the number of the second balls B1 is one more than the number of tooth profiles of the second trochoid groove 03. Preferably, the difference between the number of first balls A1 and the number of tooth profiles of the first trochoid groove 01 is 1, and the difference between the number of second balls B1 and the number of tooth profiles of the second trochoid groove 03 is also 1, of course The number of first balls A1 can be 1~n more than the number of tooth profiles of the first cycloidal groove 01, and the number of second balls B1 can be 1~n more than the number of tooth profiles of the second cycloidal groove 03, where the first The diameter of the ball A1 and the diameter of the second ball B1 are not limited, and the diameter of the first ball A1 and the diameter of the second ball B1 may be the same or different.
上述机体2包括外壳23和盖板24，第一摆线槽01或第一滚珠固定孔02设置在盖板24上。机体2为相合设置的结构，这样方便安装，外壳23和盖板24可通过螺丝等可拆卸的紧固件连接，当然外壳23也可以是多个部件组成。The above-mentioned body 2 includes a housing 23 and a cover plate 24. The first cycloidal groove 01 or the first ball fixing hole 02 is provided on the cover plate 24. The body 2 has a structure that is arranged in conjunction, which is convenient for installation. The housing 23 and the cover 24 can be connected by detachable fasteners such as screws. Of course, the housing 23 can also be composed of multiple components.
实施例1，如图1第一摆线槽01设置在盖板24与摆线盘1的A面相对的相对面上，第一滚珠固定孔02设置在摆线盘1的A面上，所述第二摆线槽03设置在摆线盘1的B面上，第二滚珠固定孔04设置在输出轴4与摆线盘1的B面相对的相对面上。Embodiment 1, as shown in Figure 1, the first cycloidal groove 01 is provided on the opposite surface of the cover plate 24 opposite to the surface A of the cycloidal disk 1, and the first ball fixing hole 02 is provided on the surface A of the cycloidal disk 1, so The second cycloidal groove 03 is provided on the surface B of the cycloidal disk 1, and the second ball fixing hole 04 is provided on the opposite surface of the output shaft 4 opposite to the surface B of the cycloidal disk 1.
实施例2，如图4第一摆线槽01设置在摆线盘1的A面上，第一滚珠固定孔02设置在盖板24与摆线盘1的A面相对的相对面上，所述第二摆线槽03设置在输出轴4与摆线盘1的B面相对的相对面上，第二滚珠固定孔04设置在摆线盘1的B面上。Embodiment 2, as shown in Figure 4, the first cycloidal groove 01 is provided on the A surface of the cycloidal disk 1, and the first ball fixing hole 02 is provided on the opposite surface of the cover plate 24 opposite to the A surface of the cycloidal disk 1, so The second cycloidal groove 03 is provided on the opposite surface of the output shaft 4 opposite to the surface B of the cycloidal disk 1, and the second ball fixing hole 04 is provided on the surface B of the cycloidal disk 1.
实施例3，如图5第一摆线槽01设置在摆线盘1的A面上，第一滚珠固定孔02设置在盖板24与摆线盘1的A面相对的相对面上，所述第二摆线槽03设置在摆线盘1的B面上，第二滚珠固定孔04设置在输出轴4与摆线盘1的B面相对的相对面上。Embodiment 3, as shown in Figure 5, the first cycloidal groove 01 is provided on the A surface of the cycloidal disk 1, and the first ball fixing hole 02 is provided on the opposite surface of the cover plate 24 opposite to the A surface of the cycloidal disk 1, so The second cycloidal groove 03 is provided on the surface B of the cycloidal disk 1, and the second ball fixing hole 04 is provided on the opposite surface of the output shaft 4 opposite to the surface B of the cycloidal disk 1.
实施例4，如图6第一摆线槽01设置在盖板24与摆线盘1的A面相对的相对面上，第一滚珠固定孔02设置在摆线盘1的A面上，所述第二摆线槽03设置在输出轴4与摆线盘1的B面相对的相对面上，第二滚珠固定孔04设置在摆线盘1的B面上。Embodiment 4, as shown in Figure 6, the first cycloidal groove 01 is provided on the opposite surface of the cover plate 24 opposite to the surface A of the cycloidal disk 1, and the first ball fixing hole 02 is provided on the surface A of the cycloidal disk 1, so The second cycloidal groove 03 is provided on the opposite surface of the output shaft 4 opposite to the surface B of the cycloidal disk 1, and the second ball fixing hole 04 is provided on the surface B of the cycloidal disk 1.
本发明不局限于上述具体实施方式，本领域一般技术人员根据本发明公开的内容，可以采用其他多种具体实施方式实施本发明的，或者凡是采用本发明的设计结构和思路，做简单变化或更改的，都落入本发明的保护范围。The present invention is not limited to the above-mentioned specific embodiments. According to the disclosure of the present invention, those skilled in the art can adopt other specific embodiments to implement the present invention, or use the design structure and ideas of the present invention to make simple changes or All changes fall into the protection scope of the present invention.
Claims (7)
- 一种差动摆线变速装置，包括摆线盘，所述摆线盘的轴向两端面分别为A面和B面，摆线盘的A面和B面上分别设置有绕周向分布的若干个第一滚珠和第二滚珠，其特征在于：供摆线盘安装的安装腔设置在变速装置的机体上，其中，摆线盘由变速装置中的输入轴偏心驱动，摆线盘的A面和安装腔上与A面相对的相对面之间设置有第一摆线槽和绕周向分布的若干个第一滚珠固定孔，摆线盘的B面与变速装置的输出轴之间设置有第二摆线槽和绕周向分布的若干个第二滚珠固定孔，第一滚珠置于第一摆线槽和第一滚珠固定孔之间以及第二滚珠置于第二摆线槽和第二滚珠固定孔之间使摆线盘做摆线运动，输出轴由摆线盘驱动，所述第一摆线槽的齿廓数小于或大于第二摆线槽的齿廓数。A differential cycloid speed change device includes a cycloid disk. The two axial ends of the cycloid disk are respectively A and B surfaces. The A and B surfaces of the cycloid disk are respectively provided with circumferentially distributed A number of first and second balls are characterized in that: the installation cavity for the installation of the cycloid plate is arranged on the body of the speed changer, wherein the cycloid plate is eccentrically driven by the input shaft of the speed changer, and the A A first cycloidal groove and a number of first ball fixing holes distributed around the circumference are arranged between the surface and the opposite surface of the mounting cavity opposite to the A surface, and the cycloidal disk is arranged between the B surface and the output shaft of the speed change device There are a second cycloidal groove and a number of second ball fixing holes distributed around the circumference. The first ball is placed between the first cycloidal groove and the first ball fixing hole, and the second ball is placed on the second cycloidal groove and Between the second ball fixing holes, the cycloidal disk makes cycloidal motion, the output shaft is driven by the cycloidal disk, and the number of tooth profiles of the first cycloidal groove is smaller than or greater than the number of tooth profiles of the second cycloidal groove.
- 根据权利要求1所述的差动摆线变速装置，其特征在于：所述第一滚珠的数量比第一摆线槽的齿廓数多1，第二滚珠的数量比第二摆线槽的齿廓数多1。The differential cycloid transmission according to claim 1, wherein the number of the first balls is one more than the number of tooth profiles of the first cycloidal groove, and the number of the second balls is greater than that of the second cycloidal groove. 1 more tooth profile.
- 根据权利要求1或2所述的差动摆线变速装置，其特征在于：所述机体包括外壳和盖板，第一摆线槽或第一滚珠固定孔设置在盖板上。The differential cycloid transmission device according to claim 1 or 2, characterized in that the body includes a housing and a cover plate, and the first cycloidal groove or the first ball fixing hole is provided on the cover plate.
- 根据权利要求3所述的差动摆线变速装置，其特征在于：所述第一摆线槽设置在盖板与摆线盘的A面相对的相对面上，第一滚珠固定孔设置在摆线盘的A面上，所述第二摆线槽设置在摆线盘的B面上，第二滚珠固定孔设置在输出轴与摆线盘的B面相对的相对面上。The differential cycloid transmission according to claim 3, wherein the first cycloidal groove is provided on the opposite surface of the cover plate and the surface A of the cycloidal disk, and the first ball fixing hole is provided on the pendulum On the A side of the wire disk, the second cycloidal groove is provided on the B side of the cycloidal disk, and the second ball fixing hole is provided on the opposite surface of the output shaft and the B side of the cycloid disk.
- 根据权利要求3所述的差动摆线变速装置，其特征在于：所述第一摆线槽设置在摆线盘的A面上，第一滚珠固定孔设置在盖板与摆线盘的A面相对的相对面上，所述第二摆线槽设置在输出轴与摆线盘的B面相对的相对面上，第二滚珠固定孔设置在摆线盘的B面上。The differential cycloid transmission according to claim 3, characterized in that: the first cycloidal groove is provided on the A surface of the cycloidal disk, and the first ball fixing hole is provided on the cover plate and A of the cycloidal disk. On the opposite surface, the second cycloidal groove is arranged on the opposite surface of the output shaft opposite to the surface B of the cycloidal disk, and the second ball fixing hole is arranged on the surface B of the cycloidal disk.
- 根据权利要求3所述的差动摆线变速装置，其特征在于：所述第一摆线槽设置在摆线盘的A面上，第一滚珠固定孔设置在盖板与摆线盘的A面相对的相对面上，所述第二摆线槽设置在摆线盘的B面上，第二滚珠固定孔设置在输出轴与摆线盘的B面相对的相对面上。The differential cycloid transmission according to claim 3, characterized in that: the first cycloidal groove is provided on the A surface of the cycloidal disk, and the first ball fixing hole is provided on the cover plate and A of the cycloidal disk. The second cycloidal groove is arranged on the surface B of the cycloidal disk, and the second ball fixing hole is arranged on the opposite surface of the output shaft and the surface B of the cycloidal disk.
- 根据权利要求3所述的差动摆线变速装置，其特征在于：所述第一摆线槽设置在盖板与摆线盘的A面相对的相对面上，第一滚珠固定孔设置在摆线盘的A面上，所述第二摆线槽设置在输出轴与摆线盘的B面相对的相对面上，第二滚珠固定孔设置在摆线盘的B面上。The differential cycloid transmission according to claim 3, wherein the first cycloidal groove is provided on the opposite surface of the cover plate and the surface A of the cycloidal disk, and the first ball fixing hole is provided on the pendulum On the A surface of the wire disk, the second cycloidal groove is arranged on the opposite surface of the output shaft opposite to the B surface of the cycloidal disk, and the second ball fixing hole is arranged on the B surface of the cycloidal disk.
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| CN110805660A (en) * | 2019-11-01 | 2020-02-18 | 海尚集团有限公司 | Differential cycloidal gear speed change device |
| CN110805657A (en) * | 2019-11-01 | 2020-02-18 | 海尚集团有限公司 | Differential cycloidal gear speed change device |
| CN110778660A (en) * | 2019-11-01 | 2020-02-11 | 海尚集团有限公司 | Differential cycloid speed variator |
| CN110778661A (en) * | 2019-11-01 | 2020-02-11 | 海尚集团有限公司 | Differential cycloid speed variator |
| CN111173894B (en) * | 2020-01-06 | 2021-05-04 | 河南烛龙高科技术有限公司 | Two-stage nested closed type undercut cycloid oscillating tooth transmission unit |
| CN111173896B (en) * | 2020-01-06 | 2021-07-13 | 河南烛龙高科技术有限公司 | Single-stage undercut cycloid oscillating tooth transmission unit |
| CN111810592B (en) * | 2020-07-06 | 2024-10-11 | 海尚集团有限公司 | Light differential cycloid speed variator |
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| CN86104457A (en) * | 1985-06-27 | 1986-12-24 | 加茂精工株式会社 | The differential speed reducer of gearless |
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| JP4814351B2 (en) * | 2009-02-23 | 2011-11-16 | 加茂精工株式会社 | Rolling ball type two-stage low speed transmission |
| JP2015132359A (en) * | 2014-01-15 | 2015-07-23 | 有限会社ファインメック | Speed reducer |
| CN208041059U (en) * | 2017-02-23 | 2018-11-02 | 台达电子工业股份有限公司 | Speed reducer |
| CN210686869U (en) * | 2019-06-24 | 2020-06-05 | 海尚集团有限公司 | Differential cycloid speed variator |
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| CN86104457A (en) * | 1985-06-27 | 1986-12-24 | 加茂精工株式会社 | The differential speed reducer of gearless |
| US20080113841A1 (en) * | 2006-11-09 | 2008-05-15 | Mitsubishi Electric Corporation | Transmission ratio varying mechanism |
| JP2009024765A (en) * | 2007-07-19 | 2009-02-05 | Nsk Ltd | Ball type reduction gear |
| CN104265842A (en) * | 2014-09-19 | 2015-01-07 | 佛山市诺尔贝机器人技术有限公司 | Swing ball type reducer |
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