CN102022479B - Eccentric cycloid type speed reducing mechanism - Google Patents
Eccentric cycloid type speed reducing mechanism Download PDFInfo
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- CN102022479B CN102022479B CN 200910306967 CN200910306967A CN102022479B CN 102022479 B CN102022479 B CN 102022479B CN 200910306967 CN200910306967 CN 200910306967 CN 200910306967 A CN200910306967 A CN 200910306967A CN 102022479 B CN102022479 B CN 102022479B
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- eccentric
- speed reducing
- reducing mechanism
- type speed
- cycloid
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Abstract
The invention discloses an eccentric cycloid type speed reducing mechanism, which comprises a shell, at least one cycloidal gear and at least one crank shaft, wherein an internal tooth part is formed on the inner peripheral surface of the shell; the cycloidal gear is accommodated in the shell; an external tooth part meshed with the internal tooth part is formed on the outer peripheral surface of the cycloidal gear; the tooth number of the external tooth part is slightly smaller than that of the internal tooth part; each crank shaft is provided with at least one eccentric part; and each cycloidal gear is rotatablely arranged on one eccentric part and performs eccentric rotation along with the rotation of the crank shaft. The external tooth part comprises a plurality of external tooth discs which are arranged side by side in the axial direction; the external tooth discs arranged adjacently are mutually offset in the circumferential direction; and the internal tooth part comprises a plurality of internal tooth rings which are correspondingly meshed with the external tooth discs. The eccentric cycloid type speed reducing mechanism has the advantage of high meshing overlap ratio and is convenient to manufacture.
Description
Technical field
The present invention relates to a kind of reducing gear, relate in particular to a kind of eccentric cycloid type speed reducing mechanism.
Background technique
Eccentric cycloid type speed reducing mechanism generally comprises the internal gear that is formed at its frame, is located at the bent axle with eccentric part in frame and the cycloid wheel that is provided with external tooth that is sheathed on eccentric part.Cycloid wheel and crankshaft eccentric section interlock, and by on one side and internal gear engagement revolution on one side will input rotation and slow down to obtain exporting and rotate.Above-mentioned eccentric cycloid type speed reducing mechanism transmission total number of teeth in engagement is more, error average effect is remarkable, have advantages of that velocity ratio is large, compact structure, bearing capacity is large and transmission efficiency is high, be able to use comparatively widely at industrial fields such as precision optical machinery, robot, metallurgy, mines.
Yet, for reaching higher engagement contact ratio, obtain output stably, above-mentioned cycloid wheel forms the gear teeth of tight setting usually at its outer peripheral surface, when the more and eccentric cycloid type speed reducing mechanism overall dimensions of the gear teeth quantity of need setting was restricted, it is tiny that the gear teeth need be done, and the gear teeth also reduce in circumferencial direction spacing each other, even can overlap interference at the tooth root position, thereby the manufacture difficulty of cycloid wheel and the gear teeth thereof strengthens.
Summary of the invention
In view of above content, be necessary to provide the eccentric cycloid type speed reducing mechanism that a kind of contact ratio of engagement is higher and be convenient to make.
A kind of eccentric cycloid type speed reducing mechanism, it comprises a housing that forms internal tooth section at inner peripheral surface, at least one is contained in the cycloid wheel in housing, the outer circumferential face of cycloid wheel forms the outer toothed portion with the engagement of internal tooth section, the number of teeth of outer toothed portion is lacked than the number of teeth of internal tooth section slightly, at least one bent axle, each bent axle is provided with at least one eccentric part, and each cycloid wheel is installed in rotationally on an eccentric part and with the rotation of bent axle and makes eccentric rotary.Outer toothed portion comprises a plurality of outer tooth disks axially being arranged side by side, and the outer tooth disk of adjacent setting is setovered mutually at circumferencial direction, and this internal tooth section comprises the ring gear of a plurality of engagements corresponding to outer tooth disk.
The cycloid wheel of above-mentioned eccentric cycloid type speed reducing mechanism comprises a plurality of outer tooth disks that axially are being arranged side by side, and the outer tooth disk of adjacent setting is setovered mutually at circumferencial direction, when thereby outer toothed portion and internal tooth section are intermeshing, when the gear teeth of one of them outer tooth disk are nibbled out from internal tooth section, and when on this outer tooth disk, the adjacent gear teeth are not yet engaging-in, the gear teeth of another outer tooth disk between above-mentioned adjacent two gear teeth can participate in engagement, thereby have improved contact ratio.In addition, each gear teeth of the outer tooth disk that axially is arranged side by side are in the spacing mutual noninterference of circumferencial direction, thereby the spacing between each outer tooth disk adjacent teeth can increase, and can be convenient to process the gear teeth on this cycloid wheel.
Description of drawings
Fig. 1 is the three-dimensional assembly diagram of the eccentric cycloid type speed reducing mechanism of embodiment of the present invention.
Fig. 2 is the three-dimensional exploded view of eccentric cycloid type speed reducing mechanism shown in Figure 1.
Fig. 3 is the schematic diagram of the cycloid wheel that adopts of eccentric cycloid type speed reducing mechanism shown in Figure 1.
Fig. 4 is that eccentric cycloid type speed reducing mechanism shown in Figure 1 is along the sectional view of IV-IV direction.
Embodiment
Mode is described in further detail eccentric cycloid type speed reducing mechanism of the present invention below in conjunction with the accompanying drawings and the specific embodiments.
Figure 1 shows that the eccentric cycloid type speed reducing mechanism 100 of embodiment of the present invention mode, it can be used as robot and travels with retarder, building machinery etc. or rotate and use retarder.
Please be simultaneously referring to Fig. 2, eccentric cycloid type speed reducing mechanism 100 comprises a housing 20, is arranged at a carriage assembly 30, two cycloid wheel 40 and three crankshaft groups 50 in housing 20.
It is cylindric that housing 20 roughly is, and its inboard circumferential surface is formed with internal tooth section 21.The gear teeth of internal tooth section 21 can be pin gear or pin gear, and it comprises the first ring gear 212 and is symmetricly set in two second ring gears 213,214 of the first ring gear 212 both sides.First, second ring gear 212,213,214 axially being arranged side by side at housing 20.In a circumferential direction, the first ring gear 212 respectively with the mutual identical predetermined angle of biasing of two the second ring gears 213,214.Wherein, the first ring gear 212 along the axial thickness of housing 20 greater than the second ring gear 214 along the axial thickness of housing 20.
Please consult simultaneously Fig. 3 and Fig. 4, form a host cavity 26 between the inner side surface of housing 20, body 31 and end casing 34.Cycloid wheel 40 and crankshaft group 50 are arranged in host cavity 26.
Two cycloid wheel 40 axially are arranged side by side along housing 20, and the outer peripheral surface of each cycloid wheel 40 is formed with outer toothed portion 41, and outer toothed portion 41 can be intermeshing with the internal tooth section 21 of housing 20.Outer toothed portion 41 is included in two outer tooth disks 412,413 that cycloid wheel 40 axially is arranged side by side.Each outer tooth disk 412,413 shapes and external diameter are identical, and external diameter is slightly less than the internal diameter of housing 20.The first ring gear 212 of each outer tooth disk 412,413 gear ratio housing 20 or the quantity of the second ring gear 214 are few several, for example less one or two.Outer tooth disk 412,413 is at the circumferencial direction predetermined angle θ that mutually setovers, and first, second ring gear 212,214 of this default angle and housing 20 angles of biasing mutually is suitable, so that outer toothed portion 41 and internal tooth section 21 satisfy meshing condition.Cycloid wheel 40 also offers the mounting hole 422 and the axis hole 423 that axially run through and wears for axostylus axostyle 32 and crankshaft group 50 respectively.Mounting hole 422 and axis hole 423 are in circumferencial direction interval setting.Mounting hole 422 is three with axis hole 423, and mounting hole 422 is the non-circular hole corresponding with axostylus axostyle 32 sectional shapes, and axis hole 423 is circular hole.
Specifically in the present embodiment, each outer tooth disk 412,413 comprises n the gear teeth, and each ring gear 212,213,214 comprises n+1 the gear teeth.Be the 180/n degree in circumferentially default angle of eccentricity θ value between outer tooth disk 412,413, the angle of eccentricity that is two gear teeth 412a, 413a of first, second outer tooth disk 412,413 adjacent settings is half corresponding central angle of the gear teeth, and the angle of eccentricity of two gear teeth of adjacent setting on the first outer tooth disk 212 and the second outer tooth disk 213,214 (figure is mark not) is the 180/n+1 degree.
Each crankshaft group 50 comprises a bent axle 51, two crankshaft bearings 512,513 and outer driven gears 514.Crankshaft bearing 512 is located at bent axle 51 1 ends, and embed in the bearing hole 312 that on the body 31 that is opened in carriage assembly 30, correspondence is offered, crankshaft bearing 513 is located at bent axle 51 the other ends, and be embedded in the bearing hole 324 that end casing 34 correspondences offer, like this bent axle 51 can rotate freely by crankshaft bearing 512,513 supportings.Each bent axle 51 is driven by an outer driven gear 514, and outer driven gear 514 is fixedly sleeved in bent axle 51 adjacent body 31 and the end of stretching out from bearing hole 312, and is used for realizing that with the outer driving gear engagement of input shaft the first order slows down.
Bent axle 51 is provided with two along eccentric part 52a, the 52b of its axial arrangement. Eccentric part 52a, 52b form with respect to the axle center of bent axle 51 respectively cylindric with identical offset bias.Each eccentric part 52a, 52b outer peripheral surface are provided with bearing 53.Specifically in the present embodiment, three crankshaft groups 50 uniformly-spaced arrange at circumferencial direction.The outer driven gear 514 that is arranged at bent axle 51 around the outer driving gear of input shaft the time with should mesh by outer driving gear.Eccentric part 52a, the 52b phase difference on the crankshaft rotating direction is 180 degree.
Three bent axle 51 correspondences wear three axis holes 423 that arrange on cycloid wheel 40, and are upper and by bearing 53 rotational support around eccentric part 52a, 52b setting thereby each cycloid wheel 40 is installed in eccentric part 52a, a 52b.As a kind of preferred version, two outer tooth disks 412 being located at two adjoining sides of cycloid wheel 40 of eccentric part 52a, 52b have identical phase place, namely two cycloid wheel 40 are shown greatly the mode that is Mirror Symmetry and are arranged, thereby two outer tooth disks 412 are meshed with the first ring gear 212 of housing 20 simultaneously, outer tooth disk 413,414 is meshed with the second ring gear 213,214 respectively, so can simplify the structure of internal tooth on housing 20 section 21.
The course of action of the eccentric cycloid type speed reducing mechanism 100 of the embodiment of the present invention below is described.
Drive unit drives the input shaft rotation, and the outer driving gear of being located at input shaft drives outer driven gear 514 rotations of being located at bent axle 51, and realizes first order deceleration.The rotation of driven gear 514 makes bent axle 51 rotate together, thereby the eccentric part 52a, the 52b that are arranged at bent axle 51 rotate thereupon.The rotation of eccentric part 52a, 52b and then drive sheathed cycloid wheel 40 on it and do relatively to swing.Fixing when housing 20, when namely internal tooth section 21 was fixedly installed, the outer toothed portion 41 of cycloid wheel 40 was with internal gear 21 engagements revolution on one side and swing, and its revolution motion slows down to realize the second level by end casing 34 or body 31 outputs.
When internal tooth section 21 meshes with outer toothed portion 41, because two outer tooth disks 412,413 of each cycloid wheel 40 are setovered mutually at circumferencial direction, when gear teeth of outer tooth disk 412 are nibbled out from the first ring gear 212, and when on this outer tooth disk 412, the adjacent gear teeth are not yet engaging-in, outer tooth disk 413 can be meshed with the second ring gear 214 at the gear teeth of upwards being located in week between above-mentioned two adjacent teeth, thereby improved the contact ratio of engagement, made the motion of cycloid wheel 40 more steady, can obtain more stable output.Because of the spacing mutual noninterference at circumferencial direction of the gear teeth between the outer tooth disk 412,413 that axially is arranged side by side, thereby the spacing between each outer tooth disk 412,413 adjacent teeth can increase, thereby is easy to process each gear teeth on cycloid wheel 40.In addition, when the number of teeth of outer toothed portion 41 was less, each outer tooth disk 412,413 of setovering at circumferencial direction can significantly increase contact ratio, the problem that when avoiding the number of teeth less, contact ratio is not high, output stability is not good.
In addition, eccentric part 52a, the 52b phase difference on bent axle 51 sense of rotation that arranges because of bent axle 51 is 180 degree, when the part gear teeth of a cycloid wheel 40 participate in engagement, the gear teeth that another cycloid wheel 40 is spent the position in phase phase difference 180 also participate in engagement, thereby impact force and dynamically balanced amount of unbalance during two cycloid wheel 40 engagements are cancelled, thereby can further improve the stationarity of eccentric cycloid type speed reducing mechanism 100 transmissions.
Be appreciated that bent axle 51 also can only arrange one, its axle center is consistent with the input shaft axle center, and at this moment, the engagement of the internal tooth section 21 of the outer toothed portion 41 that eccentric cycloid type speed reducing mechanism 100 only relies on cycloid wheel 40 and housing 20 realizes the one-level speed change.In the present embodiment, housing 20 is fixedly installed, the revolution motion of cycloid wheel 40 is as output, certainly, also cycloid wheel 40 can be fixed in the motion of revolution direction, and with housing 20 as exporting.The quantity of cycloid wheel 40 also is not limited to two, also can only arrange one, perhaps arranges more than three or three, correspondingly, the eccentric part of equal number need be set on each bent axle 51.
In addition, those skilled in the art also can do other variation in spirit of the present invention, and certainly, the variation that these are done according to spirit of the present invention all should be included in the present invention's scope required for protection.
Claims (7)
1. eccentric cycloid type speed reducing mechanism, it comprises a housing that forms internal tooth section at inner peripheral surface, at least one is contained in the cycloid wheel in this housing, the outer circumferential face of this cycloid wheel forms the outer toothed portion with the engagement of this internal tooth section, the number of teeth of outer toothed portion is lacked than the number of teeth of internal tooth section slightly, at least one bent axle, each bent axle is provided with at least one eccentric part, each cycloid wheel is installed in rotationally on an eccentric part and with the rotation of bent axle and makes eccentric rotary, it is characterized in that: this outer toothed portion comprises a plurality of outer tooth disks that axially are being arranged side by side, the outer tooth disk of adjacent setting is setovered mutually at circumferencial direction, this internal tooth section comprises the ring gear of a plurality of engagements corresponding to outer tooth disk.
2. eccentric cycloid type speed reducing mechanism as claimed in claim 1, it is characterized in that: the quantity of these a plurality of outer tooth disks is two, each outer tooth disk has n the gear teeth, and the angle that these two outer tooth disks are setovered mutually at circumferencial direction is the 180/n degree.
3. eccentric cycloid type speed reducing mechanism as claimed in claim 1, it is characterized in that: the eccentric part of each bent axle is two and along the bent axle axial arrangement, the phase difference of these two eccentric parts on the crankshaft rotating direction is 180 degree, cycloid wheel is two, is sheathed on rotationally respectively on an eccentric part of each bent axle.
4. eccentric cycloid type speed reducing mechanism as claimed in claim 3 is characterized in that: two outer tooth disk phase places that the adjoining side of these two cycloid wheel arranges are identical.
5. eccentric cycloid type speed reducing mechanism as claimed in claim 3, it is characterized in that: this eccentric cycloid type speed reducing mechanism also comprises the input shaft by the housing rotational support, this input shaft has the outer driving gear coaxial with internal tooth section, one end of each bent axle is provided with outer driven gear, this outer driven gear and this outer driving gear engagement.
6. eccentric cycloid type speed reducing mechanism as claimed in claim 5, it is characterized in that: the quantity of bent axle is three, and uniformly-spaced arranges at circumferencial direction, this outer driven gear outside this driving gear and with this outside the driving gear engagement.
7. eccentric cycloid type speed reducing mechanism as claimed in claim 6 is characterized in that: this internal tooth section comprises the first ring gear and is arranged at respectively the second ring gear of this first ring gear both sides, this first ring gear simultaneously with the outer tooth disk engagement of these two adjacent settings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910306967 CN102022479B (en) | 2009-09-14 | 2009-09-14 | Eccentric cycloid type speed reducing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910306967 CN102022479B (en) | 2009-09-14 | 2009-09-14 | Eccentric cycloid type speed reducing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102022479A CN102022479A (en) | 2011-04-20 |
| CN102022479B true CN102022479B (en) | 2013-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910306967 Expired - Fee Related CN102022479B (en) | 2009-09-14 | 2009-09-14 | Eccentric cycloid type speed reducing mechanism |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103807364B (en) * | 2012-11-09 | 2016-09-14 | 鸿富锦精密工业（深圳）有限公司 | Deceleration device |
| CN104633013A (en) * | 2015-02-06 | 2015-05-20 | 江苏泰来减速机有限公司 | Novel high precision speed reducer for robot |
| CN104964000A (en) * | 2015-06-24 | 2015-10-07 | 常州市芯微电子有限公司 | Small-tooth-difference high-precision cycloid gear speed reducer |
| CN111864981A (en) * | 2020-07-03 | 2020-10-30 | 大富科技(安徽)股份有限公司 | Steering engine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1609473A (en) * | 2003-12-22 | 2005-04-27 | 北京百博通机械设备有限公司 | Internal-tricycle speed reducer |
| DE102004048196A1 (en) * | 2004-09-30 | 2006-04-06 | Robert Bosch Gmbh | Eccentric gear, in particular with cycloid gearing |
| CN101117997A (en) * | 2007-09-07 | 2008-02-06 | 北京瑞德信通用机械设备制造有限公司 | Internal tricyclic decelerator |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4319344B2 (en) * | 2000-11-14 | 2009-08-26 | 住友重機械工業株式会社 | Speed reducer series |
| WO2004090377A1 (en) * | 2003-04-09 | 2004-10-21 | Lykhovyd Yuriy M | Quasyplanetary gear system |
-
2009
- 2009-09-14 CN CN 200910306967 patent/CN102022479B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1609473A (en) * | 2003-12-22 | 2005-04-27 | 北京百博通机械设备有限公司 | Internal-tricycle speed reducer |
| DE102004048196A1 (en) * | 2004-09-30 | 2006-04-06 | Robert Bosch Gmbh | Eccentric gear, in particular with cycloid gearing |
| CN101117997A (en) * | 2007-09-07 | 2008-02-06 | 北京瑞德信通用机械设备制造有限公司 | Internal tricyclic decelerator |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2002-147546A 2002.05.22 |
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| CN102022479A (en) | 2011-04-20 |
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Granted publication date: 20130605 Termination date: 20160914 |