CN103883693A - Double-stage rigid tooth surface cycloid steel ball planetary gear reducer - Google Patents
Double-stage rigid tooth surface cycloid steel ball planetary gear reducer Download PDFInfo
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- CN103883693A CN103883693A CN201410102128.9A CN201410102128A CN103883693A CN 103883693 A CN103883693 A CN 103883693A CN 201410102128 A CN201410102128 A CN 201410102128A CN 103883693 A CN103883693 A CN 103883693A
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- disc
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- epicycloid
- hypocycloid
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 32
- 239000010959 steel Substances 0.000 title claims abstract description 32
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 28
- 241000239290 Araneae Species 0.000 claims description 14
- 230000036316 preload Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 abstract description 18
- 238000010438 heat treatment Methods 0.000 abstract description 4
- 238000005299 abrasion Methods 0.000 abstract 1
- 230000009467 reduction Effects 0.000 description 5
- 238000007789 sealing Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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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
- F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
- F16H13/06—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion
- F16H13/08—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
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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
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
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Abstract
The invention provides a double-stage rigid tooth surface cycloid steel ball planetary gear reducer which comprises a reducer shell, an input shaft, an eccentric sleeve, steel ball sets, an end cover, a planetary disc, a center disc, an output shaft, a pre-fastening nut, back-up bearings and bearing end covers. The double-stage rigid tooth surface cycloid steel ball planetary gear reducer is of a 2K-H(NN) type double-stage planetary transmission basic structure, inner cycloid grooves and outer cycloid grooves in the end faces of the end cover, the end faces of the planetary disc and the end faces of the center disc serve as the tooth profiles, steel balls serve as mediators to carry out meshed transmission, tooth gaps are eliminated through four-point contact between the steel balls and the cycloid grooves, and the double-stage rigid tooth surface cycloid steel ball planetary gear reducer has the advantages of being simple in structure, small in size, large in transmission ratio, free of the tooth gaps, high in transmission accuracy and high in efficiency; meanwhile, the inner cycloid grooves and the outer cycloid grooves of the double-stage rigid tooth surface cycloid steel ball planetary gear reducer are respectively formed by two cycloid split discs in an assembled mode, surface heat treatment and grinding are conveniently carried out on the cycloid tooth surfaces of the split discs, and the double-stage rigid tooth surface cycloid steel ball planetary gear reducer has the advantages of being high in tooth surface rigidity, small in heat treatment deformation, resistant to abrasions and long in service life.
Description
Technical field
The present invention relates to a kind of highi degree of accuracy speed reduction gearing, especially a kind of robot highi degree of accuracy speed reduction gearing, also can be widely used in the fields such as accurate manufacture, aviation, automobile, instrument and apparatus simultaneously.
Background technique
In order to improve transmission accuracy and the control accuracy of robot, require robot with speed reduction gearing there is compact structure, volume is little, quality is light, velocity ratio is large, backlash is little, response is fast, efficiency high, requires speed reduction gearing can within the longer time, keep higher reciprocal positioning precision simultaneously.
Existing robot generally adopts involute planet gear speed reducer, RV speed reducer, harmonic drive or cycloidal ball speed reducer with highi degree of accuracy speed reduction gearing.Involute planet gear speed reducer, owing to inevitably there is backlash, therefore needs very high gear accuracy of manufacturing could meet basic transmission accuracy requirement.Although RV speed reducer has advantages of that rigidity is large, transmission accuracy is high, because the composite structure that has adopted cycloidal-pin wheel transmission and involute planet gear transmission improves velocity ratio, therefore complex structure, manufactures and assembly precision requires very high.Meanwhile, RV speed reducer, for reducing or eliminating backlash, often needs to carry out profile modification processing, has increased manufacturing process difficulty.Harmonic drive adopts deformable flexbile gear to eliminate backlash, have very high transmission accuracy, but the shortcoming that its flexspline strength is poor, easy to wear, the life-span is short, transmission stiffness is not enough cannot overcome always.Cycloidal ball speed reducer adopts the basic structure of K-H-V type planetary drive with small teeth difference, and because it belongs to two teeth difference single-stage driving, therefore attainable velocity ratio is little.
Summary of the invention
The present invention overcomes the defect of above-mentioned existence, and the hard flank of tooth cycloidal ball planet of a kind of secondary speed reducer is provided.This speed reducer adopts 2K-H(NN) basic structure of type secondary planet transmission, using the inside and outside cycloid groove on end cap, planetary plate and spider end face as flank profil, using steel ball as mediator engagement driving, 4 by steel ball and cycloid groove contact and eliminate backlash, have advantages of simple in structure, volume is little, velocity ratio is large, zero backlash, transmission accuracy is high, efficiency is high.Meanwhile, the inside and outside cycloid groove of this speed reducer divides body disc to assemble by two cycloids, is convenient to the cycloid flank of tooth of each point of body disc to carry out surface heat processing and grinding, has advantages of that tooth face hardness is high, heat treatment deformation is little, wear-resistant, the life-span is long.
The present invention adopts following technological scheme: the hard flank of tooth cycloidal ball planet of a kind of secondary speed reducer, comprise casing, input shaft, eccentric bushing, steel ball group, end cap, planetary plate, spider and output shaft, it is characterized in that: the input shaft interference fit eccentric bushing that is connected, eccentric bushing is connected with planetary plate by rotary arm bearing, planetary plate, end cap and steel ball group form first order cycloidal ball planet gearing down engagement pair, output shaft is connected by set screws and spider, and planetary plate, spider and steel ball group form second level cycloidal ball planet gearing down engagement pair.
Further, described end cap left side is by interference fit and Cock screw group be connected hypocycloid outside disc and hypocycloid inner disc, and the flank profil on hypocycloid outside disc inner edge and in hypocycloid inner disc outer rim is combined into the hypocycloid groove of tapered cross-section; Planetary plate right side is by interference fit and Cock screw group be connected epicycloid outside disc and epicycloid inner disc, flank profil on epicycloid outside disc inner edge and in epicycloid inner disc outer rim is combined into the epicycloid groove of tapered cross-section, the movable steel ball group of installing between inside and outside cycloid groove.
Further, described planetary plate left side is by interference fit and Cock screw group be connected epicycloid outside disc and epicycloid inner disc, and the flank profil on epicycloid outside disc inner edge and in epicycloid inner disc outer rim is combined into the epicycloid groove of tapered cross-section; Spider right side is by interference fit and Cock screw group be connected hypocycloid outside disc and hypocycloid inner disc, flank profil on hypocycloid outside disc inner edge and in hypocycloid inner disc outer rim is combined into the hypocycloid groove of tapered cross-section, the movable steel ball group of installing between inside and outside cycloid groove.
Further, the right block bearing of described input shaft adopts Internal and external cycle axial restraint mode, and the left block bearing of input shaft adopts inner ring axial restraint, outer ring play mode.
Again further, described casing left end endoporus is processed with screw thread, is screwed into the fixing left block bearing of output shaft of pre-load nut, between pre-load nut and casing, lock washer is installed.
Adopt after above technological scheme, the beneficial effect that the present invention reaches is:
(1) inside and outside cycloid groove is that four point gearing contact with steel ball, in the time of the reciprocal clockwise and anticlockwise work of speed reducer, all can ensure without backlash, can realize very high transmission accuracy, be less than ± 5arcmin of return difference.Meanwhile, the mediator using movable steel ball as engagement driving, change sliding friction is rolling friction, has greatly improved transmission efficiency, peak efficiency is greater than 85%.
(2) adopt 2K-H(NN) basic structure of type secondary planet transmission, compare existing single-stage cycloidal ball planet speed reducer, enlarge markedly velocity ratio.This drive mechanism has also omitted equispeed output mechanism, has simplified speed reducer structure, has dwindled volume.
(3) the inside and outside cycloid groove on end cap, planetary plate and spider end face divides body disc to assemble by two cycloids, cycloid divide on body disc inner edge and outer rim on the cycloid flank of tooth be convenient to carry out surface heat processing and grinding, tooth face hardness can reach 50～60HRC, and flank of tooth heat treatment deformation is little, wear-resistant, the life-span is long.
(4) casing left end endoporus is processed with screw thread, is screwed into pre-load nut promotion shafting components and moves, and can eliminate backlash residual while just assembling, ensures transmission accuracy.Meanwhile, between pre-load nut and casing, lock washer is installed, prevents that pre-load nut from producing loosening.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is A-A sectional drawing of Fig. 1;
Fig. 3 is Fig. 1's
-
sectional drawing;
Fig. 4 is B-B sectional drawing of Fig. 1;
Fig. 5 is C-C sectional drawing of Fig. 1.
In Fig. 1～Fig. 5: 1-equilibrium block; 2-right bearing end cap; 3-circlip for shaft; 4-felt collar oil sealing; 5-input shaft; The right block bearing of 6-input shaft; 7-eccentric bushing; 8-rotary arm bearing; 9-end cap; 10-set screws; 11-hypocycloid outside disc; 12-epicycloid outside disc; 13-epicycloid outside disc; 14-hypocycloid outside disc; 15-set screws; The left block bearing of 16-input shaft; The left block bearing of 17-output shaft; 18-lock washer; 19-output shaft;
20-felt collar oil sealing; 21-left bearing end cap; 22-pre-load nut; The right block bearing of 23-output shaft; 24-circlip for shaft; 25-spider; 26-hypocycloid inner disc; 27-epicycloid inner disc; 28-planetary plate; 29-epicycloid inner disc; 30-hypocycloid inner disc; 31-steel ball group; 32-Cock screw group; 33-Cock screw group; 34-casing; 35-Cock screw group; 36-Cock screw group; 37-steel ball group; 38-Cock screw group; 39-Cock screw group; 40-Cock screw group; 41-Cock screw group; 42-screw.
Embodiment
Accompanying drawing discloses the concrete structure of an embodiment of the present invention without limitation, and below in conjunction with accompanying drawing, the invention will be further described.
The hard flank of tooth cycloidal ball planet of secondary shown in Fig. 1～Fig. 5 speed reducer comprises equilibrium block 1; Right bearing end cap 2; Circlip for shaft 3, felt collar oil sealing 4; Input shaft 5; The right block bearing 6 of input shaft; Eccentric bushing 7; Rotary arm bearing 8; End cap 9; Set screws 10; Hypocycloid outside disc 11; Epicycloid outside disc 12; Epicycloid outside disc 13; Hypocycloid outside disc 14; Set screws 15; The left block bearing 16 of input shaft; The left block bearing 17 of output shaft; Lock washer 18; Output shaft 19; Felt collar oil sealing 20; Left bearing end cap 21; Pre-load nut 22; The right block bearing 23 of output shaft; Circlip for shaft 24; Spider 25; Hypocycloid inner disc 26; Epicycloid inner disc 27; Planetary plate 28; Epicycloid inner disc 29; Hypocycloid inner disc 30; Steel ball group 31; Cock screw group 32; Cock screw group 33; Casing 34; Cock screw group 35; Cock screw group 36; Steel ball group 37; Cock screw group 38; Cock screw group 39; Cock screw group 40; Cock screw group 41; Screw 42.
Power is inputted by input shaft 5, and because input shaft is connected by interference fit and eccentric bushing 7, therefore input shaft drives eccentric bushing rotation together, and drives planetary plate 28 to move by the rotary arm bearing 8 on eccentric bushing.Meanwhile, the epicycloid groove on planetary plate right side promotes steel ball group 37 and moves, and steel ball group 37 is subject to the constraint of hypocycloid groove on end cap 9 left sides, and the anti-astrolabe of carrying out rotates with lower angular velocity, thereby completes first order gearing down; Epicycloid groove on planetary plate left side promotes steel ball group 31 and moves, and the hypocycloid groove effect on steel ball group 31 and spider 25 right sides promotes spider and rotates with lower angular velocity, thereby completes second level gearing down.Spider is connected by set screws 15 and output shaft 19, and power is exported by output shaft.
In this example, casing left end endoporus is processed with screw thread, is screwed into pre-load nut 22 and promotes shafting components and move axially, and can eliminate the backlash between cycloid groove and steel ball group 31,37, ensures transmission accuracy.Meanwhile, lock washer 18 is installed between pre-load nut and casing, is prevented that pre-load nut from producing loosening.Input shaft adopts right block bearing 6 two-way fixing, and the supporting structure that left block bearing 16 moves about had both ensured the location of shafting components, can meet again the requirement that moves axially of eliminating output shaft in backlash process.
Claims (5)
1. the hard flank of tooth cycloidal ball planet of a secondary speed reducer, comprise casing (34), input shaft (5), eccentric bushing (7), steel ball group (31, 37), end cap (9), planetary plate (28), spider (25) and output shaft (19), it is characterized in that: the input shaft interference fit eccentric bushing that is connected, eccentric bushing is connected with planetary plate by rotary arm bearing (8), planetary plate, end cap and steel ball group (37) form first order cycloidal ball planet gearing down engagement pair, output shaft is connected by set screws (15) and spider, planetary plate, spider and steel ball group (31) form second level cycloidal ball planet gearing down engagement pair.
2. the hard flank of tooth cycloidal ball planet of secondary according to claim 1 speed reducer, it is characterized in that: described end cap left side is by interference fit and Cock screw group (40,41) be connected hypocycloid outside disc (11) and hypocycloid inner disc (30), and the flank profil on hypocycloid outside disc inner edge and in hypocycloid inner disc outer rim is combined into the hypocycloid groove of tapered cross-section; Planetary plate right side is by interference fit and Cock screw group (38,39) be connected epicycloid outside disc (12) and epicycloid inner disc (29), flank profil on epicycloid outside disc inner edge and in epicycloid inner disc outer rim is combined into the epicycloid groove of tapered cross-section, the movable steel ball group (37) of installing between inside and outside cycloid groove.
3. the hard flank of tooth cycloidal ball planet of secondary according to claim 1 speed reducer, it is characterized in that: described planetary plate left side is by interference fit and Cock screw group (32,33) be connected epicycloid outside disc (13) and epicycloid inner disc (27), and the flank profil on epicycloid outside disc inner edge and in epicycloid inner disc outer rim is combined into the epicycloid groove of tapered cross-section; Spider right side is by interference fit and Cock screw group (35,36) be connected hypocycloid outside disc (14) and hypocycloid inner disc (26), flank profil on hypocycloid outside disc inner edge and in hypocycloid inner disc outer rim is combined into the hypocycloid groove of tapered cross-section, the movable steel ball group (31) of installing between inside and outside cycloid groove.
4. the hard flank of tooth cycloidal ball planet of secondary according to claim 1 speed reducer, it is characterized in that: the right block bearing of described input shaft (6) adopts Internal and external cycle axial restraint mode, and the left block bearing of input shaft (16) adopts inner ring axial restraint, outer ring play mode.
5. hard flank of tooth single-stage cycloidal ball planet speed reducer according to claim 1, it is characterized in that: described casing (34) left end endoporus is processed with screw thread, be screwed into the fixing left block bearing of output shaft (17) of pre-load nut (22), lock washer (18) is installed between pre-load nut and casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410102128.9A CN103883693A (en) | 2014-03-19 | 2014-03-19 | Double-stage rigid tooth surface cycloid steel ball planetary gear reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410102128.9A CN103883693A (en) | 2014-03-19 | 2014-03-19 | Double-stage rigid tooth surface cycloid steel ball planetary gear reducer |
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| CN103883693A true CN103883693A (en) | 2014-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410102128.9A Pending CN103883693A (en) | 2014-03-19 | 2014-03-19 | Double-stage rigid tooth surface cycloid steel ball planetary gear reducer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017152429A1 (en) * | 2016-03-09 | 2017-09-14 | 江苏泰隆减速机股份有限公司 | Two-stage parallel cycloid ball reducer |
| CN111120588A (en) * | 2020-01-06 | 2020-05-08 | 河南烛龙高科技术有限公司 | Centrosymmetric two-stage differential undercut cycloid oscillating tooth speed reducer |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5286236A (en) * | 1991-06-28 | 1994-02-15 | Tsubakimoto Chain Co. | Ball-type speed reducer |
| CN1183523A (en) * | 1997-11-21 | 1998-06-03 | 杭州电子工业学院 | Cycloidal ball planet speed reducer |
| CN2315354Y (en) * | 1997-11-21 | 1999-04-21 | 杭州电子工业学院 | Cycloidal steel ball speed reducer |
| CN2497111Y (en) * | 2001-07-16 | 2002-06-26 | 广东星光机电有限公司 | Planetary ball cycloidal gear speed reducer |
| CN201129416Y (en) * | 2007-12-20 | 2008-10-08 | 陕西工业职业技术学院 | A new type of cycloid steel ball reducer |
| CN201568543U (en) * | 2009-11-20 | 2010-09-01 | 北京工业大学 | Two-teeth difference plane steel ball transmission device |
| CN203472983U (en) * | 2013-10-15 | 2014-03-12 | 河北联合大学 | Swing line and steel ball planetary reduction gear |
| CN203809622U (en) * | 2014-03-19 | 2014-09-03 | 江苏泰隆减速机股份有限公司 | Second-level hard gear face cycloid steel ball planetary reducer |
-
2014
- 2014-03-19 CN CN201410102128.9A patent/CN103883693A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5286236A (en) * | 1991-06-28 | 1994-02-15 | Tsubakimoto Chain Co. | Ball-type speed reducer |
| CN1183523A (en) * | 1997-11-21 | 1998-06-03 | 杭州电子工业学院 | Cycloidal ball planet speed reducer |
| CN2315354Y (en) * | 1997-11-21 | 1999-04-21 | 杭州电子工业学院 | Cycloidal steel ball speed reducer |
| CN2497111Y (en) * | 2001-07-16 | 2002-06-26 | 广东星光机电有限公司 | Planetary ball cycloidal gear speed reducer |
| CN201129416Y (en) * | 2007-12-20 | 2008-10-08 | 陕西工业职业技术学院 | A new type of cycloid steel ball reducer |
| CN201568543U (en) * | 2009-11-20 | 2010-09-01 | 北京工业大学 | Two-teeth difference plane steel ball transmission device |
| CN203472983U (en) * | 2013-10-15 | 2014-03-12 | 河北联合大学 | Swing line and steel ball planetary reduction gear |
| CN203809622U (en) * | 2014-03-19 | 2014-09-03 | 江苏泰隆减速机股份有限公司 | Second-level hard gear face cycloid steel ball planetary reducer |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017152429A1 (en) * | 2016-03-09 | 2017-09-14 | 江苏泰隆减速机股份有限公司 | Two-stage parallel cycloid ball reducer |
| CN111120588A (en) * | 2020-01-06 | 2020-05-08 | 河南烛龙高科技术有限公司 | Centrosymmetric two-stage differential undercut cycloid oscillating tooth speed reducer |
| CN111120588B (en) * | 2020-01-06 | 2021-04-13 | 河南烛龙高科技术有限公司 | Centrosymmetric two-stage differential undercut cycloid oscillating tooth speed reducer |
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Application publication date: 20140625 |