CN103206495A - Double-crank cycloidal pin wheel speed reducer - Google Patents
Double-crank cycloidal pin wheel speed reducer Download PDFInfo
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- CN103206495A CN103206495A CN2013100967570A CN201310096757A CN103206495A CN 103206495 A CN103206495 A CN 103206495A CN 2013100967570 A CN2013100967570 A CN 2013100967570A CN 201310096757 A CN201310096757 A CN 201310096757A CN 103206495 A CN103206495 A CN 103206495A
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Abstract
The invention relates to a double-crank cycloidal pin wheel speed reducer in the field of speed reducers. The speed reducer comprises two-stage speed reduction mechanisms, wherein the first-stage speed reduction mechanism is a positive gear speed reduction mechanism which reduces the speed based on a gear ratio; and the second-stage speed reduction mechanism is a cycloidal pin gear speed reduction mechanism. The double-crank cycloidal pin wheel speed reducer has a wide transmission ratio range, a strong bearing capability, a compact structure and high work reliability.
Description
[technical field]
The present invention relates to the retarder field, especially relate to a kind of robot double-crank cycloidal-pin wheel retarder.
[background technique]
Known, retarder is a kind of critical component in many machinery, it is used for velocity ratio fixing or stepping ground change output shaft and input shaft, usually be installed between the transmission shaft of machinery, namely the good and bad height with effect of the performance of retarder can directly influence the running of whole machinery; At present, because the velocity ratio of cycloidal-pin wheel retarder commonly used is usually less than 100, under large speed ratio, for avoiding interfering, the cycloid gear pin is often all done very for a short time, thereby causes its easy bending to fracture; In addition, because the size of rotary arm bearing is subjected to the influence of velocity ratio and export structure size, make power, moment of torsion and the rigidity of retarder transmission also all be restricted, thereby can not adapt to heavily loaded robot to the demand of big torque, high-power, big rigidity and high-mechanic retarder, therefore, the cycloidal-pin wheel retarder that develop that a kind of gear range is big, bearing capacity is strong, compact structure, functional reliability are high is to the kinematic accuracy that improves robot and dynamically very helpful.
[summary of the invention]
In order to overcome the deficiency in the background technique, the invention discloses a kind of double-crank cycloidal-pin wheel retarder, described retarder has characteristics such as gear range is big, bearing capacity strong, compact structure, functional reliability height, so it is more conducive to be widely used among the robot device.
For achieving the above object, the present invention adopts following technological scheme:
A kind of double-crank cycloidal-pin wheel retarder, described retarder comprises double reduction mechanism, the spur-gear speed reducer structure of the first order for slowing down according to gear ratio, the second level is cycloid pin tooth reducing gear; Described spur-gear speed reducer structure is made of input gear shaft and two spur wheels; Described cycloid pin tooth reducing gear comprises housing, supporting mechanism, tapered roller bearing, crankshaft, rolling bearing and cycloid wheel; The pin tooth of tooth pitch arrangements such as described housing middle inside is provided with, the two ends of housing inboard connect with the base and the footstock that constitute supporting mechanism by a pressure angle ball bearing is corresponding respectively; Described base and footstock cooperate connection by base through hole and footstock through hole with two tapered roller bearings respectively, and two tapered roller bearings that are positioned at base and footstock homonymy are fixedly mounted on respectively on the axle body of a crankshaft; The position of the axle body of described crankshaft between two tapered roller bearings is equipped with two cycloid wheel by two rolling bearing off-centre; The eccentric position of described two cycloid wheel is mutually 180 degree angles, and cycloid wheel is meshed with the pin tooth of housing inboard; The spline corresponding connection of two crankshafts by being located at the crankshaft top in two spur wheels in the described spur-gear speed reducer structure and the cycloid pin tooth reducing gear.
Described double-crank cycloidal-pin wheel retarder, described input gear shaft is a d-axis, an end of this d-axis is provided with the endoporus that is connected for motor, the other end of d-axis be provided with for the spur wheel meshed gears.
Described double-crank cycloidal-pin wheel retarder, described housing middle inside are provided with the pin tooth teeth groove that a circle is evenly distributed, and in the pin tooth teeth groove cylindrical needle tooth are installed, and the number of teeth of the gear ratio cycloid wheel of cylindrical needle tooth many 1.
Described double-crank cycloidal-pin wheel retarder, described pressure angle ball bearing is made up of corresponding and base or ball roller, the retainer of footstock cooperation and the bearing outer ring that is connected with the housing respective end.
Described double-crank cycloidal-pin wheel retarder, described cycloid wheel are provided with two for the crankshaft through hole that cooperates with rolling bearing.
Described double-crank cycloidal-pin wheel retarder, described footstock is provided with screw, and described base is provided with outstanding pillar, and is provided with the interior threaded hole for corresponding connection with screw in the pillar; Described cycloid wheel is provided with six and is used for the corresponding pillar through hole that runs through pillar.
Because adopt aforesaid technological scheme, the present invention has following beneficial effect:
Characteristics such as double-crank cycloidal-pin wheel retarder of the present invention has not only that gear range is big, bearing capacity is strong, compact structure, functional reliability height, and it is compared also with existing retarder and has: series of advantages such as volume is little, in light weight, gear range is big, the life-span is long, stable accuracy, efficient height, stable drive; In addition, described retarder is compared with the harmonic driving that robot uses always, it also is extruded with, and rigidity is big, the elasticity return difference is little, the advantage of strong shock resistance, therefore, described retarder can become the highest low retarder that shakes of rigidity in the present robot retarder commonly used, and then very helpful to the kinematic accuracy and the dynamic characteristic that improve robot.
[description of drawings]
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of cycloid wheel among the present invention;
Fig. 3 is supporting mechanism base schematic representation among the present invention;
Fig. 4 is supporting mechanism footstock schematic representation among the present invention.
Among the figure: 1, housing; 2, base; 3, footstock; 4, spur wheel; 5, crankshaft; 6, cycloid wheel; 7, rolling bearing; 8, tapered roller bearing; 9, ball roller; 10, retainer; 11, bearing outer ring; 12, crankshaft through hole; 13, pillar through hole; 14 base through holes; 15, interior threaded hole; 16, footstock through hole; 17, screw.
[embodiment]
Can explain the present invention in more detail by the following examples, disclose purpose of the present invention and be intended to protect all changes and improvements in the scope of the invention that the present invention is not limited to the following examples;
1～4 described double-crank cycloidal-pin wheel retarder by reference to the accompanying drawings, described retarder comprises double reduction mechanism, the spur-gear speed reducer structure of the first order for slowing down according to gear ratio, the second level is cycloid pin tooth reducing gear; Described spur-gear speed reducer structure is made of input gear shaft and two spur wheels 4, described input gear shaft is a d-axis, one end of this d-axis is provided with the endoporus that is connected for motor, the other end of d-axis be provided with for spur wheel 4 meshed gears, i.e. sun gear;
Described cycloid pin tooth reducing gear comprises housing 1, supporting mechanism, crankshaft 5, cycloid wheel 6, rolling bearing 7 and tapered roller bearing 8; The pin tooth of tooth pitch arrangements such as described housing 1 middle inside is provided with, as required, can be earlier in the middle inside of housing 1 the pin tooth teeth groove that a circle is evenly distributed be set, in pin tooth teeth groove, installs the cylindrical needle tooth again, and the number of teeth of the gear ratio cycloid wheel 6 of cylindrical needle tooth many 1; The two ends of housing 1 inboard connect with the base 2 and the footstock 3 that constitute supporting mechanism by a pressure angle ball bearing is corresponding respectively; Described pressure angle ball bearing is made up of corresponding and base 2 or ball roller 9, the retainer 10 of footstock 3 cooperations and the bearing outer ring 11 that is connected with housing 1 respective end; Described base 2 cooperates connection by two base through holes 14 with two tapered roller bearings 8, described footstock 3 cooperates connection by two footstock through holes 16 with two tapered roller bearings 8, and two tapered roller bearings 8 that are positioned at base 2 and footstock 3 homonymies are fixedly mounted on respectively on the axle body of a crankshaft 5;
The position of the axle body of described crankshaft 5 between two tapered roller bearings 8 is equipped with two cycloid wheel 6 by two rolling bearings, 7 off-centre; Described rolling bearing 7 connects with crankshaft 5; Described cycloid wheel 6 cooperates connection by two crankshaft through holes 12 with rolling bearing 7; The eccentric position of described two cycloid wheel 6 is mutually 180 degree angles, and cycloid wheel 6 is meshed with the pin tooth of housing 1 inboard; Described footstock 3 is provided with screw 17, and described base 2 is provided with outstanding pillar, and be provided with in the pillar for the interior threaded hole 15 of screw 17 corresponding connections; Described cycloid wheel 6 is provided with six and is used for the corresponding pillar through hole 13 that runs through pillar; The spline corresponding connection of two crankshafts 5 by being located at crankshaft 5 tops in two spur wheels 4 in the described spur-gear speed reducer structure and the cycloid pin tooth reducing gear.
Part not in the detailed description of the invention is prior art, so the present invention is not described in detail.
Claims (4)
1. double-crank cycloidal-pin wheel retarder, it is characterized in that: described retarder comprises double reduction mechanism, the spur-gear speed reducer structure of the first order for slowing down according to gear ratio, the second level is cycloid pin tooth reducing gear; Described spur-gear speed reducer structure is made of input gear shaft and two spur wheels (4); Described input gear shaft is a d-axis, and an end of this d-axis is provided with the endoporus that is connected for motor, the other end of d-axis be provided with for spur wheel (4) meshed gears; Described cycloid pin tooth reducing gear comprises housing (1), supporting mechanism, crankshaft (5), cycloid wheel (6), rolling bearing (7) and tapered roller bearing (8); The pin tooth of tooth pitch arrangements such as described housing (1) middle inside is provided with, the two ends of housing inboard connect with the base (2) and the footstock (3) that constitute supporting mechanism by a pressure angle ball bearing is corresponding respectively; Described pressure angle ball bearing is made up of corresponding and base (2) or ball roller (9), the retainer (10) of footstock (3) cooperation and the bearing outer ring (11) that is connected with housing (1) respective end;
Described base (2) and footstock (3) cooperate connection by base through hole (14) and footstock through hole (16) with two tapered roller bearings (8) respectively, and two tapered roller bearings (8) that are positioned at base (2) and footstock (3) homonymy are fixedly mounted on respectively on the axle body of a crankshaft (5); The position that the axle body of described crankshaft (5) is positioned between two tapered roller bearings (8) is equipped with two cycloid wheel (6) by two rolling bearings (7) off-centre; The eccentric position of described two cycloid wheel (6) is mutually 180 degree angles, and cycloid wheel (6) is meshed with the pin tooth of housing (1) inboard; Two crankshafts (5) in two spur wheels (4) in the described spur-gear speed reducer structure and the cycloid pin tooth reducing gear are by being located at the corresponding connection of spline at crankshaft (5) top.
2. double-crank cycloidal-pin wheel retarder according to claim 1, it is characterized in that: described housing (1) middle inside is provided with the pin tooth teeth groove that a circle is evenly distributed, in the pin tooth teeth groove cylindrical needle tooth is installed, and the number of teeth of the gear ratio cycloid wheel (6) of cylindrical needle tooth many 1.
3. double-crank cycloidal-pin wheel retarder according to claim 1 is characterized in that: described cycloid wheel (6) is provided with two and is used for the crankshaft through hole (12) that cooperates with rolling bearing (7).
4. double-crank cycloidal-pin wheel retarder according to claim 1, it is characterized in that: described footstock (3) is provided with screw (17), described base (2) is provided with outstanding pillar, and be provided with in the pillar for the interior threaded hole (15) of the corresponding connection of screw (17); Described cycloid wheel (6) is provided with six and is used for the corresponding pillar through hole (13) that runs through pillar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100967570A CN103206495A (en) | 2013-03-25 | 2013-03-25 | Double-crank cycloidal pin wheel speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100967570A CN103206495A (en) | 2013-03-25 | 2013-03-25 | Double-crank cycloidal pin wheel speed reducer |
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| CN103206495A true CN103206495A (en) | 2013-07-17 |
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| CN2013100967570A Pending CN103206495A (en) | 2013-03-25 | 2013-03-25 | Double-crank cycloidal pin wheel speed reducer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104819253A (en) * | 2015-02-25 | 2015-08-05 | 佛山市诺尔贝机器人技术有限公司 | Multi-crankshaft cycloid speed reducer |
| CN105023503A (en) * | 2015-08-03 | 2015-11-04 | 南京康尼机电股份有限公司 | High precision economic cycloidal pin-wheel reducer for teaching |
| CN105202155A (en) * | 2015-10-21 | 2015-12-30 | 袁正敏 | Series-parallel cycloidal gear reducer |
| CN110005761A (en) * | 2019-04-01 | 2019-07-12 | 长安大学 | A kind of speed reducer based on single outer ring ball bearing |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2327840Y (en) * | 1998-03-13 | 1999-07-07 | 重庆工业管理学院 | Transmission device for regulating speed by parallel shafts and cycloidal needles |
| CN2856587Y (en) * | 2005-10-20 | 2007-01-10 | 湖北工业大学 | Double crankshaft, two-cycloidal translational planet-gear speed reducer |
| CN201053475Y (en) * | 2007-06-11 | 2008-04-30 | 天津减速机股份有限公司 | Three-crank planet cycloidal needle wheel reducer |
| CN101280824A (en) * | 2008-05-26 | 2008-10-08 | 重庆大学 | Accurate cycloid pin gear epicyclic transmission apparatus |
| CN101363510A (en) * | 2007-08-07 | 2009-02-11 | 住友重机械工业株式会社 | Swinging inner-connected meshed planetary gear structure |
| WO2010001698A1 (en) * | 2008-07-02 | 2010-01-07 | Ntn株式会社 | Cycloid reduction gear, in-wheel motor drive device, and motor drive device for vehicle |
| CN101806334A (en) * | 2010-04-27 | 2010-08-18 | 宏达博能自动化设备(江苏)有限公司 | Multitooth-meshed driving device for transmitting power by eccentric bearing |
| CN201884569U (en) * | 2010-11-29 | 2011-06-29 | 广州数控设备有限公司 | Cycloid speed reducer |
-
2013
- 2013-03-25 CN CN2013100967570A patent/CN103206495A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2327840Y (en) * | 1998-03-13 | 1999-07-07 | 重庆工业管理学院 | Transmission device for regulating speed by parallel shafts and cycloidal needles |
| CN2856587Y (en) * | 2005-10-20 | 2007-01-10 | 湖北工业大学 | Double crankshaft, two-cycloidal translational planet-gear speed reducer |
| CN201053475Y (en) * | 2007-06-11 | 2008-04-30 | 天津减速机股份有限公司 | Three-crank planet cycloidal needle wheel reducer |
| CN101363510A (en) * | 2007-08-07 | 2009-02-11 | 住友重机械工业株式会社 | Swinging inner-connected meshed planetary gear structure |
| CN101280824A (en) * | 2008-05-26 | 2008-10-08 | 重庆大学 | Accurate cycloid pin gear epicyclic transmission apparatus |
| WO2010001698A1 (en) * | 2008-07-02 | 2010-01-07 | Ntn株式会社 | Cycloid reduction gear, in-wheel motor drive device, and motor drive device for vehicle |
| CN101806334A (en) * | 2010-04-27 | 2010-08-18 | 宏达博能自动化设备(江苏)有限公司 | Multitooth-meshed driving device for transmitting power by eccentric bearing |
| CN201884569U (en) * | 2010-11-29 | 2011-06-29 | 广州数控设备有限公司 | Cycloid speed reducer |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104819253A (en) * | 2015-02-25 | 2015-08-05 | 佛山市诺尔贝机器人技术有限公司 | Multi-crankshaft cycloid speed reducer |
| CN104819253B (en) * | 2015-02-25 | 2017-05-17 | 佛山市诺尔贝机器人技术有限公司 | Multi-crankshaft cycloid speed reducer |
| CN105023503A (en) * | 2015-08-03 | 2015-11-04 | 南京康尼机电股份有限公司 | High precision economic cycloidal pin-wheel reducer for teaching |
| CN105202155A (en) * | 2015-10-21 | 2015-12-30 | 袁正敏 | Series-parallel cycloidal gear reducer |
| CN110005761A (en) * | 2019-04-01 | 2019-07-12 | 长安大学 | A kind of speed reducer based on single outer ring ball bearing |
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Application publication date: 20130717 |