CN103867671A - Parallel procession steel bar speed reducer - Google Patents

Parallel procession steel bar speed reducer Download PDF

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Publication number
CN103867671A
CN103867671A CN201410054261.1A CN201410054261A CN103867671A CN 103867671 A CN103867671 A CN 103867671A CN 201410054261 A CN201410054261 A CN 201410054261A CN 103867671 A CN103867671 A CN 103867671A
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China
Prior art keywords
steel ball
shock wave
wave device
processed
bearing
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CN201410054261.1A
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CN103867671B (en
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宜亚丽
杨荣刚
靳景川
刘雨轩
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Yanshan University
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Yanshan University
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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
    • 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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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention discloses a parallel procession steel bar speed reducer and relates to the field of mechanical drive speed reducers. The parallel procession steel bar speed reducer comprises an input shaft, a connecting frame, a connecting block, a steel ball group, a planetary disc, a center gear, a shock diffuser I, a shock diffuser II, an output shaft and the like, wherein an eccentric section of the input shaft drives the planetary disc to make a planetary motion through a rotating arm bearing, and under the joint effect of the input shaft and the planetary disc, the connecting frame makes a planetary motion; the connecting frame is connected with a combined shock diffuser through the connecting block, the steel ball group is uniformly arranged on the circumference of the combined shock diffuser, the steel ball group is engaged with the center gear and the center gear is connected with the output shaft through a screw; the center gear produces a combined motion under the precession effect of the combined shock diffuser, the center gear rotates at constant rotating speed and the output shaft outputs the constant rotating speed. The parallel procession steel bar speed reducer has the advantages that the structure is simple, the drive ratio is large, the drive efficiency is high, the wear clearance of an engagement pair can be eliminated and precision drive can be realized.

Description

Precession steel ball reducer in parallel
Technical field
The present invention relates to a kind of mechanical transmission retarder, particularly relate to a kind of movable teeth reducer.
Background technique
Mechanical transmission is the important component part of various machineries in mechanical industry, and its drive mechanism performance directly affects and determined mechanical manufacturing efficiency, service behaviour and quality of product.Along with industrial technology and the direction fast development of producing to high, precision and frontier, particularly the more and more extensive use of the precision optical machinery such as robot, mechanism hand, astrovehicle, precision measuremnt indexing mechanism and precision finishing machine, just requires the mechanical transmission mechanism with its adaptation and superperformance.
In mechanical field, traditional kind of drive adopts gear transmission; Its engaging tooth adopts again the form of fixing tooth conventionally, and this kind of mode is necessary for engagement and retains certain gap.Due to the existence in gap, can not meet in prior art for high bearing capacity, without return difference, high reliability, large speed ratio, the mechanically operated requirement of small volume.In order to eliminate gap, make up conventional gear-driven deficiency, present stage adopts a kind of engaging tooth kind of drive of activity, and this kind of mode can realize zero clearance transmission.
The patent No. is that the Chinese patent of ZL200520109460.4 discloses a kind of transmission device of having nutation oscillating tooth, this device utilizes steel ball for mediator, engage by the rolling that is contained in oscillating tooth between nutation wheel on the input shaft planetary plate respectively and between fixed tray, on output shaft, realize the engagement driving of constant speed ratio.This transmission device has proposed a kind of design concept of using the transmission of spherical oscillating tooth replacement cone tooth, engaging to transmit motion and power by the rolling friction between oscillating tooth and groove, but this device uses two groups of steel balls, and steel ball is many, complex structure and compact not, nutation wheel processed complex, transmission efficiency is low.
Summary of the invention
In order to address the above problem, the invention provides a kind of precession steel ball reducer in parallel, this reducer structure is simple, and transmission efficiency is high, can eliminate engagement pair wearing clearance and realize precision drive, is applicable in the precision drive such as robot, Aero-Space, high-grade car.
The technical solution adopted in the present invention is: a kind of precession steel ball reducer in parallel, comprise the input shaft 2 that supports and be connected by end cap 6 and body 22 by bearing 4, and be installed on the output shaft 18 that supports and be fixed on by large end cap 16 body 22 in small end cover 17 by bearing 20, described input shaft 2 eccentric segments are connected with link press span 7 by bearing 5, described link press span 7 is connected with planetary plate 27 and is connected with described contiguous block 24 by bearing pin, described contiguous block 24 is connected with described shock wave device II 23 by bearing pin, two bearing pin geometric center lines vertically meet at a bit, in described planetary plate 27 both ends of the surface, be processed with identical cycloid groove, left side connects by steel ball 28 with the described end cap 6 that is processed with corresponding cycloid groove, right side connects by steel ball 28 with the spider 26 that is processed with corresponding cycloid groove, described spider 26 is connected with described body 22, described shock wave device II 23 connects and composes combination shock wave device by screw 15 with shock wave device I14, described combination shock wave device contacts with the dovetail groove on central gear 12 by the steel ball group 13 distributing thereon, described steel ball group 13 centre ofs sphere distribute the round heart on described output shaft 18 gyration center lines, described central gear 12 is connected with described body 22 by bearing 11 and is connected with described output shaft 18 by screw 21.
As preferably, described link press span 7 and described planetary plate 27 are by spline joint, and described link press span 7 is processed with external splines, and described planetary plate 27 is processed with internal spline.
As preferably, described central gear 12 internal surfaces are sphere, and the described steel ball group 13 centre ofs sphere round heart that distributes is the centre of sphere simultaneously, and described steel ball group 13 is distributed on sphere.
As preferably, described spider 26 is provided with sphenoid surface and described body 22 forms wedge shape space, in described wedge shape space, placing steel ball 9 contacts with described body 22 with described spider 26, on described body 22, be processed with tapped hole, mounting screw 8 in described tapped hole, rotate described screw 8 and promote described steel ball 9 and move, described steel ball 9 promotes described spider 26 axial motions, keeps described steel ball 28 to contact with described cycloid groove.
Advantage of the present invention with beneficial effect is: compared with planetary drive with small teeth difference retarder, there is no equispeed output mechanism; Simple in structure, velocity ratio is large, and the component that participate in transmission are few; All steel balls all participate in engagement, and bearing capacity is strong; Gap adjusting mechanism is installed, and deceleration engagement pair can realize zero-clearance transmission; Equilibrium block is installed on input shaft and can realizes dynamic balancing, the stability of a system is good.
Accompanying drawing explanation
Fig. 1 is structure diagram of the present invention.
In figure: 1-equilibrium block, 2-input shaft, 3-seal ring, 4-bearing, 5-bearing, 6-end cap, 7-link press span, 8-screw, 9-steel ball, 10-bearing pin, 11-bearing, 12-central gear, 13-steel ball group, 14-shock wave device I, 15-screw, the large end cap of 16-, 17-small end cover, 18-output shaft, 19-seal ring, 20-bearing, 21-screw, 22-body, 23-shock wave device II, 24-contiguous block, 25-needle bearing, 26-spider, 27-planetary plate, 28-steel ball.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
Referring to Fig. 1, the present invention's precession steel ball reducer in parallel comprises input shaft 2, bearing 5, end cap 6, link press span 7, screw 8, steel ball 9, bearing pin 10, bearing 11, central gear 12, steel ball group 13, shock wave device I 14, screw 15, output shaft 18, screw 21, body 22, shock wave device II 23, contiguous block 24, needle bearing 25, spider 26, planetary plate 27, steel ball 28.End cap 6 is processed with identical cycloid groove with on spider 26, in planetary plate 27 both ends of the surface, is processed with identical cycloid groove.On link press span 7, be processed with external splines, planetary plate 27 is processed with internal spline, and link press span 7 is connected by bearing 5 with input shaft 2 eccentric segments.Shock wave device I 14 and shock wave device II 23 composition combination shock wave devices, shock wave device II 23 is connected with link press span 7 by contiguous block 24.The steel ball 13 being arranged on combination shock wave device engages with central gear 12 dovetail grooves, and it is upper that the each steel ball centre of sphere of steel ball group 13 is distributed in a circle, and central gear 12 is connected with output shaft 18 by screw 21.Between body 22 and central gear 12, bearing 11 is housed.
Equilibrium block 1 is installed on input shaft 2, makes retarder keep dynamic balancing.Input shaft 2 eccentric segments drive planetary plate 27 and link press span 7 to move, and steel ball 28 is installed in planetary plate 27 cycloid groove and end cap 6 cycloid groove, and planetary plate 27 is subject to the reaction generation rotation of steel ball 28.Link press span 7 does planetary motion under the effect of input shaft 2 and planetary plate 27, link press span 7 is connected with contiguous block 24 by bearing pin 10, bearing pin 10 is provided with needle bearing 25 with pin-and-hole place, contiguous block 24 is connected with shock wave device II 23 by bearing pin, two bearing pin geometric center lines vertically meet at a bit, and this point is in input shaft 2 eccentric segment geometrical centers.The spinning motion of planetary plate 27 passes to combination shock wave device, and combination shock wave device rotates; The revolution motion of link press span 7 passes to combination shock wave device, and combination shock wave device swings in rotating.
Shock wave device I 14 by screw 15 composition combination shock wave devices, is installed steel ball group 13 on combination shock wave device with shock wave device II 23, and steel ball group 13 numbers are Z5, and steel ball group 13 engages with central gear 12 dovetail grooves, and central gear 12 groove numbers are Z 4=Z 5-1.It is on R circle that the each steel ball centre of sphere of steel ball group 13 is distributed on Radius, and in retarder operation, this center of circle is not moved, and output shaft 18 gyration center lines pass through the center of circle.Input shaft 2 and output shaft 18 gyration center line conllinear.
The motion of combination shock wave device is by rotation and synthetic around the stack of two kinds of motions of steel ball 13 component cloth circle centre swingings.The spinning motion of combination shock wave device passes to central gear 12 by steel ball 13; Simultaneously, the swing of combination shock wave device acts on central gear 12 by steel ball group 13, make central gear 12 produce a rotating speed with respect to group and shock wave device rotation switched in opposite, central gear 12 produces a constant rotational speed under the coupling of two kinds of rotating speeds, output shaft 18 these constant rotational speed of output.
Body 22 inner rings are processed with 4 keyways, and spider 26 external cylindrical surfaces are processed with 4 keys, and spider 26 is arranged in body 22, the rotation of body 22 keyway restriction spiders 26.On end cap 6, be processed with Z1 epicycloid groove, on planetary plate 27, be processed with Z 3=Z 1+ 2 hypocycloid grooves, install Z 2=Z 1+ 1 steel ball 28, input shaft 2 rotating speeds are n 1.Input shaft 2 eccentric segments drive planetary plate 27 and link press span 7 to move, and planetary plate 27 is subject to the reaction generation rotation of steel ball 28, and rotating speed is n 2=2n 1/ Z 3.Link press span 7 does planetary motion under the effect of input shaft 2 and planetary plate 27, and the planetary motion of link press span 7 drives the motion of combination shock wave devices by contiguous block 24.
Combination shock wave device is around the steel ball group 13 round heart precession that distributes.The rotation of combination shock wave device passes to central gear 12 by steel ball group 13; Meanwhile, the swing of combination shock wave device acts on central gear 12 by steel ball group 13, makes central gear 12 produce a rotating speed with respect to combination shock wave device rotation switched in opposite, and central gear 12 produces constant rotational speed under the compound action of two kinds of rotating speeds, and rotating speed is n 3=n 1(2/Z 3-1/Z 4), output shaft 18 these constant rotational speed of output.
On body 22, be processed with 4 tapped holes, mounting screw 8 in tapped hole.After cycloidal engagement pair wearing and tearing, rotary screw 8 promotes steel ball 9 and moves along the sphenoid surface of spider 26, and steel ball 9 promotes spider 26 axial motions, keeps steel ball 28 to contact with cycloid groove.After the wearing and tearing of output terminal engagement pair, rotary screw 15, dwindles the spacing between shock wave device I 14 and shock wave device II 23, keeps steel ball group 13 to contact with dovetail groove.Between engagement pair, keep in touch, realize precision drive.

Claims (4)

1. a precession steel ball reducer in parallel, comprise by bearing (4) and support and pass through the input shaft (2) that end cap (6) and body (22) are connected, and be installed on the output shaft (18) that is supported by bearing (20) in small end cover (17) and pass through large end cap (16) and be fixed on body (22), it is characterized in that, described input shaft (2) eccentric segment is connected with link press span (7) by bearing (5), described link press span (7) is connected with planetary plate (27) and is connected with described contiguous block (24) by bearing pin, described contiguous block (24) is connected with described shock wave device II (23) by bearing pin, two bearing pin geometric center lines vertically meet at a bit, in described planetary plate (27) both ends of the surface, be processed with identical cycloid groove, left side connects by steel ball (28) with the described end cap (6) that is processed with corresponding cycloid groove, right side connects by steel ball (28) with the spider (26) that is processed with corresponding cycloid groove, described spider (26) is connected with described body (22), described shock wave device II (23) is by screw (15) and shock wave device I(14) connect and compose combination shock wave device, described combination shock wave device contacts with the dovetail groove on central gear (12) by the steel ball group (13) distributing thereon, described steel ball group (13) centre of sphere distributes the round heart on described output shaft (18) gyration center line, described central gear (12) is connected with described body (22) and is passed through screw (21) by bearing (11) and is connected with described output shaft (18).
2. one according to claim 1 precession steel ball reducer in parallel, is characterized in that, described link press span (7) and described planetary plate (27) are by spline joint, and described link press span (7) is processed with external splines, and described planetary plate (27) is processed with internal spline.
3. according to the precession steel ball reducer in parallel of the one described in the claims any one, it is characterized in that, described central gear (12) internal surface is sphere, and described steel ball group (13) centre of sphere distributes the round heart simultaneously for the centre of sphere, and described steel ball group (13) is distributed on sphere.
4. according to the precession steel ball reducer in parallel of the one described in the claims any one, it is characterized in that, described spider (26) is provided with sphenoid surface and described body (22) forms wedge shape space, in described wedge shape space, placing steel ball (9) contacts with described body (22) with described spider (26), described body is processed with tapped hole on (22), mounting screw (8) in described tapped hole, rotate described screw (8) and promote described steel ball (9) motion, described steel ball (9) promotes described spider (26) axial motion, keep described steel ball (28) to contact with described cycloid groove.
CN201410054261.1A 2014-02-18 2014-02-18 Precession steel ball reducer in parallel Expired - Fee Related CN103867671B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105782394A (en) * 2016-04-12 2016-07-20 燕山大学 Rectangular axis steel ball speed reducer
CN104617739B (en) * 2014-12-23 2016-10-05 燕山大学 Dynamo-electric integrated motor
TWI593900B (en) * 2016-05-12 2017-08-01 Rui-Long Cao Slow down mechanism

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4060010A (en) * 1974-09-26 1977-11-29 Bjorn Harald Heden Reduction gear, especially for camera lens motors
CN2114059U (en) * 1992-02-02 1992-08-26 浙江省平阳机器厂 Concertina cycloidal speed reducer
CN1065128A (en) * 1992-02-02 1992-10-07 浙江省平阳机器厂 Snake belly type cycloidal retarding machine
CN101101044A (en) * 2006-07-09 2008-01-09 杨光笋 Monotype cycloid reducer with retainer

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4060010A (en) * 1974-09-26 1977-11-29 Bjorn Harald Heden Reduction gear, especially for camera lens motors
CN2114059U (en) * 1992-02-02 1992-08-26 浙江省平阳机器厂 Concertina cycloidal speed reducer
CN1065128A (en) * 1992-02-02 1992-10-07 浙江省平阳机器厂 Snake belly type cycloidal retarding machine
CN101101044A (en) * 2006-07-09 2008-01-09 杨光笋 Monotype cycloid reducer with retainer

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
安子军，曲继方: "无隙钢球减速器研究", 《机械制造》 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104617739B (en) * 2014-12-23 2016-10-05 燕山大学 Dynamo-electric integrated motor
CN105782394A (en) * 2016-04-12 2016-07-20 燕山大学 Rectangular axis steel ball speed reducer
CN105782394B (en) * 2016-04-12 2018-02-09 燕山大学 Rectangular axis steel ball reducer
TWI593900B (en) * 2016-05-12 2017-08-01 Rui-Long Cao Slow down mechanism

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