CN105065584A - Hypocycloid speed reducer - Google Patents
Hypocycloid speed reducer Download PDFInfo
- Publication number
- CN105065584A CN105065584A CN201510509901.8A CN201510509901A CN105065584A CN 105065584 A CN105065584 A CN 105065584A CN 201510509901 A CN201510509901 A CN 201510509901A CN 105065584 A CN105065584 A CN 105065584A
- Authority
- CN
- China
- Prior art keywords
- hypocycloid
- pinwheel
- shell
- eccentric shaft
- speed reducer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- 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
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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
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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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
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- 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
- F16H2001/327—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 with orbital gear sets comprising an internally toothed ring gear
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention relates to the technical field of speed reducers for industrial robots, in particular to a hypocycloid speed reducer. The hypocycloid speed reducer is novel in structure and large in transmission speed ratio. The hypocycloid speed reducer comprises a hypocycloid shell, an eccentric shaft, pin wheels, an output flange and an input flange. Teeth on the inner ring of the hypocycloid shell are tangential to teeth on the outer rings of the pin wheels. The teeth of the hypocycloid shell and the teeth of the pin wheels are arranged at the same tooth pitch, and the number of the teeth of the hypocycloid shell is one larger than that of the teeth of the pin wheels. The pin wheels are connected with the eccentric shaft through needle bearings. The eccentric shaft is in gear connection with a primary driven gear through an input shaft. The two ends of the eccentric shaft are assembled in the input flange and the output flange through angular contact ball bearings respectively. The input flange and the output flange are connected through adjusting screws, locating pins and connecting screws and connected with the hypocycloid shell through a main bearing I and a main bearing II respectively. The hypocycloid speed reducer is mainly applied to the industrial robots.
Description
Technical field
The present invention relates to industrial robot retarder technical field, more specifically, relate to a kind of inner swing line speed reducer.
Background technique
Traditional industrial robot retarder is RV retarder, and its internal structure has pin wheel housing, cycloid wheel and standard needle roller etc., and wherein pin wheel housing inner ring processes multiple pin-and-hole, during assembling insert needle roller, ensure cycloid wheel and needle roller tangent.The machining error of this structure due to multiple pin-and-hole and the foozle of needle roller, increase the assembly error of retarder virtually, reduces the precision of retarder.Therefore, be necessary to make improvements.
Summary of the invention
In order to overcome deficiency existing in prior art, provide the inner swing line speed reducer that a kind of novel structure, transmission speed ratio are large.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is:
Inner swing line speed reducer, comprise hypocycloid shell, eccentric shaft, pinwheel, output flange and input flange, each tooth of described hypocycloid shell inner ring is all tangent with the tooth of pinwheel outer ring, the tooth of described hypocycloid shell and pinwheel arranges in equal teeth respectively, and a hypocycloid shell tooth more than pinwheel, described pinwheel is connected with eccentric shaft by needle bearing, described eccentric shaft is by input shaft and one-level driven gear gear couplings, described eccentric shaft two ends are assemblied in input flange and output flange by angular contact ball bearing respectively, adjusting screw is passed through between described input flange and output flange, locating stud and attachment screw connect, described input flange and output flange connect with hypocycloid shell respectively by main bearing I and main bearing II.
The inner ring processing hypocycloid profile of tooth of described hypocycloid shell, the outer ring machined needles tooth profile of tooth of described pinwheel.
Described pinwheel has two, is respectively pinwheel I and pinwheel II, and described pinwheel I is identical with pinwheel II external tooth form, parallel placement, and internal bearings hole is symmetric.
Described eccentric shaft has three.
Described adjusting screw, locating stud and attachment screw have three respectively.
The beneficial effect that compared with prior art the present invention has is:
The present invention is by the transmission of 3 eccentric shaft band plane gears, more stable than two shaft drive; The present invention replaces pin wheel housing by hypocycloid shell, avoids the complicated technology of pin hole processing, reduces driving error; The present invention's 3 pairs of screws achieve the gap adjustment of main bearing, and structure is simple, reliable; The present invention's hypocycloid shell replaces pin wheel housing and pin-and-hole, replaces cycloid wheel, can effectively improve retarder precision with pinwheel.
Accompanying drawing explanation
Below by accompanying drawing, the specific embodiment of the present invention is described in further detail.
Fig. 1 is the plan view of retarder of the present invention;
Fig. 2 is the sectional view of A-A in Fig. 1;
Fig. 3 is the rear view of retarder of the present invention;
Fig. 4 is hypocycloid shell of the present invention and the tangent schematic diagram of pinwheel.
In figure: 1 be input shaft, 2 be one-level driven gear, 3 be hypocycloid shell, 4 be eccentric shaft, 6 be needle bearing, 8 be angular contact ball bearing, 9 be output flange, 11 be input flange, 12 be adjusting screw, 14 be locating stud, 15 be attachment screw for pinwheel II, 13 for pinwheel I, 10 for main bearing II, 7 for main bearing I, 5.
Embodiment
The invention will be further described by reference to the accompanying drawings for embodiment below.
As Figure 1-4, inner swing line speed reducer, comprise hypocycloid shell 3, pinwheel, eccentric shaft 5, gear and the part such as input flange 11, output flange 10, this structure retarder divides double reduction transmission, the first order is Involutes Gears Transmission, slows down by fixing gear ratio; The second level is that differential gear slows down, and one-level driven gear 2 is connected with eccentric shaft 5, as the input slowed down in the second level, eccentric shaft 5 has needle bearing 7 install pinwheel, and in addition, hypocycloid shell 3 and pinwheel arrange with equal teeth, hypocycloid shell 3 tooth more than pinwheel.Now, if eccentric shaft 5 rotates 1 week, then pinwheel will rotate a tooth along the direction contrary with eccentric shaft 5, and this rotation is passed to output flange 10.
Cycloidal tooth profile is processed, described pinwheel Excircle machining pin tooth profile of tooth, both equal teeth arrangements, and hypocycloid shell 3 profile of tooth and the tangent assembling of pinwheel profile of tooth inside described hypocycloid shell 3.
Described eccentric shaft 5 totally three, be evenly distributed on input output flange, eccentric shaft 5 eccentric part has needle bearing 7 to coordinate with three bearing holes of pinwheel, and eccentric shaft 5 two ends have angular contact ball bearing 8 to be assemblied in input output flange respectively, play a supportive role to eccentric shaft 5.
There are 3 straight pin location between described input flange 11 and output flange 10, have 3 screws to connect, have 3 screws to play regulatory role.
Described input flange 11, between output flange 10 and hypocycloid shell 3, main bearing is housed, pivot flange rotates.
Claims (5)
1. inner swing line speed reducer, it is characterized in that: comprise hypocycloid shell (3), eccentric shaft (5), pinwheel, output flange (10) and input flange (11), each tooth of described hypocycloid shell (3) inner ring is all tangent with the tooth of pinwheel outer ring, described hypocycloid shell (3) arranges in equal teeth respectively with the tooth of pinwheel, and hypocycloid shell (3) tooth more than pinwheel, described pinwheel is connected with eccentric shaft (5) by needle bearing (7), described eccentric shaft (5) is by input shaft (1) and one-level driven gear (2) gear couplings, described eccentric shaft (5) two ends are assemblied in input flange (11) and output flange (10) by angular contact ball bearing (8) respectively, by adjusting screw (13) between described input flange (11) and output flange (10), locating stud (14) and attachment screw (15) connect, described input flange (11) and output flange (10) connect with hypocycloid shell (3) respectively by main bearing I (4) and main bearing II (6).
2. a kind of inner swing line speed reducer according to claim 1, is characterized in that: the inner ring processing hypocycloid profile of tooth of described hypocycloid shell (3), the outer ring machined needles tooth profile of tooth of described pinwheel.
3. a kind of inner swing line speed reducer according to claim 1, it is characterized in that: described pinwheel has two, be respectively pinwheel I (9) and pinwheel II (12), described pinwheel I (9) is identical with pinwheel II (12) external tooth form, parallel placement, and internal bearings hole is symmetric.
4. a kind of inner swing line speed reducer according to claim 1, is characterized in that: described eccentric shaft (5) has three.
5. a kind of inner swing line speed reducer according to claim 1, is characterized in that: described adjusting screw (13), locating stud (14) and attachment screw (15) have three respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510509901.8A CN105065584A (en) | 2015-08-19 | 2015-08-19 | Hypocycloid speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510509901.8A CN105065584A (en) | 2015-08-19 | 2015-08-19 | Hypocycloid speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105065584A true CN105065584A (en) | 2015-11-18 |
Family
ID=54495037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510509901.8A Pending CN105065584A (en) | 2015-08-19 | 2015-08-19 | Hypocycloid speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105065584A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107165950A (en) * | 2017-06-29 | 2017-09-15 | 英瑞克自动化有限公司 | Profiled holes structure flanges disk |
| CN108019470A (en) * | 2017-12-26 | 2018-05-11 | 深圳先进技术研究院 | Combined type cycloid planetary speed reducer |
| CN110748610A (en) * | 2019-10-22 | 2020-02-04 | 温州市日康机械科技厂 | Bearing type cycloidal pin gear speed reducing mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101893063A (en) * | 2010-07-16 | 2010-11-24 | 重庆大学 | Planetary speed reducer with small tooth number difference |
| CN202833880U (en) * | 2012-09-20 | 2013-03-27 | 广州数控设备有限公司 | Reduction gear of hypocycloid planetary pin wheel |
| JP2013170669A (en) * | 2012-02-22 | 2013-09-02 | Sumitomo Heavy Ind Ltd | Planetary reduction gear |
| WO2014030292A1 (en) * | 2012-08-24 | 2014-02-27 | ナブテスコ株式会社 | Eccentrically rocking-type gear device |
| CN204900698U (en) * | 2015-08-19 | 2015-12-23 | 英瑞克自动化有限公司 | Interior cycloid reducer |
-
2015
- 2015-08-19 CN CN201510509901.8A patent/CN105065584A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101893063A (en) * | 2010-07-16 | 2010-11-24 | 重庆大学 | Planetary speed reducer with small tooth number difference |
| JP2013170669A (en) * | 2012-02-22 | 2013-09-02 | Sumitomo Heavy Ind Ltd | Planetary reduction gear |
| WO2014030292A1 (en) * | 2012-08-24 | 2014-02-27 | ナブテスコ株式会社 | Eccentrically rocking-type gear device |
| CN202833880U (en) * | 2012-09-20 | 2013-03-27 | 广州数控设备有限公司 | Reduction gear of hypocycloid planetary pin wheel |
| CN204900698U (en) * | 2015-08-19 | 2015-12-23 | 英瑞克自动化有限公司 | Interior cycloid reducer |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107165950A (en) * | 2017-06-29 | 2017-09-15 | 英瑞克自动化有限公司 | Profiled holes structure flanges disk |
| CN108019470A (en) * | 2017-12-26 | 2018-05-11 | 深圳先进技术研究院 | Combined type cycloid planetary speed reducer |
| CN110748610A (en) * | 2019-10-22 | 2020-02-04 | 温州市日康机械科技厂 | Bearing type cycloidal pin gear speed reducing mechanism |
| CN110748610B (en) * | 2019-10-22 | 2023-08-11 | 温州市日康机械科技厂 | Bearing type cycloidal pin gear speed reducing mechanism |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151118 |