CN115435074A - RV speed reducer with self-clearance-eliminating structure - Google Patents

RV speed reducer with self-clearance-eliminating structure Download PDF

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Publication number
CN115435074A
CN115435074A CN202211251791.6A CN202211251791A CN115435074A CN 115435074 A CN115435074 A CN 115435074A CN 202211251791 A CN202211251791 A CN 202211251791A CN 115435074 A CN115435074 A CN 115435074A
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CN
China
Prior art keywords
backlash
cycloid
input
gear
semi
Prior art date
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Pending
Application number
CN202211251791.6A
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Chinese (zh)
Inventor
顾京君
纪仕飞
林三宝
余淼
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NANTONG ZHENKANG MACHINERY CO Ltd
Nantong Zhenkang Welding Electromachinery Co ltd
Original Assignee
NANTONG ZHENKANG MACHINERY CO Ltd
Nantong Zhenkang Welding Electromachinery Co ltd
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Application filed by NANTONG ZHENKANG MACHINERY CO Ltd, Nantong Zhenkang Welding Electromachinery Co ltd filed Critical NANTONG ZHENKANG MACHINERY CO Ltd
Priority to CN202211251791.6A priority Critical patent/CN115435074A/en
Publication of CN115435074A publication Critical patent/CN115435074A/en
Pending legal-status Critical Current

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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
    • 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
    • F16H1/2863—Arrangements for adjusting or for taking-up backlash
    • 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
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • 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
    • 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
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • F16H2057/126—Self-adjusting during operation, e.g. by a spring
    • F16H2057/127—Self-adjusting during operation, e.g. by a spring using springs

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention provides a self-gap-eliminating structure RV speed reducer, which relates to the technical field of speed reducers and comprises a pin gear shell, an output shaft, an output end cover, an input shaft and an eccentric shaft, wherein cycloidal gears are respectively arranged on cams of the eccentric shaft; each cycloidal gear comprises a first cycloidal line and a second cycloidal line respectively, a cycloidal elastic anti-backlash structure for driving the first cycloidal line and the second cycloidal line to circumferentially rotate and dislocate is arranged between the corresponding first cycloidal line and the corresponding second cycloidal line, and an input elastic anti-backlash structure for driving the input gear to circumferentially rotate and dislocate is arranged between the input gear and the end part of the input shaft. The invention can eliminate the tooth clearance between the cycloid wheel and the roller pin and between the input gear and the planet wheel, which is increased due to abrasion, so that the speed reducer can still keep high precision and high rigidity after certain abrasion occurs.

Description

RV speed reducer with self-clearance-eliminating structure
Technical Field
The invention relates to the technical field of speed reducers, in particular to a self-gap-eliminating RV speed reducer.
Background
The inside of the speed reducer is provided with a plurality of friction pairs, such as friction between a bearing rolling body and an inner ring and friction between inner teeth of a pin gear shell and outer teeth of a cycloid wheel during meshing transmission, and the like, and after the speed reducer operates for a long time, even if the speed reducer is fully lubricated, certain abrasion between each part can not be avoided. When the abrasion value reaches a certain amount, the backlash of the speed reducer is increased, particularly the tooth backlash of an RV speed reducer used in a robot joint is increased, if the backlash is increased, the original point of the robot is drifted, and the track precision of the robot is reduced.
Disclosure of Invention
The invention aims to provide a self-gap-eliminating RV speed reducer which can eliminate tooth gaps enlarged after the speed reducer is subjected to certain abrasion after long-time operation, so that the speed reducer can still keep high precision and high rigidity after certain abrasion.
The technical purpose of the invention is realized by the following technical scheme:
a RV reducer with a self-gap-eliminating structure comprises a needle gear shell, an output shaft, an output end cover, an input shaft and at least two eccentric shafts arranged in a circumferential array mode, wherein cycloidal gears are arranged on two cams of each eccentric shaft respectively, a plurality of semicircular grooves are formed in the circumferential array mode on the inner wall of the needle gear shell, roller pins matched with the semicircular grooves are assembled in the semicircular grooves, and the outer walls of the cycloidal gears are meshed with straight teeth of the roller pins; the eccentric shaft is provided with a planet gear at one end close to the output shaft, the end part of the input shaft is provided with an input gear meshed with the straight teeth of the planet gear, and the outer wall of the end part of the input shaft is provided with an input shaft gear which is integrally formed with the input shaft and meshed with the straight teeth of the planet gear; the two cycloidal gears are respectively arranged on a cam of the eccentric shaft through a needle roller and a retainer bearing, each cycloidal gear respectively comprises a first cycloidal and a second cycloidal, a cycloidal elastic anti-backlash structure is arranged between the first cycloidal and the second cycloidal, and the cycloidal elastic anti-backlash structure drives the first cycloidal and the second cycloidal to rotate and dislocate along the circumferential direction of the first cycloidal and the second cycloidal; an input elastic anti-backlash structure is arranged between the input gear and the end part of the input shaft, and the input elastic anti-backlash structure drives the input gear to rotate and dislocate relative to the end part of the input shaft along the circumferential direction of the input gear.
By adopting the technical scheme, the two cycloidal gears on each eccentric shaft are meshed with the needle roller through straight teeth, and gaps can be generated between the cycloidal gears and the eccentric shaft as well as between the needle roller and the retainer. In a similar way, input gear and input shaft gear are equivalent to become split type with a whole of original meshing with the planet wheel, input gear and input shaft gear all mesh with the planet wheel during the normality, when the input gear, take place wearing and tearing between input shaft gear and the planet wheel and produce behind the wearing and tearing clearance, input elasticity anti-backlash structure drive input gear compares the input shaft along its circumference rotation dislocation a certain amount, make input gear be close to the planet wheel rather than closely meshing, eliminate the wearing and tearing clearance between input gear and the planet wheel, and at the planet wheel rotation in-process, eliminate the reverse clearance between planet wheel and the input shaft gear.
The invention eliminates the abrasion gap between the input gear at the input side and the planet wheel by setting the input elastic anti-backlash structure, eliminates the abrasion gap between the cycloid wheel and the roller pin by setting the cycloid elastic anti-backlash structure, realizes the self-backlash elimination of the abrasion gap of the speed reducer after long-time operation, improves the meshing precision between the cycloid wheel and the roller pin as well as between the input gear and the planet wheel, prolongs the service life of the speed reducer, reduces the meshing error caused by processing assembly and the like, improves the transmission precision, improves the meshing condition, and greatly reduces the vibration of the speed reducer during operation, so the invention has the characteristics of self-backlash elimination, long service life, high precision, low vibration and the like.
Furthermore, the cycloid elastic anti-backlash structure comprises a plurality of first anti-backlash semi-arc grooves which are arranged on one side of the first cycloid close to the second cycloid in a circumferential array manner, and a plurality of second anti-backlash semi-arc grooves corresponding to the first anti-backlash semi-arc grooves are arranged on one side of the second cycloid close to the first cycloid in a circumferential array manner; the end parts of the first anti-backlash semi-arc groove and the second anti-backlash semi-arc groove which correspond to each other are arranged in a staggered mode, the coincident part of the first anti-backlash semi-arc groove and the second anti-backlash semi-arc groove forms a round hole, and a cycloid anti-backlash spring is arranged in the round hole, one end of the cycloid anti-backlash spring is abutted to the end part of the first anti-backlash semi-arc groove, and the other end of the cycloid anti-backlash spring is abutted to the end part of the second anti-backlash semi-arc groove.
By adopting the technical scheme, the first anti-backlash semi-circular groove and the second anti-backlash semi-circular groove are arranged in a staggered manner, the projection parts on the binding surfaces of the first anti-backlash semi-circular groove and the second anti-backlash semi-circular groove are intersected, the intersected parts are combined to form a circular hole, the cycloid anti-backlash spring is arranged in the circular hole, namely, the cycloid anti-backlash spring is not only positioned in the first anti-backlash semi-circular arc groove but also positioned in the second anti-backlash semi-circular arc groove, and two ends of the cycloid anti-backlash spring are respectively abutted against two ends of the projection intersected parts of the first anti-backlash semi-circular arc groove and the second anti-backlash semi-circular arc groove, so that two ends of the cycloid anti-backlash spring respectively apply force to the first cycloid and the second cycloid through the end parts of the first anti-backlash semi-circular arc groove and the second anti-backlash semi-arc groove, and the first cycloid and the second cycloid can relatively rotate along the circumferential direction. When the cycloidal gear and the eccentric shaft and the needle roller and the retainer bearing are abraded to generate gaps, the first cycloidal gear and the second cycloidal gear can rotate and stagger relatively, the gap between the cycloidal gear and the eccentric shaft is eliminated, the eccentric shaft is clamped, and the first cycloidal gear and the second cycloidal gear are respectively provided with one side which deviates outwards and is meshed with the needle roller, so that the abrasion gap between the cycloidal gear and the needle roller is eliminated, and the meshing precision between the cycloidal gear and the needle roller is ensured.
Furthermore, a plurality of eccentric shaft holes respectively corresponding to the eccentric shafts are arranged on the first cycloid and the second cycloid in a circumferential array, and the number and the positions of the first anti-backlash semi-circular arc grooves and the second anti-backlash semi-circular arc grooves correspond to the eccentric shaft holes one by one.
By adopting the technical scheme, the number and the positions of the first anti-backlash semi-circular arc grooves and the second anti-backlash semi-circular arc grooves correspond to the eccentric shaft holes one by one, so that the cycloid elastic anti-backlash structure can uniformly drive the first cycloid and the second cycloid to rotate and dislocate, the abrasion gaps among the cycloid wheel, the eccentric shafts and the plurality of roller pins are accurately eliminated, the elimination effect of the abrasion gaps is ensured, and the cycloid elastic anti-backlash mechanism is simple in structure and obvious in effect.
Further, the cycloid anti-backlash spring is pre-compressed by the first anti-backlash semi-circular arc groove and the second anti-backlash semi-circular arc groove to provide relative rotating force for the first cycloid and the second cycloid, and when the cycloid wheel, the eccentric shaft, the roller pin and the bearing of the retainer are abraded, the cycloid anti-backlash spring enables the first cycloid and the second cycloid to be rotationally staggered, so that abrasion gaps among the cycloid wheel, the roller pin and the eccentric shaft are eliminated.
By adopting the technical scheme, the cycloid anti-backlash spring is arranged in the pair of the first anti-backlash semi-circular arc groove and the second anti-backlash semi-circular arc groove and is in a certain compression state, so that after abrasion gaps are generated between the cycloid wheel, the eccentric shaft, the roller pin and the retainer bearing, the first cycloid wheel and the second cycloid wheel are driven to rotate relatively and stagger by a certain amount through the elasticity of the cycloid anti-backlash spring, the abrasion gaps between the cycloid wheel, the eccentric shaft and the roller pin are eliminated, the meshing precision of the cycloid wheel and the roller pin is ensured, and the speed reducer can still keep high precision and high rigidity after certain abrasion occurs.
Furthermore, the input elastic anti-backlash structure comprises a plurality of third anti-backlash semi-arc grooves which are arranged on one side of the input gear close to the input shaft in a circumferential array, and a plurality of fourth anti-backlash semi-arc grooves corresponding to the third anti-backlash semi-arc grooves are arranged on the circumferential array at the end part of the input shaft; the third anti-backlash semi-arc groove and the fourth anti-backlash semi-arc groove end which correspond to each other are arranged in a staggered mode, the overlapped part of the third anti-backlash semi-arc groove and the fourth anti-backlash semi-arc groove forms a round hole, an input anti-backlash spring is arranged in the round hole, one end of the input anti-backlash spring is abutted to the end of the third anti-backlash semi-arc groove, and the other end of the input anti-backlash spring is abutted to the end of the fourth anti-backlash semi-arc groove.
Through adopting above-mentioned technical scheme, third crack semi-circular arc groove and fourth crack semi-circular arc groove dislocation set, both intersect and form the round hole on the plane that input shaft and input gear laminated each other, the input crack elimination spring sets up in the round hole, promptly the input crack elimination spring both lies in the third crack semi-circular arc inslot and lies in the fourth crack semi-circular arc inslot, its both ends respectively with the third crack elimination semi-circular arc groove with the crossing both ends butt of fourth crack elimination semi-circular arc groove projection, input crack elimination spring both ends exert force to input gear and input shaft through third crack elimination semi-circular arc groove and fourth crack elimination semi-circular arc groove tip respectively like this, make input gear along its circumference rotation relatively the input shaft. After the input gear, the input shaft gear and the planet gear are abraded, the input gear can rotate relative to the input shaft and stagger for a certain amount, and gaps between the input gear and the planet gear are eliminated, so that the input gear is tightly meshed with the planet gear, and the meshing precision between the input gear and the planet gear is ensured.
Furthermore, the input anti-backlash spring is pre-compressed by a third anti-backlash semi-circular arc groove and a fourth anti-backlash semi-circular arc groove to provide a relative rotation force for the input gear and the input shaft, when the input gear, the input shaft gear and the planet gear are abraded, the input anti-backlash spring enables the input gear to rotate and dislocate relative to the input shaft, the abrasion gap between the input gear and the planet gear is eliminated, and in the rotation process of the planet gear, the reverse gap between the planet gear and the input shaft gear is eliminated.
By adopting the technical scheme, the input anti-backlash spring is arranged in the pair of third anti-backlash semi-circular arc grooves and the fourth anti-backlash semi-circular arc grooves and is in a certain compression state, so that after abrasion gaps are generated between the input gear and the input shaft gear and the planet gear, the input gear is driven to rotate and stagger for a certain amount relative to the input shaft through the elastic force of the input anti-backlash spring, the abrasion gaps between the input gear and the planet gear are eliminated, the meshing precision between the input gear and the planet gear is ensured, in the rotation process of the planet gear, the reverse gaps between the planet gear and the input shaft gear are eliminated, and the speed reducer can still keep high precision and high rigidity after certain abrasion occurs.
Furthermore, one side of the input gear, which is far away from the input shaft, is provided with a knockout cap, and a rotating gap is arranged between the knockout cap and the input gear.
Through adopting above-mentioned technical scheme, utilize and abandon the cap and carry out spacingly to input gear, avoid input gear to break away from the input shaft, guarantee the stability and the elasticity of input anti-backlash spring installation and disappear clearance working effect. A rotating gap is formed between the abandoning cap and the input gear, so that the abandoning cap is prevented from locking the input gear to influence the rotation of the input gear, and the structure is simple and the effect is obvious.
Further, mounting bearings are arranged between the outer circle of the output shaft and the outer circle of the output end cover and the inner circle of the pin gear shell, and the mounting bearings are one of tapered roller bearings, deep groove ball bearings and angular contact ball bearings; and a framework sealing ring is arranged between the output shaft and the needle gear shell, and the framework sealing ring is positioned on one side, away from each other, of the two mounting bearings.
By adopting the technical scheme, the output shaft and the output end cover are arranged on the pin gear shell through the mounting bearing, and the assembly consisting of the output shaft and the output end cover can do relative rotation motion with the pin gear shell, so that the mounting and running stability of the output shaft and the output end cover is ensured. And the skeleton sealing washer is installed between output shaft and the pin gear shell, realizes sealed between the two, improves the sealing performance of speed reducer.
Furthermore, the two ends of the eccentric shaft are respectively positioned and rotatably installed on the output shaft and the output end cover through first tapered roller bearings, a cushion block is arranged on one side, close to the cam on the eccentric shaft, of each first tapered roller bearing, and a first axial retaining ring is arranged on one side, far away from each other, of each first tapered roller bearing.
Through adopting above-mentioned technical scheme, utilize two first tapered roller bearings to realize the installation between eccentric shaft and output shaft and the output end cover, guarantee the stability of eccentric shaft work. Wherein, set up the wearing and tearing that the cushion reduced between first tapered roller bearing and the eccentric shaft cam, avoid influencing the normal work of cycloid wheel, improve life. In addition, the first axial retainer ring axially limits the eccentric shaft, so that the eccentric shaft is prevented from driving the cycloid wheel to move along the axial direction of the cycloid wheel, and the elastic anti-backlash effect of the cycloid elastic anti-backlash structure on the cycloid wheel and the roller pin is prevented from being influenced.
Furthermore, the planet wheel is arranged at one end, close to the output shaft, of the eccentric shaft through a spline, and second axial retainer rings are arranged on two sides of the planet wheel.
Through adopting above-mentioned technical scheme, the second axial retaining ring of planet wheel both sides carries out the axial spacingly to the planet wheel, avoids the planet wheel to follow cycloid wheel axial displacement, influences the elasticity that input elasticity disappears the clearance structure and disappears the clearance effect to between planet wheel and the input gear, and its simple structure and effect are obvious.
In conclusion, the invention has the following beneficial effects:
1. according to the invention, the cycloid wheel is arranged to be a split type comprising a first cycloid and a second cycloid, and a cycloid elastic anti-backlash structure is arranged between the first cycloid and the second cycloid, so that abrasion gaps between the cycloid wheel and an eccentric shaft and between the needle roller and the retainer are eliminated, and the tight meshing between the cycloid wheel and the needle roller is ensured; an input shaft gear is arranged on the outer wall of the input shaft, an input gear is arranged at the end part of the input shaft, and an input elastic anti-backlash structure is arranged between the input shaft and the input gear, so that the abrasion backlash between the input gear and the planet gear is eliminated, and the tight meshing between the input gear and the planet gear is ensured; the cycloid elastic anti-backlash structure and the input elastic anti-backlash structure can eliminate the abrasion clearance of the speed reducer caused by long-time operation, so that the speed reducer can still keep high precision and high rigidity after certain abrasion;
2. the cycloidal elastic anti-backlash structure and the input elastic anti-backlash structure can eliminate the meshing clearance caused by abrasion, so that the service life of the speed reducer is prolonged;
3. the transmission precision of the speed reducer depends on the dynamic meshing condition of the gear to a great extent, and the dynamic meshing condition of the gear cannot reach a theoretical state due to various factors existing in the processing and assembling processes;
4. the great vibration of the motion state of the speed reducer is caused by inconsistent transmission state of the speed reducer, and the cycloid elastic anti-backlash structure and the input elastic anti-backlash structure improve the meshing state between the cycloid wheel and the roller pin and between the planet wheel and the input gear, so that the vibration of the speed reducer during the operation can be greatly reduced.
Drawings
FIG. 1 is a schematic overall structure diagram of a self-gap-eliminating RV reducer;
FIG. 2 is a longitudinal sectional view of a cycloid wheel in a self-backlash-eliminating RV reducer;
FIG. 3 is a schematic cross-sectional view of a cycloid wheel in a self-backlash-eliminating RV reducer;
FIG. 4 is a schematic structural diagram of a cycloid wheel in an RV reducer with a self-backlash elimination structure without a wear gap;
FIG. 5 is a schematic structural diagram of a cycloid wheel when a cycloid elastic anti-backlash structure works to eliminate a wear clearance in an RV speed reducer with an auto-anti-backlash structure;
FIG. 6 is a schematic structural diagram of an input shaft stage input gear in a self-backlash-eliminating RV reducer;
FIG. 7 is a schematic structural diagram of an input gear of a self-gap-eliminating RV reducer without a wear gap;
fig. 8 is a schematic structural diagram of an input gear and an input shaft when an elastic anti-backlash structure is input into an RV reducer with an automatic anti-backlash structure to work to eliminate a wear clearance.
In the figure, 1, a needle gear shell; 2. rolling needles; 3. an output shaft; 4. an output end cover; 5. mounting a bearing; 6. a framework sealing ring; 7. an input shaft; 8. an input gear; 9. an input shaft gear; 10. inputting an elastic anti-backlash structure; 11. a third anti-backlash semi-arc groove; 12. a fourth anti-backlash semi-arc groove; 13. inputting a clearance eliminating spring; 14. a cap is removed; 15. a rotational gap; 16. an eccentric shaft; 17. an eccentric shaft hole; 18. a first tapered roller bearing; 19. cushion blocks; 20. a first axial retainer ring; 21. a planet wheel; 22. a second axial retainer ring; 23. a needle roller and cage bearing; 24. a cycloid wheel; 25. a first cycloid curve; 26. a second cycloid curve; 27. a cycloid elastic anti-backlash structure; 28. a first anti-backlash semi-arc groove; 29. a second anti-backlash semi-arc groove; 30. a cycloidal anti-backlash spring.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A self-gap-eliminating RV reducer comprises a needle gear shell 1, an output shaft 3, an output end cover 4, an input shaft 7 and two or three (three in the embodiment) eccentric shafts 16 arranged in a circumferential array, wherein the output shaft 3 and the output end cover 4 are fixedly combined into a combined piece coaxial with the needle gear shell 1 through screws and threaded pins, and mounting bearings 5 are arranged between the outer circle of the output shaft 3, the outer circle of the output end cover 4 and the inner circle of the needle gear shell 1, so that the combined piece formed by the output shaft 3 and the output end cover 4 can rotate relative to the needle gear shell 1. The mounting bearing 5 is one of a tapered roller bearing, a deep groove ball bearing, and an angular ball bearing, and in the present embodiment, the mounting bearing 5 is a deep groove ball bearing. In addition, a skeleton sealing ring 6 is arranged between the output shaft 3 and the pin gear shell 1, and the skeleton sealing ring 6 is positioned on one side, away from the output end cover 4, of the shape bearing close to the skeleton sealing ring 6, so that sealing between the output shaft 3 and the pin gear shell 1 is realized.
As shown in fig. 1, both ends of each eccentric shaft 16 are respectively rotatably and fixedly mounted on the output shaft 3 and the output end cover 4 through first tapered roller bearings 18, so that the eccentric shafts 16 can rotate relative to the assembly of the output shaft 3 and the output end cover 4. A cushion block 19 is arranged on one side, close to the cam on the eccentric shaft 16, of the two first tapered roller bearings 18 on each eccentric shaft 16, and a first axial retainer ring 20 is arranged on one side, far away from each other, of the two first tapered roller bearings 18. The cushion block 19 is utilized to reduce the abrasion between the first tapered roller bearing 18 and the cam of the eccentric shaft 16, thereby avoiding influencing the normal work of the cycloid wheel 24 and prolonging the service life. Meanwhile, the eccentric shaft 16 is axially limited by matching with the first axial retainer ring 20, so that the eccentric shaft 16 is prevented from driving the cycloid wheel 24 to move along the axial direction of the cycloid wheel.
As shown in fig. 1, the two cams of the eccentric shaft 16 are respectively provided with a cycloid wheel 24, a plurality of eccentric shaft holes 17 matched with the cams on the eccentric shaft 16 are arranged on the two cycloid wheels 24 in a circumferential array, the plurality of eccentric shafts 16 are respectively installed in the corresponding eccentric shaft holes 17, a needle roller and retainer bearing 23 is arranged between the outer wall of the cam of the eccentric shaft 16 and the inner wall of the eccentric shaft hole 17 on the cycloid wheel 24, and the installation of the cycloid wheel 24 and the cams on the eccentric shaft 16 is realized through the needle roller and retainer bearing 23. The inner wall of the needle gear shell 1 is circumferentially arrayed with a plurality of semi-circular grooves, the semi-circular grooves are internally provided with roller pins 2 matched with the semi-circular grooves, and the outer teeth on the outer wall of the cycloidal gear 24 are meshed with the straight teeth of the roller pins 2.
As shown in fig. 1, after the reducer is used for a long time, abrasion inevitably occurs between the cycloidal gear 24 and the eccentric shaft 16 and between the needle rollers and the cage bearing 23, and the meshing between the external teeth of the cycloidal gear 24 and the needle rollers 2 is not tight enough due to gaps generated by the abrasion, which affects the meshing transmission between the cycloidal gear 24 and the needle rollers 2. In order to eliminate the meshing influence of the wear clearance on the cycloid gears 24 and the needle rollers 2, in this embodiment, as shown in fig. 2, each cycloid gear 24 is configured to be a split structure including a first cycloid 25 and a second cycloid 26, the first cycloid 25 and the second cycloid 26 are coaxially arranged, the sides of the first cycloid 25 and the second cycloid 26, which are close to each other, are attached to each other, a cycloid elastic anti-backlash structure 27 is arranged between the first cycloid 25 and the second cycloid 26, which are matched with each other, and the cycloid elastic anti-backlash structure 27 drives the first cycloid 25 and the second cycloid 26 to rotationally dislocate along the circumferential direction thereof.
As shown in fig. 2, fig. 3 and fig. 4, in the present embodiment, the cycloid elastic anti-backlash structure 27 includes a plurality of first anti-backlash semi-circular arc grooves 28 arranged on one side of the first cycloid 25 close to the second cycloid 26 in a circumferential array, a plurality of second anti-backlash semi-circular arc grooves 29 corresponding to the first anti-backlash semi-circular arc grooves 28 are arranged on one side of the second cycloid 26 close to the first cycloid 25 in a circumferential array, and the number and positions of the first anti-backlash semi-circular arc grooves 28 and the second anti-backlash semi-circular arc grooves 29 correspond to the number and positions of the eccentric shaft holes 17 on the cycloid wheel 24 in a one-to-one manner. The end parts of the first anti-backlash semi-arc groove 28 and the second anti-backlash semi-arc groove 29 which correspond to each other are arranged in a staggered mode, the projection parts of the first anti-backlash semi-arc groove 28 and the second anti-backlash semi-arc groove 29 which are matched with each other on the binding surface of the first anti-backlash semi-arc groove and the second anti-backlash semi-arc groove are intersected, and the intersected parts form circular holes which are coaxial with the intersected parts. A cycloidal anti-backlash spring 30 is arranged in a round hole formed by the first anti-backlash semi-circular arc groove 28 and the second anti-backlash semi-circular arc groove 29, one end of the cycloidal anti-backlash spring 30 is abutted against the end part of the first anti-backlash semi-circular arc groove 28, and the other end of the cycloidal anti-backlash spring is abutted against the end part of the second anti-backlash semi-circular arc groove 29.
As shown in fig. 4 and 5, the cycloid anti-backlash spring 30 is pre-compressed by the first anti-backlash semi-circular arc groove 28 and the second anti-backlash semi-circular arc groove 29, both ends of the cycloid anti-backlash spring 30 respectively apply force to the first cycloid 25 and the second cycloid 26 through the ends of the first anti-backlash semi-circular arc groove 28 and the second anti-backlash semi-circular arc groove 29, and the cycloid anti-backlash spring 30 provides force for the first cycloid 25 and the second cycloid 26 to rotate relatively. When the cycloidal gear 24 and the eccentric shaft 16 and the needle roller and the retainer bearing 23 are worn to generate gaps, the first cycloidal gear 25 and the second cycloidal gear 26 are staggered in a relative rotation mode under the action of the elastic force of the cycloidal backlash eliminating spring 30, the gap between the cycloidal gear 24 and the eccentric shaft 16 is eliminated, the eccentric shaft 16 is clamped tightly, one side of each of the first cycloidal gear 25 and the second cycloidal gear 26 is deflected outwards to be meshed with the needle roller 2, the wear gap between the cycloidal gear 24 and the needle roller 2 is eliminated, and the meshing precision between the cycloidal gear 24 and the needle roller 2 is guaranteed.
As shown in fig. 1 and 6, one end of the eccentric shaft 16 close to the output shaft 3 is splined with a planet wheel 21, and two sides of the planet wheel 21 are provided with second axial retainer rings 22 for axially retaining the planet wheel 21. An input gear 8 meshed with the straight teeth of the planet gears 21 is installed at the end part of the input shaft 7, and an input shaft gear 9 which is integrally formed with the input gear 8 and meshed with the straight teeth of the planet gears 21 is arranged on the outer wall of one end, close to the input gear 8, of the input shaft 7. An input elastic anti-backlash structure 10 is arranged between the input gear 8 and the end part of the input shaft 7, and the input elastic anti-backlash structure 10 drives the input gear 8 to be rotationally dislocated relative to the end part of the input shaft 7 along the circumferential direction of the input gear. Wherein, input gear 8 is kept away from one side of input shaft 7 and is equipped with and carries out the axial spacing and install the cap 14 of giving up on input shaft 7 to it, gives up and is equipped with rotation clearance 15 between cap 14 and the input gear 8, avoids giving up cap 14 and dies input gear 8 lock, influences the rotation of input gear 8 relative input shaft 7. The input shaft 7 is mounted on a motor (not shown) through a long pin, and the motor drives the input shaft 7 to drive the input gear 8 and the input shaft gear 9 to be meshed with the planet gear 21.
As shown in fig. 6 and 7, in the present embodiment, the input elastic anti-backlash structure 10 includes a plurality of third anti-backlash semi-circular arc grooves 11 arranged in a circumferential array on one side of the input gear 8 close to the input shaft 7, a plurality of fourth anti-backlash semi-circular arc grooves 12 corresponding to the third anti-backlash semi-circular arc grooves 11 are arranged in a circumferential array on an end portion of the input shaft 7, and the third anti-backlash semi-circular arc grooves 11 and the fourth anti-backlash semi-circular arc grooves 12 are matched in a one-to-one correspondence manner. The end parts of the third anti-backlash semi-circular arc groove 11 and the fourth anti-backlash semi-circular arc groove 12 which correspond to each other are arranged in a staggered mode, the projection parts of the third anti-backlash semi-circular arc groove and the fourth anti-backlash semi-circular arc groove are intersected on the plane where the input shaft 7 and the input gear 8 are attached to each other, and the intersected parts form circular holes which are coaxial with the intersected parts. An input anti-backlash spring 13 is arranged in a round hole formed by each group of the third anti-backlash semi-arc grooves 11 and the fourth anti-backlash semi-arc grooves 12, one end of the input anti-backlash spring 13 is abutted against the end part of the third anti-backlash semi-arc groove 11, and the other end of the input anti-backlash spring is abutted against the end part of the fourth anti-backlash semi-arc groove 12.
As shown in fig. 7 and 8, the input anti-backlash spring 13 is pre-compressed by the third anti-backlash semi-circular arc groove 11 and the fourth anti-backlash semi-circular arc groove 12, both ends of the input anti-backlash spring 13 respectively apply force to the input gear 8 and the input shaft 7 through the end portions of the third anti-backlash semi-circular arc groove 11 and the fourth anti-backlash semi-circular arc groove 12, and the input anti-backlash spring 13 provides force for the input gear 8 to rotate along the circumferential direction of the input shaft 7. In a normal state, the input gear 8 and the input shaft gear 9 are meshed with the planet gear 21 to carry out transmission, when the input gear 8, the input shaft gear 9 and the planet gear 21 are abraded, and the input gear 8 and the input shaft 7 are abraded, the input gear 8 can rotate and stagger for a certain amount relative to the input shaft 7, a gap between the input gear 8 and the planet gear 21 is eliminated, the input gear 8 is tightly meshed with the planet gear 21, and the meshing precision between the input gear 8 and the planet gear 21 is ensured. Meanwhile, during the rotation of the planetary gear 21, the reverse gap between the planetary gear 21 and the input shaft gear 9 is eliminated.
The working principle and the using method of the invention are as follows:
cycloidal elastic backlash elimination:the pre-compressed cycloid anti-backlash spring 30 provides a force for the first cycloid 25 and the second cycloid 26 to rotate relatively, once abrasion occurs between the cycloid wheel 24, the eccentric shaft 16, the needle roller and the retainer bearing 23, the cycloid anti-backlash spring 30 enables the first cycloid 25 and the second cycloid 26 to rotate relatively and stagger a certain amount, a gap between the cycloid wheel 24 and the eccentric shaft 16 is eliminated, the eccentric shaft 16 is clamped, the first cycloid 25 and the second cycloid 26 are respectively provided with one side which is shifted outwards to be meshed with the needle roller 2, therefore, the abrasion gap between the cycloid wheel 24 and the needle roller 2 is eliminated, and the meshing accuracy between the cycloid wheel 24 and the needle roller 2 is ensured.
Inputting elastic backlash elimination:the pre-compressed input anti-backlash spring 13 provides force for the input gear 8 and the input shaft 7 to enable the input gear 8 to rotate relative to the input shaft 7, and after the input gear 8, the input shaft gear 9 and the planet wheel 21 are abraded, the input gear 8 can rotate relative to the input shaft 7 and stagger for a certain amount, gaps between the input gear 8 and the planet wheel 21 are eliminated, the input gear 8 is enabled to be tightly meshed with the planet wheel 21, and meshing accuracy between the input gear 8 and the planet wheel 21 is guaranteed. Meanwhile, during the rotation of the planetary gear 21, the reverse gap between the planetary gear 21 and the input shaft gear 9 is eliminated.
High life:the cycloidal elastic anti-backlash mechanism and the input elastic anti-backlash structure 10 are elastic self-backlash mechanisms, so that the meshing clearance caused by abrasion can be eliminated, and the service life of the speed reducer is prolonged.
High precision:the cycloid elastic anti-backlash mechanism and the input elastic anti-backlash structure 10 have elastic anti-backlash capacity, can reduce meshing errors caused by factors such as processing and assembly to a certain extent, and improve transmission precision.
Low vibration:the vibration of the motion state of the speed reducer is caused by the inconsistent transmission state of the speed reducer, and the cycloid elastic anti-backlash mechanism and the input elastic anti-backlash structure 10 of the invention can improve the meshing state between the cycloid wheel 24 and the roller pin 2 and between the planet wheel 21 and the input gear 8, and can realize the purpose of reducing the vibration of the motion state of the speed reducerThe vibration of the speed reducer during operation can be reduced to a great extent.
While the foregoing description shows and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. The utility model provides a from clearance structure RV speed reducer that disappears which characterized in that: the needle gear shell comprises a needle gear shell (1), an output shaft (3), an output end cover (4), an input shaft (7) and at least two eccentric shafts (16) which are arranged in a circumferential array mode, wherein two cams of each eccentric shaft (16) are respectively provided with a cycloid gear (24), the inner wall of the needle gear shell (1) is circumferentially arranged with a plurality of semicircular grooves in an array mode, roller pins (2) matched with the semicircular grooves are assembled in the semicircular grooves, and the outer walls of the cycloid gears (24) are meshed with straight teeth of the roller pins (2); a planet wheel (21) is mounted at one end, close to the output shaft (3), of the eccentric shaft (16), an input gear (8) meshed with the straight teeth of the planet wheel (21) is arranged at the end part of the input shaft (7), and an input shaft gear (9) which is integrally formed with the input shaft (7) and meshed with the straight teeth of the planet wheel (21) is arranged on the outer wall of the end part of the input shaft (7); the two cycloid gears (24) are respectively installed on a cam of the eccentric shaft (16) through needle rollers and retainer bearings (23), each cycloid gear (24) respectively comprises a first cycloid (25) and a second cycloid (26), a cycloid elastic anti-backlash structure (27) is arranged between the first cycloid (25) and the second cycloid (26) correspondingly, and the cycloid elastic anti-backlash structure (27) drives the first cycloid (25) and the second cycloid (26) to rotate and dislocate along the circumferential direction of the first cycloid (25) and the second cycloid (26); an input elastic anti-backlash structure (10) is arranged between the input gear (8) and the end part of the input shaft (7), and the input elastic anti-backlash structure (10) drives the input gear (8) to rotate and dislocate relative to the end part of the input shaft (7) along the circumferential direction of the input gear.
2. The self-gap-eliminating structure RV reducer as claimed in claim 1, characterized in that: the cycloid elastic anti-backlash structure (27) comprises a plurality of first anti-backlash semi-arc grooves (28) which are arranged on one side of the first cycloid (25) close to the second cycloid (26) in a circumferential array, and a plurality of second anti-backlash semi-arc grooves (29) corresponding to the first anti-backlash semi-arc grooves (28) are arranged on one side of the second cycloid (26) close to the first cycloid (25) in a circumferential array; the end parts of the first anti-backlash semi-circular arc groove (28) and the second anti-backlash semi-circular arc groove (29) which correspond to each other are arranged in a staggered mode, the overlapped part of the first anti-backlash semi-circular arc groove (28) and the second anti-backlash semi-circular arc groove (29) forms a round hole, a cycloid anti-backlash spring (30) is arranged in the round hole, one end of the cycloid anti-backlash spring (30) is abutted to the end part of the first anti-backlash semi-circular arc groove (28), and the other end of the cycloid anti-backlash spring is abutted to the end part of the second anti-backlash semi-circular arc groove (29).
3. The self-gap-eliminating RV reducer according to claim 2, characterized in that: the first cycloid (25) and the second cycloid (26) are circumferentially arrayed with a plurality of eccentric shaft holes (17) corresponding to the eccentric shaft (16), and the number and positions of the first anti-backlash semi-arc grooves (28) and the second anti-backlash semi-arc grooves (29) correspond to the eccentric shaft holes (17) one by one.
4. The RV reducer with the self-gap-eliminating structure as claimed in claim 2 or 3, wherein: the cycloid anti-backlash spring (30) is pre-compressed by a first anti-backlash semi-circular arc groove (28) and a second anti-backlash semi-circular arc groove (29) to provide relative rotating force for the first cycloid (25) and the second cycloid (26), when the cycloid wheel (24), the eccentric shaft (16), the needle roller and the retainer bearing (23) are abraded, the cycloid anti-backlash spring (30) enables the first cycloid (25) and the second cycloid (26) to be rotationally dislocated, and abrasion gaps among the cycloid wheel (24), the needle roller (2) and the eccentric shaft (16) are eliminated.
5. The self-gap-eliminating RV reducer according to claim 1, characterized in that: the input elastic anti-backlash structure (10) comprises a plurality of third anti-backlash semi-arc grooves (11) which are circumferentially arranged on one side, close to the input shaft (7), of the input gear (8), and a plurality of fourth anti-backlash semi-arc grooves (12) corresponding to the third anti-backlash semi-arc grooves (11) are circumferentially arranged on the end part of the input shaft (7) in an array manner; the third anti-backlash semi-circular arc groove (11) and the fourth anti-backlash semi-circular arc groove (12) which correspond to each other are arranged in a staggered mode, the overlapped part of the third anti-backlash semi-circular arc groove (11) and the fourth anti-backlash semi-circular arc groove (12) forms a round hole, an input anti-backlash spring (13) is arranged in the round hole, one end of the input anti-backlash spring (13) is abutted to the end of the third anti-backlash semi-circular arc groove (11), and the other end of the input anti-backlash spring is abutted to the end of the fourth anti-backlash semi-circular arc groove (12).
6. The RV reducer with the self-eliminating gap structure as claimed in claim 5, characterized in that: the input anti-backlash spring (13) is pre-compressed by a third anti-backlash semi-circular arc groove (11) and a fourth anti-backlash semi-circular arc groove (12) to provide relative rotation force for the input gear (8) and the input shaft (7), when the input gear (8), the input shaft gear (9) and the planet gear (21) are abraded, the input anti-backlash spring (13) enables the input gear (8) to be rotationally staggered relative to the input shaft (7), the abrasion gap between the input gear (8) and the planet gear (21) is eliminated, and in the rotation process of the planet gear (21), the reverse gap between the planet gear (21) and the input shaft gear (9) is eliminated.
7. The RV reducer with the self-eliminating gap structure as claimed in claim 5 or 6, characterized in that: one side that input gear (8) kept away from input shaft (7) is equipped with and abandons cap (14), be equipped with rotation clearance (15) between abandoning cap (14) and input gear (8).
8. The self-gap-eliminating RV reducer according to claim 1, characterized in that: an installation bearing (5) is arranged between the outer circle of the output shaft (3), the outer circle of the output end cover (4) and the inner circle of the needle gear shell (1), and the installation bearing (5) is one of a tapered roller bearing, a deep groove ball bearing and an angular contact ball bearing; be equipped with skeleton sealing washer (6) between output shaft (3) and pin gear shell (1), just skeleton sealing washer (6) are located one side that two installation bearings (5) kept away from each other.
9. The self-gap-eliminating RV reducer according to claim 1, characterized in that: the two ends of the eccentric shaft (16) are respectively positioned and rotatably installed on the output shaft (3) and the output end cover (4) through first tapered roller bearings (18), a cushion block (19) is arranged on one side, close to a cam on the eccentric shaft (16), of each first tapered roller bearing (18), and a first axial retainer ring (20) is arranged on one side, far away from each other, of each first tapered roller bearing (18).
10. The self-gap-eliminating RV reducer according to claim 1, characterized in that: the planet wheel (21) is arranged at one end, close to the output shaft (3), of the eccentric shaft (16) through a spline, and second axial retainer rings (22) are arranged on two sides of the planet wheel (21).
CN202211251791.6A 2022-10-13 2022-10-13 RV speed reducer with self-clearance-eliminating structure Pending CN115435074A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211251791.6A CN115435074A (en) 2022-10-13 2022-10-13 RV speed reducer with self-clearance-eliminating structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211251791.6A CN115435074A (en) 2022-10-13 2022-10-13 RV speed reducer with self-clearance-eliminating structure

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117823577A (en) * 2024-03-05 2024-04-05 江苏万基传动科技有限公司 Double-cycloid hollow speed reducer for eliminating gaps of robot
CN117895702A (en) * 2024-03-14 2024-04-16 江苏万基传动科技有限公司 Reducing motor with axle core location structure

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117823577A (en) * 2024-03-05 2024-04-05 江苏万基传动科技有限公司 Double-cycloid hollow speed reducer for eliminating gaps of robot
CN117823577B (en) * 2024-03-05 2024-05-31 江苏万基传动科技有限公司 Double-cycloid hollow speed reducer for eliminating gaps of robot
CN117895702A (en) * 2024-03-14 2024-04-16 江苏万基传动科技有限公司 Reducing motor with axle core location structure
CN117895702B (en) * 2024-03-14 2024-05-28 江苏万基传动科技有限公司 Reducing motor with axle core location structure

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