CN203627665U - Cycloidal-pin wheel speed reducer and robot - Google Patents
Cycloidal-pin wheel speed reducer and robot Download PDFInfo
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- CN203627665U CN203627665U CN201320667909.3U CN201320667909U CN203627665U CN 203627665 U CN203627665 U CN 203627665U CN 201320667909 U CN201320667909 U CN 201320667909U CN 203627665 U CN203627665 U CN 203627665U
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- pin
- cycloid
- wheel
- planet
- end cap
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 39
- 238000003967 crop rotation Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 238000000926 separation method Methods 0.000 abstract 3
- 238000000034 method Methods 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000012447 hatching Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000002360 explosive Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000008041 oiling agent Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The utility model provides a cycloidal-pin wheel speed reducer and a robot adopting the cycloidal-pin wheel speed reducer, and the cycloidal-pin wheel speed reducer is low in noise and vibrates slightly. The cycloidal-pin wheel speed reducer comprises a pin wheel housing. An input end cover and an output end cover are fixedly connected together, are arranged at the two ends of the pin wheel housing and can rotate relative to the pin wheel housing. Wheel pins, pin shafts, a main shaft and cycloidal wheels are arranged in the pin wheel housing. The wheel pins are located on the inner wall of the pin wheel housing. The wheel pins and the pin wheel housing form a pin wheel. The main shaft is located in the center of the pin wheel housing. The cycloidal wheels are driven by an eccentric part on the main shaft to swing in an eccentric mode, the cycloidal wheels are meshed with the pin wheel while swinging in the eccentric mode and rotate around itself in the direction opposite to the eccentric swinging direction of the cycloidal wheels, the pin shafts penetrate through the cycloidal wheels, and rotation force of the cycloidal wheels is transmitted to the input end cover and the output end cover which are connected with the two ends of the pin shafts respectively. Circular-ring-shaped separation pads are arranged between the cycloidal wheels. A circle of pin shaft holes are formed in the annular end faces of the separation pads. The pin shafts are sleeved with the separation pads through the pin shaft holes.
Description
Technical field
The utility model provides a kind of planet-cycloid reducer, and adopts the robot of this planet-cycloid reducer.
Background technique
Planet-cycloid reducer, as a kind of gearing of novelty, has purposes widely in industries such as industrial robot, high-precision machine tool, medical treatment.This planet-cycloid reducer comprises pin wheel housing, and pin wheel housing two ends are provided with the input end cap and the output end cap that are fixed together.In pin wheel housing, be provided with main shaft, cycloid wheel, axis pin of column, main shaft is provided with the eccentric part that can drive cycloid crop rotation eccentric swing, between the eccentric part of main shaft and cycloid wheel, is arranged with rotary arm bearing.The inwall of pin wheel housing is provided with gear pin, gear pin and pin wheel housing composition pinwheel.Cycloid wheel engages with pinwheel in making eccentric swing, produces the rotation with its eccentric swing opposite direction.Axis pin of column, through cycloid wheel, passes to the rotation of cycloid wheel the input end cap and the output end cap that are connected with axis pin of column two ends.In order to prevent rubbing between cycloid wheel end face, as shown in Figure 6, sheathed circular dottle pin between cycloid wheel conventionally, axis pin of column described in the outer wall butt of dottle pin, the inner diameter of dottle pin is greater than the external diameter of rotary arm bearing.This dottle pin is that line contacts with axis pin of column, and the pressure being subject in the operation process of planet-cycloid reducer is larger, easily produces wearing and tearing and distortion.Radially play of dottle pin after wearing and tearing and distortion, and then produce noise and vibrations.
Summary of the invention
The purpose of this utility model is to provide a kind of noise and shakes less planet-cycloid reducer and adopt the robot of this planet-cycloid reducer.
The planet-cycloid reducer that the utility model provides, comprises pin wheel housing, and pin wheel housing two ends are provided with input end cap and output end cap, and described input end cap and output end cap are fixed together, and can rotate relative to described pin wheel housing; In described pin wheel housing, be provided with gear pin, axis pin of column, main shaft and cycloid wheel, described gear pin is positioned at the inwall of pin wheel housing, with pin wheel housing composition pin gear; Described main shaft is positioned at the central authorities of pin wheel housing, be provided with the eccentric part that drives described cycloid crop rotation eccentric swing, described cycloid wheel engages with pinwheel in doing eccentric swing, produce the rotation with its eccentric swing opposite direction, described axis pin of column wears described cycloid wheel, the rotation of cycloid wheel is passed to the input end cap and the output end cap that are connected with axis pin of column two ends, between described cycloid wheel, be provided with dottle pin; Described dottle pin is circular, and the end face of its ring-type is provided with a loop pillar pin shaft hole, and described dottle pin is located on axis pin of column by described axis pin of column borehole jack.
Between described axis pin of column and pin axis hole, be arranged with roller, little Spielpassung between described roller and axis pin of column.
The eccentric part arranging on described main shaft has 2～4, is uniformly distributed a sheathed cycloid wheel correspondingly on each eccentric part along main shaft circumferencial direction.
Described gear pin center of circle place distribution diameter of a circle is less than the diameter of pin wheel housing inwall.
Between the eccentric part of described main shaft and cycloid wheel, be provided with rotary arm bearing.
Described rotary arm bearing is to have inner ring without the roller bearing of outer ring or without the only needle bearing with retainer of Internal and external cycle.
Described input end cap and output terminal cover and are provided with the spliced eye passing for axis pin of column, and the fixed hole passing for attachment screw, and the center of circle of described spliced eye and fixed hole is on the same circumference being distributed in take pin wheel housing center as the center of circle.
The robot that the utility model provides comprises mechanical arm, mechanism hand, joint of robot, between described mechanical arm and mechanical arm and between described mechanical arm and described mechanism hand, be connected by described joint of robot, described joint of robot comprises housing, motor and above-mentioned planet-cycloid reducer, described planet-cycloid reducer is positioned at described housing, described motor is connected with the main shaft of planet-cycloid reducer, drive described planet-cycloid reducer, by the rotation in input end cap or output terminal cover strip mobile robot joint.
Adopting the technical solution of the utility model, because dottle pin is located on axis pin of column by axis pin of column borehole jack, is therefore that face contacts between axis pin of column and dottle pin, and the pressure that dottle pin is subject to is smaller, is not easy to produce wearing and tearing and distortion.Even if produce wearing and tearing and distortion, the radially spacing area that dottle pin is subject to is larger, is not easy to produce radial-play, thereby can not increase noise and vibrations to planet-cycloid reducer.
Accompanying drawing explanation
In order to be illustrated more clearly in the technological scheme in the utility model embodiment, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1; The right elevation of the utility model planet-cycloid reducer
Fig. 2; The axial section of doing along Figure 1A-A hatching
Fig. 3; The radial section figure doing along Fig. 2 B-B hatching
Fig. 4; The utility model planet-cycloid reducer explosive view
Fig. 5; The utility model dottle pin front view
Fig. 6; Prior art dottle pin front view
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technological scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, rather than whole embodiments.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment who obtains under creative work prerequisite, all belong to the scope of the utility model protection.
As shown in Figures 1 to 4, described high-accuracy planet-cycloid reducer comprises the pin wheel housing 110 of hollow, the two ends of described pin wheel housing 110 are provided with the input end cap 121 and the output end cap 122 that are fixed together by attachment screw 180, described input end cap 121 and output end cap 122 are supported on the inwall of pin wheel housing 110 by tapered roller bearing 131, can freely rotate relative to pin wheel housing 110.
In described pin wheel housing 110, be provided with cycloid wheel 140, main shaft 150, gear pin 160 and axis pin of column 170.Described main shaft 150 is positioned at the central authorities of pin wheel housing 110, its two ends are by being that deep groove ball bearing 132 supports respectively in the center hole of input end cap 121 and output end cap 122, its middle part is through cycloid wheel 140, and being provided with eccentric part at the position through cycloid wheel 140, the eccentric part of described main shaft 150 can drive cycloid wheel 140 to do eccentric swing.
The inwall of described pin wheel housing 110 is along the circumferential direction provided with several pin perforations, and a gear pin 160 is set in each pin perforation, and 160 two ends of gear pin are by tapered roller bearing 131 axial limitings, and pin wheel housing 110 and gear pin 160 form pinwheel.Described cycloid wheel 140 engages with pinwheel in eccentric swing, produces the rotation with its eccentric swing opposite direction.
Described input end cap 121 and output end cap 122 are provided with spliced eye, and described spliced eye is stretched at the two ends of described axis pin of column 170, are connected with input end cap 121 and output end cap 122, and the middle part of described axis pin of column 170 wears.Described in described cycloid wheel 140, the rotation of cycloid wheel 140 passes to input end cap 121 and output end cap 122 by described axis pin of column 170.On described input end cap 121 and output end cap 122, be also provided with fixed hole, described attachment screw 180, through described fixed hole, is fixed together input end cap 121 and output end cap 122.Other layout, on the same circumference being distributed in take pin wheel housing center as the center of circle, can certainly be done as the case may be in the center of circle of described spliced eye and fixed hole.
Between cycloid wheel 140, be provided with dottle pin 190, described dottle pin 190 generally cylinder iron, Bearing Steel or 45 steel make.As shown in Figure 5, described dottle pin 190 is circular, and its end face is provided with a loop pillar pin shaft hole, and described dottle pin 190 is located on axis pin of column 170 by axis pin of column borehole jack.On described dottle pin 190, offer the screw hole for attachment screw 180 processes, for simplified processing process, the diameter of described screw hole is made equally large with the diameter of pin axis hole, because axis pin of column 170 is used for carry-over moment, general diameter all can be larger than attachment screw 180, and therefore screw hole can be greater than the diameter of attachment screw 180.Between described axis pin of column 170 and pin axis hole, be arranged with roller 171, little Spielpassung between described roller 171 and axis pin of column 170.
Place, the center of circle distribution diameter of a circle of described gear pin 160 is less than the inner diameter of described pin wheel housing 110, and can be described as pin perforation, to be small semicircle poroid.The frictional force that is subject to pin perforation inwall when the rolling of gear pin 160 in pin perforation like this reduces, and correspondingly also can reduce with the frictional force of cycloid wheel 140.Simultaneously this structure has also increased the distance between cycloid wheel 140 outer walls and pin wheel housing 110 inwalls, and the oiling agent of storing between cycloid wheel 140 tooth tops and pin wheel housing 110 inwalls is increased, further to have reduced cycloid wheel 140 and gear pin 160 rubs,
The number of cycloid wheel 140 is that the rated moment that passes to input end cap 121 and output end cap 122 according to it arranges, be generally 2～4, on main shaft 150, can set corresponding number and drive cycloid wheel 140 to do the eccentric part of eccentric swing, eccentric part is uniformly distributed along main shaft 150 circumferencial directions.The cycloid wheel 140 of the present embodiment setting is 3, and main shaft 150 is correspondingly provided with 3 eccentric parts, and the phase difference between these 3 eccentric parts is 120 degree.
Between the eccentric part of main shaft 150 and cycloid wheel 140, be also arranged with rotary arm bearing 100.In order to improve the use life of rotary arm bearing 100 under the condition of same size, rotary arm bearing 100 is chosen the roller bearing of inner ring without outer ring, because the bearing capacity of this roller bearing is higher.In the situation that meeting carrying condition, rotary arm bearing 100 can also be chosen to adopt without the only needle bearing with retainer of Internal and external cycle, but this needle bearing is using the direct main shaft 150 interior raceway as roller, higher to the requirement on machining accuracy of main shaft 150.
The working principle of planet-cycloid reducer is: main shaft 150 clockwise rotates (can certainly rotate counterclockwise) under the driving of motor, eccentric part on main shaft 150 drives the clockwise eccentric swing of cycloid wheel 140, cycloid wheel 140 engages in doing eccentric swing with in the pinwheel being made up of pin wheel housing 110 and gear pin 160, produces the rotation with its eccentric swing opposite direction.Under pinwheel fixing situation, main shaft 150 often turns around clockwise, and cycloid wheel 140 is tooth of rotation counterclockwise.The rotation of cycloid wheel 140 passes to input end cap 121 and output end cap 122 by axis pin of column 170, realizes final deceleration output.
Adopting the technical solution of the utility model, because dottle pin is located on axis pin of column by axis pin of column borehole jack, is therefore that face contacts between axis pin of column and dottle pin, and the pressure that dottle pin is subject to is smaller, is not easy to produce wearing and tearing and distortion.Even if produce wearing and tearing and distortion, the radially spacing area that dottle pin is subject to is larger, is not easy to produce radial-play, thereby can not increase noise and vibrations to planet-cycloid reducer.
Embodiment two
The robot that the present embodiment provides comprises mechanical arm, mechanism hand, joint of robot, between described mechanical arm and mechanical arm and between described mechanical arm and described mechanism hand, be connected by described joint of robot, described joint of robot comprises the planet-cycloid reducer in housing, motor and embodiment one, described planet-cycloid reducer is positioned at described housing, described motor is connected with the main shaft of planet-cycloid reducer, drive described planet-cycloid reducer, by the rotation in input end cap or output terminal cover strip mobile robot joint.
Applied specific case herein principle of the present utility model and mode of execution are set forth, above embodiment's explanation is just for helping to understand method of the present utility model and core concept thereof; , for one of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, in sum, this description should not be construed as restriction of the present utility model meanwhile.
Claims (8)
1. a planet-cycloid reducer, is characterized in that:
Comprise pin wheel housing, pin wheel housing two ends are respectively equipped with input end cap and output end cap, and described input end cap and output end cap are fixed together, and can rotate relative to described pin wheel housing;
In described pin wheel housing, be provided with gear pin, axis pin of column, main shaft and cycloid wheel, described gear pin is positioned at the inwall of pin wheel housing, with pin wheel housing composition pin gear; Described main shaft is positioned at the central authorities of pin wheel housing, be provided with the eccentric part that drives described cycloid crop rotation eccentric swing, described cycloid wheel engages with pinwheel in doing eccentric swing, produce the rotation with its eccentric swing opposite direction, described axis pin of column wears described cycloid wheel, the rotation of cycloid wheel is passed to the input end cap and the output end cap that are connected with axis pin of column two ends, between described cycloid wheel, be provided with dottle pin;
Described dottle pin is circular, and the end face of its ring-type is provided with a loop pillar pin shaft hole, and described dottle pin is located on axis pin of column by described axis pin of column borehole jack.
2. planet-cycloid reducer according to claim 1, is characterized in that: between described axis pin of column and pin axis hole, be arranged with roller, little Spielpassung between described roller and axis pin of column.
3. planet-cycloid reducer according to claim 1 and 2, is characterized in that: the eccentric part arranging on described main shaft has 2～4, is uniformly distributed a sheathed cycloid wheel correspondingly on each eccentric part along main shaft circumferencial direction.
4. planet-cycloid reducer according to claim 1 and 2, is characterized in that: described gear pin center of circle place distribution diameter of a circle is less than the diameter of pin wheel housing inwall.
5. planet-cycloid reducer according to claim 1 and 2, is characterized in that: between the eccentric part of described main shaft and cycloid wheel, be provided with rotary arm bearing.
6. planet-cycloid reducer according to claim 5, is characterized in that: described rotary arm bearing is to have inner ring without the roller bearing of outer ring or without the only needle bearing with retainer of Internal and external cycle.
7. planet-cycloid reducer according to claim 1, it is characterized in that: described input end cap and output terminal cover and be provided with the spliced eye passing for axis pin of column, and the fixed hole passing for attachment screw, the center of circle of described spliced eye and fixed hole is distributed on the same circumference take pin wheel housing center as the center of circle.
8. a robot, comprise mechanical arm, mechanism hand, joint of robot, between described mechanical arm and mechanical arm, and be connected by described joint of robot between described mechanical arm and described mechanism hand, it is characterized in that, described joint of robot comprises housing, motor and according to the planet-cycloid reducer described in any one in claim 1 to 7, described planet-cycloid reducer is positioned at described housing, described motor is connected with the main shaft of planet-cycloid reducer, drive described planet-cycloid reducer, by the rotation in input end cap or output terminal cover strip mobile robot joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320667909.3U CN203627665U (en) | 2013-10-28 | 2013-10-28 | Cycloidal-pin wheel speed reducer and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320667909.3U CN203627665U (en) | 2013-10-28 | 2013-10-28 | Cycloidal-pin wheel speed reducer and robot |
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| Publication Number | Publication Date |
|---|---|
| CN203627665U true CN203627665U (en) | 2014-06-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320667909.3U Expired - Lifetime CN203627665U (en) | 2013-10-28 | 2013-10-28 | Cycloidal-pin wheel speed reducer and robot |
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| CN (1) | CN203627665U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108843747A (en) * | 2018-08-08 | 2018-11-20 | 陈伟 | Robot clearance elimination gear hollow decelerator |
| CN109027139A (en) * | 2018-08-08 | 2018-12-18 | 陈伟 | Robot disappears gap double-cycloid speed reducer |
| CN110159708A (en) * | 2019-05-29 | 2019-08-23 | 北京理工大学 | Epitrochoid deceleration device |
| WO2019223059A1 (en) * | 2018-05-25 | 2019-11-28 | 昆山光腾智能机械有限公司 | Cycloidal needle gear speed reducer and industrial robot |
| CN111853167A (en) * | 2020-08-17 | 2020-10-30 | 重庆大学 | Movable pin type cycloidal speed reducer |
-
2013
- 2013-10-28 CN CN201320667909.3U patent/CN203627665U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019223059A1 (en) * | 2018-05-25 | 2019-11-28 | 昆山光腾智能机械有限公司 | Cycloidal needle gear speed reducer and industrial robot |
| CN108843747A (en) * | 2018-08-08 | 2018-11-20 | 陈伟 | Robot clearance elimination gear hollow decelerator |
| CN109027139A (en) * | 2018-08-08 | 2018-12-18 | 陈伟 | Robot disappears gap double-cycloid speed reducer |
| CN110159708A (en) * | 2019-05-29 | 2019-08-23 | 北京理工大学 | Epitrochoid deceleration device |
| CN111853167A (en) * | 2020-08-17 | 2020-10-30 | 重庆大学 | Movable pin type cycloidal speed reducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: BEIJING PEITIAN TECHNOLOGY CO., LTD. Free format text: FORMER NAME: BEIJING A+E PRECISION MACHINERY CO. LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 100085 Beijing City, Haidian District information road, building 18, No. 7, digital media building, room two, Room 201 Patentee after: BEIJING A&E TECHNOLOGIES Co.,Ltd. Address before: 100085 Beijing City, Haidian District information road, building 18, No. 7, digital media building, room two, Room 201 Patentee before: BEIJING A&E PRECISION MACHINERY Co.,Ltd. |
|
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Anhui SCBD Robot Technology Co.,Ltd. Assignor: BEIJING A&E TECHNOLOGIES Co.,Ltd. Contract record no.: 2016990000487 Denomination of utility model: Cycloidal pin wheel speed reducer and robot Granted publication date: 20140604 License type: Exclusive License Record date: 20161125 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140604 |
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| CX01 | Expiry of patent term |