CN206206509U - New-type cycloidal movable teeth reducer - Google Patents
New-type cycloidal movable teeth reducer Download PDFInfo
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- CN206206509U CN206206509U CN201620696432.5U CN201620696432U CN206206509U CN 206206509 U CN206206509 U CN 206206509U CN 201620696432 U CN201620696432 U CN 201620696432U CN 206206509 U CN206206509 U CN 206206509U
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- pin
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- shock wave
- cycloidal
- oscillating tooth
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 29
- 230000035939 shock Effects 0.000 claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000009347 mechanical transmission Effects 0.000 abstract description 2
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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Abstract
The utility model provides a kind of New-type cycloidal movable teeth reducer suitable for joint of robot, belongs to technical field of mechanical transmission.Its main main parts size such as including input shaft, eccentric bushing, Cycloidal Wheel, pin tooth, pin wheel housing, shock wave device, oscillating tooth, oscillating tooth carrier, ring gear.Its power is input into by input shaft, is transmitted by eccentric bushing, Cycloidal Wheel, shock wave device, oscillating tooth, is finally exported by oscillating tooth carrier.In the parallel-crank mechanism that one or two grades of coupling parts of decelerator are made up of eccentric bushing, bearing, Cycloidal Wheel, pin, shock wave device etc., the power of Cycloidal Wheel passes to the shock wave device during decelerating movable teeth is driven by this parallel-crank mechanism.Compared with the RV decelerators that current robot is largely used, this cycloidal teeth speed reducer eliminates wheel gear input and W output mechanisms in RV decelerators, its axial dimension is greatly reduced, while it also has the advantages that lightweight, compact conformation, is easily achieved big speed ratio.
Description
Technical field
The utility model belongs to mechanical transmission fields, and in particular to robot joint speed reducer.
Background technology
At present, joint of robot transmission decelerator mainly has filter speed reducer, harmonic speed reducer, planet-cycloid reducer
With RV decelerators etc..And wherein, RV decelerators keep the series of advantages such as stabilization, efficiency high, stable drive to occupy with its precision
Most of share in domestic import high accurate speed reducer market.
RV decelerators are primarily present three deficiencies of aspect：One is larger axial dimension；Two is driving-chain more long, to system
The requirement make, installed is high, it is difficult to ensure kinematic accuracy higher；Three are difficult to realize big speed ratio.
The content of the invention
The purpose of this utility model：Overcome the shortcomings of existing RV decelerators, there is provided a kind of driving-chain is short, compact conformation, axle
To size it is small, kinematic accuracy is high, be capable of achieving big speed ratio Novel reducer.
The utility model uses following technological means：Involutes Gears Transmission and W output machines in removal RV decelerators
Structure, by the way of Cycloidal pin-wheel drive is combined with Oscillating Tooth Gear Reducer；Eccentric bushing, eccentric bushing bearing, Cycloidal Wheel, pin, shock wave device
Parallel-crank mechanism is collectively constituted Deng part；Cycloidal pin-wheel drive uses one-piece construction, and Oscillating Tooth Gear Reducer is using single shock wave device
Structure, Cycloidal Wheel is connected with shock wave device by parallel-crank mechanism, to differ 180 ° of phase arrangements, axial force of cancelling out each other；
Cycloidal-pin wheel is using single eccentric bushing input, three input cranks in removal RV decelerators.The technology that the utility model is used
The following aspects is had the beneficial effect that produced by means：One is to shorten driving-chain, and eliminate influences on kinematic accuracy
Three larger input crank mechanisms and W output mechanisms, can effectively improve kinematic accuracy；Two is using one chip cycloidal-pin wheel
Transmission and single shock wave device Oscillating Tooth Gear Reducer, and gear drive and W output mechanisms are eliminated, axial dimension can be made significantly to reduce；
Three is that Oscillating Tooth Gear Reducer can realize larger gearratio, so as to the gearratio of cycloidal teeth speed reducer can be made than RV decelerator more
Greatly.
In order to realize the purpose of utility model, the technical scheme that the utility model is used is as shown in Fig. 1.A kind of cycloid
Movable teeth reducer, mainly by input shaft（1）, eccentric bushing（2）, eccentric bushing bearing（3）, pin（4）, Cycloidal Wheel（5）, pin tooth（6）、
Pin wheel housing（7）, ring gear（8）, oscillating tooth（9）, shock wave device（10）, oscillating tooth carrier（11）, shock wave device supporting part（12）Composition, it is moved
Power is by input shaft（1）Input, by oscillating tooth carrier（11）Output, it is characterised in that：Input shaft（1）With eccentric bushing（2）It is fixedly connected, two
Person is unable to relative motion；Eccentric bushing（2）It is upper that eccentric bushing bearing is housed（3）；Pin tooth（6）Installed in pin wheel housing（7）On, pin tooth（6）
Can be with respect to pin wheel housing（7）Rotate, but can not relatively move；Pin wheel housing（7）It is fixed in frame；Cycloidal Wheel（5）With shock wave device
（10）By pin（4）Connection；Ring gear（8）It is fixed in frame；Oscillating tooth（9）While and shock wave device（10）And ring gear（8）
Keep higher pair contact；Oscillating tooth（9）Installed in oscillating tooth carrier（11）On；Input shaft（1）Axis and shock wave device supporting part（12）'s
Axis overlaps, input shaft（1）One end be supported on oscillating tooth carrier（11）Interior, the other end is supported in frame.
Brief description of the drawings
Fig. 1 is the schematic diagram of cycloidal teeth speed reducer.
Fig. 2 is the specific embodiment of cycloidal teeth speed reducer.
Specific embodiment
Specific embodiment of the invention is as shown in Fig. 2.Cycloidal teeth speed reducer is by Cycloidal pin-wheel drive and Oscillating Tooth Gear Reducer
Combine.Cycloidal pin-wheel drive is in high speed level, and Oscillating Tooth Gear Reducer is in slow speed turbine stage.
Cycloidal pin-wheel drive is by input shaft（1）, eccentric bushing（2）, eccentric bushing bearing（3）, Cycloidal Wheel（5）, pin tooth（6）And pin
Tooth shell（7）Composition.Input shaft（1）With eccentric bushing（2）Admittedly hold together, eccentric bushing（2）It is upper that eccentric bushing bearing is housed（3）,
Cycloidal Wheel（5）It is supported on eccentric bushing bearing（3）On, Cycloidal Wheel（5）With pin tooth（6）Keep higher pair contact.Pin tooth（6）And pin wheel housing
（7）Composition pinwheel, pin tooth（6）Installed in pin wheel housing（7）On, pin tooth（6）Can be with respect to pin wheel housing（7）Rotate, but can not be relative
Movement is in pin wheel housing（7）It is fixed in frame.
Parallel-crank mechanism is by eccentric bushing（2）, eccentric bushing bearing（3）, pin（4）, Cycloidal Wheel（5）, shock wave device（10）
Composition.Its effect is the revolution for filtering out Cycloidal Wheel, is delivered on shock wave device with enabling the rotating speed constant speed ratio of Cycloidal Wheel.
Oscillating Tooth Gear Reducer is by shock wave device（10）, oscillating tooth（9）, ring gear（8）, shock wave device supporting part（12）And oscillating tooth carrier（11）
Composition.Shock wave device（10）With Cycloidal Wheel（5）Power is transmitted by parallel-crank mechanism.Ring gear（8）It is fixed in frame.It is living
Tooth（9）Installed in oscillating tooth carrier（11）On, it is while and shock wave device（10）And ring gear（8）Keep higher pair contact.Oscillating tooth（9）Relatively
In oscillating tooth carrier（11）Forms of motion can for it is mobile, the diversified forms such as swing.
In cycloidal teeth speed reducer described in the utility model, Cycloidal Wheel（5）And shock wave device（10）Number all be 1, two
The phase of person differs 180 degree, and the radial load suffered by them is in opposite direction.Input shaft（1）And oscillating tooth carrier（11）Axis overlap,
Input shaft（1）One end be supported on oscillating tooth carrier（11）Interior, the other end is supported in frame.
The power of cycloidal teeth speed reducer described in the utility model is by input shaft（1）Input, by eccentric bushing（2）With it is inclined
The heart covers bearing（3）Power is transferred to Cycloidal Wheel（5）, Cycloidal Wheel（5）Shock wave device is driven by parallel-crank mechanism（10）One
Play motion, shock wave device（10）Drive oscillating tooth（9）Motion, finally by oscillating tooth carrier（11）By movement output.
Claims (4)
1. a kind of cycloidal teeth speed reducer, mainly by input shaft（1）, eccentric bushing（2）, eccentric bushing bearing（3）, pin（4）, cycloid
Wheel（5）, pin tooth（6）, pin wheel housing（7）, ring gear（8）, oscillating tooth（9）, shock wave device（10）, oscillating tooth carrier（11）, shock wave device support
Point（12）Composition, its power is by input shaft（1）Input, by oscillating tooth carrier（11）Output, it is characterised in that：Input shaft（1）With bias
Set（2）It is fixedly connected, the two is unable to relative motion；Eccentric bushing（2）It is upper that eccentric bushing bearing is housed（3）；Pin tooth（6）Installed in pin tooth
Shell（7）On, pin tooth（6）Can be with respect to pin wheel housing（7）Rotate, but can not relatively move；Pin wheel housing（7）It is fixed in frame；Pendulum
Line wheel（5）With shock wave device（10）By pin（4）Connection；Ring gear（8）It is fixed in frame；Oscillating tooth（9）While and shock wave device
（10）And ring gear（8）Keep higher pair contact；Oscillating tooth（9）Installed in oscillating tooth carrier（11）On；Input shaft（1）Axis and shock wave device
Supporting part（12）Axis overlap, input shaft（1）One end be supported on oscillating tooth carrier（11）Interior, the other end is supported in frame.
2. cycloidal teeth speed reducer according to claim 1, it is characterised in that：Cycloidal Wheel（5）With shock wave device（10）Install
Opposite in phase, the radial load that they are subject to is in opposite direction.
3. cycloidal teeth speed reducer according to claim 1, it is characterised in that：Eccentric bushing（2）, eccentric bushing bearing（3）, pendulum
Line wheel（5）, pin（4）, shock wave device（10）Parallel-crank mechanism is collectively constituted, Cycloidal Wheel is the input of parallel-crank mechanism
Component, shock wave device is the output link of parallel-crank mechanism.
4. cycloidal teeth speed reducer according to claim 3, it is characterised in that：The power of primary speed-down cyclo drive output
It is delivered to by parallel-crank mechanism constant speed on the shock wave device of double reduction Oscillating Tooth Gear Reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620696432.5U CN206206509U (en) | 2016-07-05 | 2016-07-05 | New-type cycloidal movable teeth reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620696432.5U CN206206509U (en) | 2016-07-05 | 2016-07-05 | New-type cycloidal movable teeth reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206206509U true CN206206509U (en) | 2017-05-31 |
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ID=58755147
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620696432.5U Expired - Fee Related CN206206509U (en) | 2016-07-05 | 2016-07-05 | New-type cycloidal movable teeth reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206206509U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742322A (en) * | 2018-07-27 | 2018-11-06 | 四川大学 | A kind of corner cleaning mechanism |
| CN109281996A (en) * | 2018-11-29 | 2019-01-29 | 中冶赛迪技术研究中心有限公司 | The cascade retarder of balance wheel gear unit |
| CN110242708A (en) * | 2019-05-12 | 2019-09-17 | 天津大学 | Secondary seal formula eccentric disc swing movable teeth reducer |
| CN110529559A (en) * | 2018-05-25 | 2019-12-03 | 昆山光腾智能机械有限公司 | Needle tooth cycloidal reducer and industrial robot |
| CN113898716A (en) * | 2021-10-21 | 2022-01-07 | 王踊 | Thrust-hobbing gear transmission and device using such a transmission |
-
2016
- 2016-07-05 CN CN201620696432.5U patent/CN206206509U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110529559A (en) * | 2018-05-25 | 2019-12-03 | 昆山光腾智能机械有限公司 | Needle tooth cycloidal reducer and industrial robot |
| CN108742322A (en) * | 2018-07-27 | 2018-11-06 | 四川大学 | A kind of corner cleaning mechanism |
| CN109281996A (en) * | 2018-11-29 | 2019-01-29 | 中冶赛迪技术研究中心有限公司 | The cascade retarder of balance wheel gear unit |
| CN109281996B (en) * | 2018-11-29 | 2023-12-19 | 中冶赛迪技术研究中心有限公司 | Cascade speed reducer of balance wheel transmission unit |
| CN110242708A (en) * | 2019-05-12 | 2019-09-17 | 天津大学 | Secondary seal formula eccentric disc swing movable teeth reducer |
| CN113898716A (en) * | 2021-10-21 | 2022-01-07 | 王踊 | Thrust-hobbing gear transmission and device using such a transmission |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170531 |