CN212717835U - Cycloidal gear speed change device - Google Patents
Cycloidal gear speed change device Download PDFInfo
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- CN212717835U CN212717835U CN202021317455.3U CN202021317455U CN212717835U CN 212717835 U CN212717835 U CN 212717835U CN 202021317455 U CN202021317455 U CN 202021317455U CN 212717835 U CN212717835 U CN 212717835U
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Abstract
The utility model relates to the technical field of mechanical transmission, in particular to a cycloidal gear speed change device, which comprises a machine body, an input shaft with an eccentric structure, an output part and a speed change mechanism for connecting the input shaft and the output part, wherein the speed change mechanism comprises a cycloidal gear eccentrically driven by the input shaft, the machine body is provided with an installation cavity for installing the cycloidal gear, the outer peripheral surface of the cycloidal gear is provided with an outer cycloidal gear, the installation cavity is provided with an inner circular arc gear, the number of tooth profiles of the inner circular arc gear is larger than that of the outer cycloidal gear to form meshed cycloidal motion, the A surface and the B surface of the cycloidal gear are respectively provided with a second ball and a first ball, a swing structure for the second ball to do swing motion is arranged between the A surface of the cycloidal gear and the opposite surface opposite to the A surface of the installation cavity, a first ball fixing hole and a first enlarged hole are arranged between the B surface and the output part of the cycloidal gear, the first ball is arranged between the first ball fixing hole and the first expanding hole.
Description
Technical Field
The utility model relates to a machinery rotates technical field, especially one kind to applying earlier "robot cycloid speed reducer and robot that does not have follow-up plate" carry out modified cycloid gear speed change gear.
Background
In a prior application of the present applicant, the application No. 201710801363.9 discloses a robot cycloid speed reducer without follower plates and a robot, comprising: a rear cover plate; the end surface of the eccentric wheel is provided with a plurality of ball arc cavities; a plurality of balls; a plurality of uniformly distributed annular arc grooves are concentrically and circumferentially formed in the end face of the rear cover plate, the balls are embedded between the annular arc grooves and the ball arc cavities of the eccentric wheel, and the eccentric wheel can eccentrically rotate relative to the rear cover plate. In the structure, the speed change function is realized by adopting the cycloid grooves, the balls and the ball arc cavities between the eccentric wheel and the output shaft, the eccentric wheel is clamped in the machine body through the rear cover plate and the output shaft and swings in a suspension manner, and the peripheral surface of the eccentric wheel cannot collide with the inner wall of the machine body.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model provides a cycloidal gear speed change device with few parts and small volume.
In order to realize the purpose, the utility model discloses a technical scheme is: a cycloidal gear speed change device comprises a machine body, an input shaft with an eccentric structure, an output part and a speed change mechanism connected with the input shaft and the output part, wherein the speed change mechanism comprises a cycloidal gear eccentrically driven by the input shaft, the machine body is provided with an installation cavity for installing the cycloidal gear, the outer peripheral surface of the cycloidal gear is provided with epicycloidal teeth, inner circular arc teeth are arranged on the inner wall of the installation cavity corresponding to the epicycloidal teeth, the number of tooth profiles of the inner circular arc teeth is larger than that of the epicycloidal teeth to form meshed cycloidal motion, the axial two end faces of the cycloidal gear are respectively an A face and a B face, the A face and the B face of the cycloidal gear are respectively provided with a plurality of second balls and first balls which are distributed in the circumferential direction, and a swing structure for the second balls to swing motion is arranged between the A face of the cycloidal gear and the opposite face of the installation cavity opposite to the A face, a plurality of first ball fixing holes and first expansion holes distributed around the circumferential direction are formed between the surface B of the cycloid gear and the output portion, the first ball fixing holes correspond to the first expansion holes one to one, and the first balls are arranged between the first ball fixing holes and the first expansion holes to achieve transmission connection.
Among the above-mentioned technical scheme, swing structure's setting is the A face butt of avoiding the cycloid gear on the inner wall of organism, play and reduce friction, make things convenient for the effect that the assembly compresses tightly, the speed change function is realized to the meshing cycloid motion between epicycloid tooth and the interior circular arc tooth, interior circular arc tooth can be fixed by a plurality of cylinders evenly distributed and constitute on the inner wall of installation cavity, perhaps the cylinder sets up with the organism is integrative, wobbling eccentricity can be eliminated in the setting of first ball fixed orifices and first enlarged footing, only transmit circumferential direction for output, make output only rotate not swing.
As a further arrangement of the present invention, the tooth profile number of the inner circular arc tooth is 1 more than that of the epicycloidal tooth.
In the above technical solution, the difference between the number of the preferred inner circular arc teeth and the number of the preferred epicycloid teeth is 1, and the tooth profile of the cycloidal gear is a disc-shaped or circular gear with a cycloidal equidistant curve shape.
As a further setting of the utility model, swing structure is including setting up second ball fixed orifices and butt plane on cycloid gear's A face and installation cavity between the opposite face relative with the A face, and the second ball is arranged in and is the swing motion between second ball fixed orifices and the butt plane.
Among the above-mentioned technical scheme, some inlays of second ball and establishes in the second ball fixed orifices, and another part exposes outside the second ball fixed orifices and the butt is the cycloid rolling motion on the butt plane, and the second ball fixed orifices is spacing to the second ball, avoids the second ball to run indiscriminately, can reduce frictional force, makes things convenient for the assembly again to compress tightly.
As a further setting of the utility model, swing structure is including setting up ring channel and butt plane on the A face of cycloid gear and installation cavity between the opposite face relative with the A face, and the second ball is arranged in and is the swing motion between ring channel and the butt plane.
Among the above-mentioned technical scheme, some of second ball inlays to be established in the ring channel, and another part exposes outside the ring channel and the butt is the cycloid rolling motion on the butt plane, and the ring channel carries on spacingly to the second ball, avoids the second ball to run indiscriminately, can reduce frictional force, makes things convenient for the assembly to compress tightly again, and the width of this ring channel can also be greater than the maximum width that the second ball fell into the ring channel with the big or small adaptation of second ball.
As the utility model discloses a further setting, swing structure is including setting up on cycloid gear's A face and installation cavity and the expansion ring channel and the second ball fixed orifices between the opposite face relative with the A face, and the second ball is arranged in and is expanded and be swing motion between ring channel and the second ball fixed orifices, the radial swing distance of second ball in the expansion ring channel equals the eccentric value.
Among the above-mentioned technical scheme, a part of second ball falls into second ball fixed orifices, and another part falls into to enlarge the ring channel and is cycloid rolling motion, and second ball fixed orifices has a limiting displacement to the second ball, avoids the second ball to collide each other in enlarging the ring channel, can reduce frictional force, and convenient assembly compresses tightly again, and the width that here enlarges the ring channel is greater than the maximum width that the second ball falls into to enlarge the ring channel, and just differs at least one eccentric quantity.
As a further setting of the utility model, swing structure is including setting up the packing ring relative with the A face of cycloid gear in the installation cavity and setting up second enlarged footing and second ball fixed orifices on the A face of cycloid gear and packing ring, but packing ring and installation cavity rotate relatively, second enlarged footing and second ball fixed orifices one-to-one, second ball are arranged in between second enlarged footing and the second ball fixed orifices.
Among the above-mentioned technical scheme, a part of second ball falls into second ball fixed orifices, and another part falls into and is cycloid rolling motion in the second enlarged footing, and second ball fixed orifices has limiting displacement to the second ball, provides the reaction force, eliminates the eccentricity, can reduce frictional force, makes things convenient for the assembly again to compress tightly.
As a further configuration of the present invention, the bottom surfaces of the first and second enlarged holes are central convex annular arc grooves, and the first and second balls can roll in the respective annular arc grooves.
Among the above-mentioned technical scheme, the bottom surface in first enlarged footing and second enlarged footing also can be planar, and the preferred annular circular arc groove that is, the bottom in annular circular arc groove is convex, has avoided the stress concentration phenomenon of sword point form, has strengthened the intensity of organism or cycloid dish or output, and annular circular arc groove is radial not break through, has further strengthened the intensity of organism or cycloid dish or output, and the centre of a circle of each annular circular arc groove encloses into a circle.
As a further setting of the utility model, the axial cross-section of annular arc groove has two arc grooves, and the radius of this arc groove is unanimous with the radius of the first ball or the second ball that correspond, two perpendicular distance between the center of arc groove equals the twice of input shaft eccentric quantity.
Among the above-mentioned technical scheme, when first ball or second ball are located annular circular arc inslot, the distance between the central line of annular circular arc inslot to first ball or the second ball centre of sphere is the eccentric quantity of input shaft, first ball or second ball are rolling motion in annular circular arc inslot, make the friction little, the noise is little, the use loss is low, the life-span increase, power consumption is few, save the drive electric energy, the diameter of first ball and the diameter of second ball do not do the restriction here, and the diameter of first ball can be the same with the diameter of second ball also can be different.
As a further setting of the utility model, be provided with cross roller bearing between output and the organism, all be provided with antifriction bearing between organism, cycloid gear, output and the input shaft.
In the technical scheme, the standardized components are used for replacing non-standardized components, so that the cost is reduced, and the installation efficiency is improved.
As a further setting of the utility model, threaded connection has the adjusting nut who is used for adjusting the axial clearance on the organism, and this adjusting nut supports to press on cross roller bearing.
Among the above-mentioned technical scheme, adjusting nut circularizes, and with organism screw-thread fit for eliminate the axial clearance, and the setting of cross roller bearing and thrust bearing is all in order to reduce the running friction, reduces the running noise, increase of service life.
The present invention will be further described with reference to the accompanying drawings.
Drawings
FIG. 1 is a sectional view of the overall structure of the embodiment of the present invention;
FIG. 2 is an exploded view of the overall structure of the embodiment of the present invention;
FIG. 3 is an exploded view of the overall structure of the embodiment of the present invention;
FIG. 4 is a sectional view of the cycloid gear according to the embodiment of the present invention;
FIG. 5 is an enlarged fragmentary view A of FIG. 4;
FIG. 6 is an exploded view of the structure of example 1 of the swing structure;
FIG. 7 is a structural sectional view of embodiment 1 of the swing structure;
FIG. 8 is an exploded view of the structure of example 2 of the swing structure;
FIG. 9 is a structural sectional view of embodiment 2 of the swing structure;
fig. 10 is a structural sectional view of embodiment 3 of the swing structure.
Detailed Description
The embodiment of the present invention is shown in fig. 1-5, a cycloidal gear speed changing device, which comprises a body 1, an input shaft 2 with an eccentric structure, an output part 3, and a speed changing mechanism connecting the input shaft 2 and the output part 3, wherein the speed changing mechanism comprises a cycloidal gear 4 eccentrically driven by the input shaft 2, the body 1 is provided with an installation cavity 11 for installing the cycloidal gear 4, the outer circumferential surface of the cycloidal gear 4 is provided with epicycloidal teeth 41, the inner wall of the installation cavity 11 corresponding to the epicycloidal teeth 41 is provided with inner circular arc teeth 111, the number of tooth profiles of the inner circular arc teeth 111 is greater than that of the epicycloidal teeth 41 to form a meshed cycloidal motion, the axial two end surfaces of the cycloidal gear 4 are respectively an a surface 42 and a B surface 43, the a surface 42 and the B surface 43 of the cycloidal gear 4 are respectively provided with a plurality of second balls 421 and first balls 431 distributed around the circumferential direction, a swing structure for enabling the second ball 421 to swing is arranged between the surface a 42 of the cycloid gear 4 and the opposite surface of the installation cavity 11 opposite to the surface a 42, a plurality of first ball fixing holes 31 and first expansion holes 432 are arranged between the surface B43 of the cycloid gear 4 and the output part 3 and distributed circumferentially, the first ball fixing holes 31 and the first expansion holes 432 are in one-to-one correspondence, and the first balls 431 are arranged between the first ball fixing holes 31 and the first expansion holes 432 to realize transmission connection.
The arrangement of the swing structure is to avoid the abutment of the a surface 42 of the cycloid gear 4 on the inner wall of the machine body 1, which reduces friction and facilitates assembly and compression, the meshing cycloid motion between the epicycloid teeth 41 and the inner circular teeth 111 realizes a speed change function, the inner circular teeth 111 can be formed by uniformly distributing and fixing a plurality of cylinders on the inner wall of the mounting cavity 11, or the cylinders and the machine body 1 are integrally arranged, the arrangement of the first ball fixing hole 31 and the first enlarged hole 432 can eliminate the swinging eccentricity r, only the circumferential rotation is transmitted to the output part 3, and the output part 3 only rotates without swinging.
Epicycloid: when a moving circle having a radius b rolls along the outer side of a fixed circle having a radius a without sliding, the locus of a point described by a point p on the circumference of the moving circle is called an epicycloid.
The number of the inner circular-arc teeth 111 is 1 more than that of the epicycloidal teeth 41. The difference between the number of teeth of the inner circular arc teeth 111 and the number of teeth of the epicycloidal teeth 41 is preferably 1, and the tooth profile of the cycloid gear 4 is a disc-shaped or circular ring-shaped gear of a cycloid equidistant curve shape.
As shown in fig. 6 and 7, embodiment 1 of the swing structure: the second ball 421 is disposed between the second ball fixing hole 1121 and the abutment plane 1122 between the a-face 42 of the cycloid gear 4 and the opposite face of the mounting cavity 11 opposite to the a-face 42, and swings. One part of the second ball 421 is embedded in the second ball fixing hole 1121, the other part of the second ball 421 is exposed out of the second ball fixing hole 1121 and abuts against the abutting plane 1122 to perform cycloidal rolling motion, the second ball fixing hole 1121 limits the second ball 421, the second ball 421 is prevented from running in a mess, friction force can be reduced, and assembly and compression are facilitated.
As shown in fig. 8 and 9, embodiment 2 of the swing structure: the second ball 421 is placed between the annular groove 423 and the abutting plane 1122 to perform a swing motion, and includes the annular groove 423 and the abutting plane 1122 which are provided between the a-surface 42 of the cycloid gear 4 and the opposite surface of the mounting cavity 11 which is opposite to the a-surface 42. One part of the second ball 421 is embedded in the annular groove 423, the other part of the second ball is exposed outside the annular groove 423 and is abutted on the abutting plane 1122 to perform cycloid rolling motion, the annular groove 423 limits the second ball 421, the second ball 421 is prevented from running in a mess, friction force can be reduced, the assembly and the compression are convenient, and the width of the annular groove 423 can be matched with the size of the second ball 421 and can also be larger than the maximum width of the second ball 421 falling into the annular groove 423.
As shown in fig. 10, embodiment 3 of the swing structure: the swing mechanism comprises an enlarged annular groove 424 and a second ball fixing hole 1121 which are arranged between the surface A42 of the cycloid gear 4 and the opposite surface of the installation cavity 11 opposite to the surface A42, a second ball 421 is placed between the enlarged annular groove 424 and the second ball fixing hole 1121 to swing, and the radial swing distance of the second ball 421 in the enlarged annular groove 424 is equal to the eccentricity r. One part of the second ball 421 falls into the second ball fixing hole 1121, the other part falls into the enlarged annular groove 424 to perform cycloid rolling movement, the second ball fixing hole 1121 has a limiting effect on the second ball 421 to prevent the second ball 421 from colliding with each other in the enlarged annular groove 424, so that friction force can be reduced, the assembly and the compression are convenient, the width of the enlarged annular groove 424 is larger than the maximum width of the second ball 421 falling into the enlarged annular groove 424, and the difference is at least one eccentric amount r.
The bottom surfaces of the first enlarged hole 432 and the second enlarged hole 422 are both annular arc grooves 4321, 4221 of the central protrusions 4322, 4222, and the first ball 431 and the second ball 421 can roll in the respective annular arc grooves 4321, 4221. The bottom surfaces of the first enlarged hole 432 and the second enlarged hole 422 may be planar, preferably, the annular circular arc grooves 4321, 4221 are circular arc-shaped, the bottom of the annular circular arc grooves 4321, 4221 is circular arc-shaped, so that the stress concentration phenomenon of the cutter point shape is avoided, the strength of the machine body 1 or the cycloid disc or the output part 3 is enhanced, the annular circular arc grooves 4321, 4221 are not penetrated in the radial direction, the strength of the machine body 1 or the cycloid disc or the output part 3 is further enhanced, and the circle center of each annular circular arc groove 4321, 4221 surrounds a circle.
The annular arc grooves 4321, 4221 have two arc grooves 4321a, 4221a in an axial cross section, the radius of the arc grooves 4321a, 4221a is identical to the radius of the corresponding first ball 431 or second ball 421, and the vertical distance between the centers of the two arc grooves 4321a, 4221a is equal to twice the eccentric amount r of the input shaft 2. When the first ball 431 or the second ball 421 is located in the circular arc groove 4321, 4221, the distance between the center line of the circular arc groove 4321, 4221 and the center of the first ball 431 or the second ball 421 is the eccentric amount r of the input shaft 2, the first ball 431 or the second ball 421 rolls in the circular arc groove 4321, 4221, so that the friction is small, the noise is small, the use loss is low, the service life is prolonged, the power consumption is low, and the driving electric energy is saved.
A crossed roller bearing 5 is arranged between the output part 3 and the machine body 1, and rolling bearings 6 are arranged among the machine body 1, the cycloid gear 4, the output part 3 and the input shaft 2. And the standardized components are used for replacing non-standardized components, so that the cost is reduced, and the installation efficiency is improved.
An adjusting nut 7 for adjusting the axial clearance is connected to the machine body 1 in a threaded manner, and the adjusting nut 7 is pressed against the crossed roller bearing 5. The adjusting nut 7 is annular and is in threaded fit with the machine body 1 and used for eliminating axial clearance, and the crossed roller bearing 5 and the thrust bearing 6 are arranged to reduce rotating friction, reduce running noise and prolong the service life.
The utility model discloses do not confine the above-mentioned embodiment to, the general technical personnel in this field can adopt other multiple embodiments to implement according to the utility model discloses a, perhaps all adopt the utility model discloses a design structure and thinking do simple change or change, all fall into the utility model discloses a protection scope.
Claims (10)
1. A cycloidal gear change mechanism comprising a body, an input shaft having an eccentric structure, an output portion and a change mechanism connecting the input shaft and the output portion, characterized in that: the speed change mechanism comprises a cycloid gear eccentrically driven by an input shaft, a mounting cavity for mounting the cycloid gear is arranged on the machine body, epicycloidal teeth are arranged on the outer peripheral surface of the cycloid gear, inner circular arc teeth are arranged on the inner wall of the mounting cavity corresponding to the epicycloidal teeth, the number of tooth profiles of the inner circular arc teeth is larger than that of the outer cycloid teeth to form meshed cycloid motion, the axial two end surfaces of the cycloid gear are respectively an A surface and a B surface, a plurality of second balls and first balls which are circumferentially distributed are respectively arranged on the A surface and the B surface of the cycloid gear, a swing structure for enabling the second balls to swing is arranged between the A surface of the cycloid gear and the opposite surface of the mounting cavity opposite to the A surface, a plurality of first ball fixing holes and first enlarged holes which are circumferentially distributed are arranged between the B surface and the output part of the cycloid gear, first ball fixed orifices and first enlarged footing one-to-one, first ball is arranged in and is realized the transmission between first ball fixed orifices and the first enlarged footing.
2. The cycloidal gear change of claim 1 wherein: the number of the tooth profiles of the inner circular arc teeth is 1 more than that of the outer cycloid teeth.
3. The cycloidal gear change mechanism according to claim 1 or 2, wherein: the swing structure comprises a second ball fixing hole and an abutting plane which are arranged on the A face of the cycloid gear and the mounting cavity and between opposite faces opposite to the A face, and the second ball is arranged between the second ball fixing hole and the abutting plane to swing.
4. The cycloidal gear change mechanism according to claim 1 or 2, wherein: the swing structure comprises an annular groove and a butting plane which are arranged on the surface A of the cycloid gear and the mounting cavity and between opposite surfaces opposite to the surface A, and the second ball is arranged between the annular groove and the butting plane to swing.
5. The cycloidal gear change mechanism according to claim 1 or 2, wherein: the swing structure comprises an expansion annular groove and a second ball fixing hole which are arranged on the A surface of the cycloid gear and the opposite surface of the installation cavity opposite to the A surface, the second ball is arranged between the expansion annular groove and the second ball fixing hole to swing, and the radial swing distance of the second ball in the expansion annular groove is equal to the eccentric amount.
6. The cycloidal gear change mechanism according to claim 1 or 2, wherein: the swing structure comprises a gasket, a second expansion hole and a second ball fixing hole, wherein the gasket is arranged in the mounting cavity and opposite to the surface A of the cycloid gear, and the second expansion hole and the second ball fixing hole are arranged on the surface A of the cycloid gear and the gasket.
7. The cycloidal gear change of claim 6 wherein: the bottom surfaces of the first expanding hole and the second expanding hole are both annular arc grooves with center protrusions, and the first ball and the second ball can roll in the respective annular arc grooves.
8. The cycloidal gear change of claim 7 wherein: the axial section of the annular arc groove is provided with two arc grooves, the radius of each arc groove is consistent with that of the corresponding first ball or second ball, and the vertical distance between the centers of the two arc grooves is equal to twice of the eccentric amount of the input shaft.
9. The cycloidal gear change mechanism of claim 1 or 2 or 7 or 8, wherein: and a crossed roller bearing is arranged between the output part and the machine body, and rolling bearings are arranged among the machine body, the cycloid gear, the output part and the input shaft.
10. The cycloidal gear change of claim 9 wherein: and the machine body is in threaded connection with an adjusting nut for adjusting the axial clearance, and the adjusting nut is pressed against the crossed roller bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021317455.3U CN212717835U (en) | 2020-07-07 | 2020-07-07 | Cycloidal gear speed change device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021317455.3U CN212717835U (en) | 2020-07-07 | 2020-07-07 | Cycloidal gear speed change device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212717835U true CN212717835U (en) | 2021-03-16 |
Family
ID=74965711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021317455.3U Active CN212717835U (en) | 2020-07-07 | 2020-07-07 | Cycloidal gear speed change device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212717835U (en) |
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2020
- 2020-07-07 CN CN202021317455.3U patent/CN212717835U/en active Active
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: ZHEJIANG UNIVERSE FILTER Co. Assignor: HSOAR GROUP Co.,Ltd. Contract record no.: X2021330000378 Denomination of utility model: Cycloidal gear transmission Granted publication date: 20210316 License type: Common License Record date: 20211009 |
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| EE01 | Entry into force of recordation of patent licensing contract |