CN217081280U - Simple cycloid wheel type cycloid speed reducer for robot - Google Patents
Simple cycloid wheel type cycloid speed reducer for robot Download PDFInfo
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- CN217081280U CN217081280U CN202220883665.1U CN202220883665U CN217081280U CN 217081280 U CN217081280 U CN 217081280U CN 202220883665 U CN202220883665 U CN 202220883665U CN 217081280 U CN217081280 U CN 217081280U
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Abstract
The utility model discloses a cycloid speed reducer of single cycloid wheel type for robot, which comprises an input crankshaft, a cycloid wheel connected with the input crankshaft, flange disc assemblies connected with the two ends of the input crankshaft and a gear shell; the cycloid wheel and the flange component are assembled with the gear shell, and the outer peripheral surface of the cycloid wheel is meshed with the needle teeth; the middle part of the input crankshaft is provided with a circular truncated cone with the section size larger than that of a main shaft of the input crankshaft, and the circular truncated cone and the main shaft are eccentrically arranged. The utility model discloses a cycloid reduction gear of simple cycloid wheel formula for robot, wheeled structure adjustment of the double cycloid of traditional cycloid reduction gear is single cycloid wheeled structure, thereby the effect of apparent reduction volume and weight has been reached, and the cost of whole reduction gear has been reduced, under the scene of joint reciprocating motion such as robot, good performance has, selectable ring flange or tooth shell make it have more nimble application scene as output mechanism, be particularly useful for the application in transmission fields such as robot, arm.
Description
Technical Field
The utility model relates to a robot transmission technical field especially relates to a cycloid reduction gear of single cycloid wheel formula for robot.
Background
The cycloidal reducer is a common transmission mechanism, has the advantages of large reduction ratio, high transmission efficiency, low noise, no tooth breakage, long service life and the like, is widely applied to industries such as petroleum, environmental protection, chemical engineering, cement, transportation and the like, and mainly comprises a cycloidal gear, a gear shell and a flange plate.
In the prior art, a cycloid speed reducer is large in size, large in return clearance and large in occupied space, and is mainly used in high-load scenes. And the application scene with compact space cannot be met. See cycloidal speed reducers disclosed in the prior art CN1506594A and cycloidal speed reducers disclosed in CN103075470A for details.
Most of cycloid speed reducers disclosed by the prior art are suitable for the field of heavy industry, and the size of the speed reducer is large and cannot be met in some small-space scenes.
In view of the above problems in the prior art, there is a need for a single-cycloid-wheel-type cycloidal reducer suitable for robots and meeting the requirements of small space integration and power transmission.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a compact structure is small light in weight, can be used to select fixed tooth shell to use the flange as output and mounting flange to use the single cycloidal wheeled cycloid reduction gear of tooth shell as the applied scene of output.
In order to achieve the above object, the present invention provides the following technical solutions:
the utility model discloses a cycloid reduction gear of single cycloid wheel formula for robot, this cycloid reduction gear includes:
an input crankshaft;
the cycloidal gear is connected with the input crankshaft and is driven to rotate by the input crankshaft;
the flange plate assemblies are connected to two ends of the input crankshaft; and
the inner ring of the gear shell is provided with a plurality of pin teeth at intervals through pin tooth grooves;
the cycloidal gear and the flange plate component are assembled with the gear shell, and the outer peripheral surface of the cycloidal gear is meshed with the needle teeth;
the middle part of the input crankshaft is provided with a circular truncated cone with the section size larger than that of a main shaft of the input crankshaft, and the circular truncated cone and the main shaft are eccentrically arranged.
Furthermore, a cycloid wheel bearing is installed at the center of the cycloid wheel, and the cycloid wheel is connected with the circular truncated cone through the cycloid wheel bearing;
the main shaft drives the cycloid wheel to swing through the circular truncated cone.
Furthermore, tooth grooves are formed in the peripheral surface of the cycloidal gear at intervals, and the cycloidal gear is meshed with the needle teeth through the tooth grooves;
and a plurality of column pin holes are uniformly distributed on the cycloid wheel along the circumferential direction of the cycloid wheel.
Further, the flange plate assembly is divided into a first flange plate assembly and a second flange plate assembly;
the first flange assembly includes:
a first flange plate;
the first flange inner bearing is arranged on the first flange inner ring; and
the first flange outer bearing is arranged on the first flange outer ring;
the first flange plate is provided with a first hole which is coaxial with the pin hole along the circumferential direction;
the second flange assembly includes:
a second flange plate;
the second flange inner bearing is arranged at the second flange inner ring; and
a second flange outer bearing mounted on the second flange outer ring;
and a second hole coaxial with the pin hole is formed in the second flange disc along the circumferential direction of the second flange disc.
Furthermore, the cycloidal gear is in transmission connection with the flange plate through a pin;
the pin includes:
a pin body;
the steel sleeve is sleeved on the pin body;
the pin is connected with a pin hole of the cycloidal gear through the steel sleeve;
one end of the pin body extends to the first flange plate and is connected with the first hole of the first flange plate;
the other end of the pin body extends to the second flange plate and is connected with a second hole of the second flange plate.
Furthermore, a gasket is arranged on the outer side surface of the cycloidal wheel bearing.
In the above technical scheme, the utility model provides a pair of a wheeled cycloid reduction gear of single cycloid for robot has following beneficial effect:
the utility model discloses an input crankshaft of cycloid reduction gear adopts the eccentric structure of placing of a cycloid wheel for whole weight is lighter, and the volume is littleer, and the structure is simplified more, has improved transmission efficiency simultaneously.
The pin of the cycloid speed reducer adopts a simply supported beam structure, so that the bearing capacity of the cycloid speed reducer is greatly improved; meanwhile, the flange plate and the pin can be made of different processing materials by the structure, and the flange plate with low hardness and weight and the pin with high hardness and weight are matched for use, so that the weight of the flange plate is reduced while the bearing capacity is enhanced.
The pin of the cycloid speed reducer of the utility model is provided with the steel sleeve, rather than directly making the pin contact and rub with the cycloid wheel hole, so that the transmission process is smoother, and the transmission efficiency is improved; the needle teeth are placed in the needle tooth grooves on the tooth shell, so that the space of the tooth shell is effectively utilized, the contact area between the needle teeth and the needle tooth grooves is increased, and the needle teeth can bear larger force.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is also possible for a person skilled in the art to obtain other drawings according to these drawings.
Fig. 1 is an exploded view of a simple cycloid wheel type cycloid speed reducer for a robot according to an embodiment of the present invention;
fig. 2 is a front view of a cycloid speed reducer of a single cycloid wheel type for a robot according to an embodiment of the present invention;
fig. 3 is a sectional view taken along line a-a in fig. 2.
Description of reference numerals:
1. a gear housing; 2. an input crankshaft; 3. a cycloid wheel; 4. a pin; 5. a first flange assembly; 6. a second flange assembly;
101. needle teeth;
201. a main shaft; 202. a circular truncated cone; 203. a gasket;
301. a cycloid wheel bearing; 302. a pin hole;
401. a pin body; 402. steel jacket;
501. a first flange plate; 502. a first flange inner bearing; 503. a first flange outer bearing; 504. a first hole;
601. a second flange plate; 602. a second flange inner bearing; 603. a second flange outer bearing; 604. a second aperture.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.
See fig. 1-3;
the utility model discloses a cycloid reduction gear of single cycloid wheel formula for robot, this cycloid reduction gear includes:
an input crankshaft 2;
a cycloid wheel 3 connected with the input crankshaft 2 and driven to rotate by the input crankshaft 2;
flange plate components connected to two ends of the input crankshaft 2; and
the gear shell 1 is characterized in that a plurality of pin teeth 101 are arranged on the inner ring of the gear shell 1 at intervals through pin tooth grooves;
the cycloid gear 3 and the flange component are both assembled with the gear shell 1, and the peripheral surface of the cycloid gear 3 is meshed with the needle teeth 101;
the middle part of the input crankshaft 2 is provided with a circular truncated cone 202 with the section size larger than that of a main shaft 201 of the input crankshaft 2, and the circular truncated cone 202 and the main shaft 201 are eccentrically arranged.
Specifically, the embodiment discloses a cycloidal reducer of a single cycloidal gear type, which is suitable for small-space integration and transmission, and is mainly suitable for the field of robots, and comprises a gear shell 1, an input crankshaft 2, a cycloidal gear 3 and flange plate assemblies at two ends; in order to increase the contact area and reduce the space size, a needle tooth groove is formed inside the gear housing 1 of the embodiment, and the needle tooth 101 is fixed in the needle tooth groove; meanwhile, in order to realize revolution and rotation, and power transmission, the middle part of the input crankshaft 2 of the embodiment is provided with 1 circular truncated cone 202 which is eccentrically arranged and has a section size larger than that of the spindle 201, and the cycloid wheel 3 connected with the circular truncated cone 202 is utilized, so that the cycloid wheel 3 is driven to revolve around the circular truncated cone.
Preferably, a cycloid wheel bearing 301 is installed at the center of the cycloid wheel 3 of the present embodiment, and the cycloid wheel 3 is connected with the circular truncated cone 202 through the cycloid wheel bearing 301;
the main shaft 201 drives the cycloid wheel 3 to swing through the circular table 202.
In order to be matched with the needle teeth 101 in the gear housing 1, the outer peripheral surface of the cycloid wheel 3 of the embodiment is provided with tooth grooves at intervals, and the cycloid wheel 3 is meshed with the needle teeth 101 through the tooth grooves;
the cycloid wheel 3 is evenly provided with a plurality of pin holes 302 along the circumferential direction.
Firstly, based on the structure of the input crankshaft 2, the present embodiment further defines the composition and structure of the cycloid wheel 3, the cycloid wheel 3 is internally provided with a cycloid wheel bearing 302, the cycloid wheel bearing 302 is connected with the circular table 202, and the cycloid wheel 3 revolves around the spindle 201 due to the force transmission of the cycloid wheel bearing 302; and the tooth grooves on the outer peripheral surface of the cycloid wheel 3 can be meshed with the corresponding needle teeth 101, so that the occupied space is further reduced.
Preferably, the flange plate assembly of the present embodiment is divided into a first flange plate assembly 5 and a second flange plate assembly 6;
the first flange assembly 5 includes:
a first flange plate 501;
a first flange inner bearing 502 mounted on an inner ring of the first flange 501; and
a first flange outer bearing 503 mounted on an outer ring of the first flange 501;
the first flange plate 501 is provided with a first hole 504 which is coaxial with the pin hole 302 along the circumferential direction;
the second flange assembly 6 includes:
a second flange plate 601;
a second flange inner bearing 602 mounted on an inner ring of the second flange 601; and
a second flange outer bearing 603 mounted on the outer ring of the second flange 601;
the second flange 601 is formed with a second hole 604 along its circumferential direction, which is coaxial with the pin hole 302.
Based on the above embodiment, the cycloid wheel 3 and the flange plate of the embodiment are in transmission connection through the pin 4;
the pin 4 includes:
a pin body 401;
a steel sleeve 402 sleeved on the pin body 401;
the pin 4 is connected with the pin hole 302 of the cycloidal gear 3 through a steel sleeve 402;
one end of the pin body 401 extends to the first flange plate 501 and is connected with the first hole 504 of the first flange plate 501;
the other end of the body 401 extends to the second flange 601 and connects to a second hole 604 in the second flange 601.
The structure of the flange plate assembly is defined in detail, and the flange plate assembly comprises a flange plate, an inner bearing arranged on the inner ring of the flange plate and an outer bearing arranged on the outer ring of the flange plate; the cycloid wheel 3 and the flange plate are connected through a pin 4, and in order to reduce transmission friction, a steel sleeve 402 is sleeved in the middle of the pin 4 and is in transmission connection with a cycloid wheel bearing of the cycloid wheel through the steel sleeve 402.
When the synchronous rotating device works, high-speed rotation is firstly provided by the outside, the high-speed rotation is connected to the input crankshaft 2 to drive the input crankshaft 2 to synchronously rotate, and the circular table 202 of the input crankshaft 2 is not concentric with the main shaft 201; the circular truncated cone 202 is provided with a cycloid wheel bearing 302, and a cycloid wheel 3 is arranged on the circular truncated cone; when the main shaft 201 of the input crankshaft 2 rotates, the cycloidal gear 3 is driven to revolve around the main shaft due to the eccentric action;
further, the outer side of the cycloid gear 3 meshes with the pin gear 101 installed in the inner ring of the gear housing 1, and the gear housing 1 does not move circumferentially with the pin gear 101 itself, thereby causing the cycloid gear 3 to rotate on its own while revolving around the input crankshaft 2; the rotation angular speed is obviously lower than the rotation speed of the input crankshaft 2 through theoretical calculation;
because the pin 4 and the steel sleeve 402 pass through the pin hole 302 of the cycloidal gear 3, the cycloidal gear 3 can drive the pin 4 and the steel sleeve 402 to synchronously rotate when rotating, and further drive the flange plates at two ends fixedly connected with the pin 4 to synchronously rotate, the rotating speed of the cycloidal gear is low, and the flange plates can be used as output shafts, so that the speed reduction purpose of converting high-rotating-speed input into low-rotating-speed output is achieved.
Preferably, the spacers 203 are mounted on the outer side surfaces of the cycloid wheel bearings 302 of the present embodiment.
In addition, because the motion of tooth shell 1 and flange dish is relative, during the use, can select fixed tooth shell 1 to use the flange as output, also can select fixed flange to use tooth shell 1 as output, specific process is no longer repeated.
In addition, the pin body 401 of the cycloid speed reducer described in this patent uses the steel sleeve 402 to roll and drive to improve the transmission efficiency, which should not limit the protection scope of this patent. In addition to the steel sleeve 402, a bearing or the like may be used instead of the steel sleeve 402, or the steel sleeve 402 may be omitted as it is, outside the pin body 401.
In addition, the cycloid speed reducer described in this patent uses the flange as the output mechanism or uses the gear housing 1 as the output mechanism, which should not limit the protection scope of this patent, and the flange can be designed as a shaft and the shaft output scheme can be adopted.
In the technical scheme, the utility model provides a pair of a simple cycloid wheel formula cycloid reduction gear for robot has following beneficial effect:
the utility model discloses an input crankshaft of cycloid reduction gear adopts the eccentric structure of placing of 1 cycloid wheel for whole weight is lighter, and the volume is littleer, and the structure is simplified more, has improved transmission efficiency simultaneously.
The pin of the cycloid speed reducer adopts a simply supported beam structure, so that the bearing capacity of the cycloid speed reducer is greatly improved; meanwhile, the flange plate and the pin can be made of different processing materials by the aid of the structure, and the flange plate with low hardness and weight and the pin with high hardness and weight are matched for use, so that the bearing capacity is enhanced, and the weight is reduced.
The pin of the cycloid speed reducer of the utility model is provided with the steel sleeve, rather than directly making the pin contact and rub with the cycloid wheel hole, so that the transmission process is smoother, and the transmission efficiency is improved; the needle teeth are placed in the needle tooth grooves on the tooth shell, so that the space of the tooth shell is effectively utilized, the contact area between the needle teeth and the needle tooth grooves is increased, and the needle teeth can bear larger force.
The foregoing describes certain exemplary embodiments of the present invention by way of illustration only, and not limitations on the scope of the claims, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art should fall within the scope of the present invention defined by the claims.
Claims (6)
1. A cycloid speed reducer of a simple cycloid wheel type for a robot, characterized by comprising:
an input crankshaft (2);
the cycloidal gear (3) is connected with the input crankshaft (2) and is driven to rotate by the input crankshaft (2);
a flange plate assembly connected to both ends of the input crankshaft (2); and
the gear shell (1), a plurality of needle teeth (101) are arranged on the inner ring of the gear shell (1) at intervals through a needle tooth groove;
the cycloid wheel (3) and the flange plate component are assembled with the gear shell (1), and the outer peripheral surface of the cycloid wheel (3) is meshed with the needle teeth (101);
the middle part of the input crankshaft (2) is provided with a circular truncated cone (202) with the section size larger than that of a main shaft (201) of the input crankshaft (2), and the circular truncated cone (202) and the main shaft (201) are arranged in an eccentric mode.
2. The cycloid speed reducer of simple cycloid gear type for robot of claim 1, characterized in that a cycloid wheel bearing (301) is installed at the center of the cycloid wheel (3), and the cycloid wheel (3) is connected with the circular truncated cone (202) through the cycloid wheel bearing (301);
the main shaft (201) drives the cycloidal gear (3) to swing through the circular truncated cone (202).
3. The cycloid reducer of the simple cycloid gear type for robot according to claim 2, characterized in that tooth grooves are provided at intervals on the outer circumferential surface of the cycloid gear (3), and the cycloid gear (3) is engaged with the pin teeth (101) through the tooth grooves;
and a plurality of pin holes (302) are uniformly distributed on the cycloid wheel (3) along the circumferential direction.
4. The cycloid reducer of the simple cycloid type for a robot of claim 3, wherein the flange assembly is divided into a first flange assembly (5) and a second flange assembly (6);
the first flange assembly (5) comprises:
a first flange (501);
a first flange inner bearing (502) mounted on the inner ring of the first flange (501); and
a first flange outer bearing (503) mounted on the outer ring of the first flange (501);
the first flange plate (501) is provided with a first hole (504) which is coaxial with the pin hole (302) along the circumferential direction;
the second flange assembly (6) comprises:
a second flange (601);
a second flange inner bearing (602) mounted on the inner ring of the second flange (601); and
a second flange outer bearing (603) mounted on the outer ring of the second flange (601);
and a second hole (604) which is coaxial with the pin hole (302) is formed in the second flange plate (601) along the circumferential direction of the second flange plate.
5. The cycloid reducer of the simple cycloid wheel type for robot of claim 4, characterized in that the cycloid wheel (3) and the flange disc assembly are drivingly connected by a pin (4);
the pin (4) comprises:
a pin body (401);
a steel sleeve (402) sleeved on the pin body (401);
the pin (4) is connected with a pin hole (302) of the cycloidal gear (3) through the steel sleeve (402);
one end of the pin body (401) extends to the first flange plate (501) and is connected with a first hole (504) of the first flange plate (501);
the other end of the pin body (401) extends to the second flange plate (601) and is connected with a second hole (604) of the second flange plate (601).
6. The cycloid speed reducer of a simple cycloid gear type for a robot of claim 2, wherein a spacer (203) is installed at an outer side surface of the cycloid wheel bearing (301).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220883665.1U CN217081280U (en) | 2022-04-15 | 2022-04-15 | Simple cycloid wheel type cycloid speed reducer for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220883665.1U CN217081280U (en) | 2022-04-15 | 2022-04-15 | Simple cycloid wheel type cycloid speed reducer for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217081280U true CN217081280U (en) | 2022-07-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220883665.1U Active CN217081280U (en) | 2022-04-15 | 2022-04-15 | Simple cycloid wheel type cycloid speed reducer for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217081280U (en) |
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2022
- 2022-04-15 CN CN202220883665.1U patent/CN217081280U/en active Active
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