WO2020057164A1

WO2020057164A1 - Vector cycloid transmission unit

Info

Publication number: WO2020057164A1
Application number: PCT/CN2019/087779
Authority: WO
Inventors: 黄志�; 叶华平; 张晓航
Original assignee: 海尚集团有限公司
Priority date: 2018-09-18
Filing date: 2019-05-21
Publication date: 2020-03-26
Also published as: CN109139811A

Abstract

A vector cycloid transmission unit comprises a cycloidal disk (3) and multiple circumferentially distributed balls (4). An upper fixing and holding plate (1) and a lower fixing and holding plate (2) are respectively provided on two axial sides of the cycloidal disk (3). The upper fixing and holding plate (1) is fixedly connected to the lower fixing and holding plate (2). A cycloid slot (31) and ball fixing holes (11, 21) are respectively provided on opposing surfaces of the cycloidal disk (3) and the upper fixing and holding plate (1). A cycloid slot (31) and ball fixing holes (11, 21) are also respectively provided on opposing surfaces of the cycloidal disk (3) and the lower fixing and holding plate (1). The balls (4) are placed between the cycloid slot (31) and the ball fixing holes (11, 21), such that coordinated cycloidal motion is achieved between the cycloidal disk (3) and the upper fixing and holding plate (1) and between the cycloidal disk (3) and the lower fixing and holding plate (2). The vector cycloid transmission unit having the above structure does not generate an axial force.

Description

矢量摆线变速单元技术领域 Vector cycloidal transmission unit

[0001] 本发明涉及机械传动技术领域，特别是一种应用于多关节机器人的矢量摆线变速单元。 [0001] The present invention relates to the technical field of mechanical transmission, and in particular, to a vector cycloidal speed changing unit applied to a multi-joint robot.

背景技术 Background technique

[0002] 目前，应用于机器人、精密机床、航空航天等精密伺服机构的传动装置要求有高传动精度，高传动刚度，传动比大，传动效率高，体积小、重量轻，传动回差小，转动件的转动惯量小等特点。为了设计出符合上述要求的转动装置，中国专利公开的一项名称为“无齿轮的差动减速器”的申请 (CN86104457) ，采用一对分别加工有内摆线滚道的盘和加工有外摆线滚道的盘为啮合传动副，两盘相对并在滚道中放入传动钢球，它利用了摆线传动的优点，并且钢球能循环运动。 [0002] At present, transmission devices used in precision servo mechanisms such as robots, precision machine tools, and aerospace require high transmission accuracy, high transmission rigidity, large transmission ratio, high transmission efficiency, small size, light weight, and small transmission return difference. Small inertia of rotating parts. In order to design a rotating device that meets the above requirements, an application named "Gearless Differential Reducer" published by the Chinese patent (CN86104457) uses a pair of disks with internal cycloidal raceways and external The disk of the cycloidal raceway is a meshing transmission pair. The two disks are opposite to each other and a transmission steel ball is placed in the raceway. It takes advantage of the cycloidal transmission and the steel ball can circulate.

[0003] 另外在 2012年公布的 CN102767600A中，披露了一种利用 S形摆线槽及其内置的滚珠实现减速的 BS减速机，这项技术不需要借助齿轮或蜗轮传动来实现变速，在一定程度上降低了减速机的噪音，提高了传动效率。 [0003] In addition, CN102767600A, published in 2012, discloses a BS speed reducer that uses S-shaped cycloid grooves and its built-in balls to reduce speed. This technology does not require gear or worm gear transmission to achieve speed change. To a certain extent, the noise of the reducer is reduced, and the transmission efficiency is improved.

[0004] 公告号为 CN104964011A公开了一种用于多关节机器人的十字滑块驱动减速机，这项技术也是采用驱动滚珠在运动轨迹内的传动来实现减速，在一定程度上降低了减速机的噪音，提高了传动效率。 [0004] Bulletin number CN104964011A discloses a cross-slider drive speed reducer for a multi-joint robot. This technology also uses the transmission of the driving ball in the motion track to achieve speed reduction, which reduces the speed of the speed reducer to a certain extent. Noise improves transmission efficiency.

[0005] 申请号为 201610997116 .6，名称为随动式驱动减速机的申请公开了通过传动滚珠固定在输出轴上传动滚珠固定孔上，让传动滚珠在差动变速器的滚珠运动轨道中运动，在运动过程滚珠不会发生移位，保证减速机正常运动。 [0005] The application number is 201610997116.6, and the application titled Follower Drive Reducer discloses that the transmission ball is fixed on the transmission ball fixing hole on the output shaft through the transmission ball, so that the transmission ball moves in the ball movement track of the differential transmission, The ball will not shift during the movement to ensure the normal movement of the reducer.

[0006] 在先申请的申请号为 201810297804.0，名称为矢量摆线变速器的申请公开了将滚珠设置在摆线盘的摆线槽和驱动盘的滚珠固定孔中进行变速传动，其中，摆线盘固定在机体上，驱动盘由输入轴驱动，该变速器是由两个变速器组合而成 [0006] The application number of the earlier application is 201810297804.0, and the application entitled Vector Cycloidal Transmission discloses that the ball is arranged in the cycloid groove of the cycloid disk and the ball fixing hole of the driving disk for variable speed transmission, wherein the cycloid disk Fixed on the body, the drive disk is driven by the input shaft, the transmission is a combination of two transmissions

[0007] 上述各个公开文件中，滚珠均是在弧形的槽内运动，而且滚珠本身呈圆球形，所以槽对滚珠的作用力是各个方向上的，因此变速过程中，起到变速功能的变速单元在传动过程中不仅存在径向力还会产生轴向力，且该轴向力是单向的轴向力，所以长时间工作后，各个部件之间在轴向上不断遭受挤压，产生巨大的摩擦力，造成变速机输出不平稳、步进震动、发热量大、磨损率高等不良的现象。 [0007] In each of the above-mentioned publications, the balls move in an arc-shaped groove, and the balls themselves are spherical, Therefore, the force of the groove on the balls is in all directions. Therefore, during the speed change process, the speed change unit that performs the speed change function not only has a radial force but also an axial force during the transmission process, and the axial force is unidirectional. Axial force, so after working for a long time, each component is continuously squeezed in the axial direction, which generates huge friction force, which causes the output of the transmission to be unstable, stepping vibration, large heat generation, high wear rate and other undesirable phenomena. .

发明概述 Summary of invention

技术问题 technical problem

[0008] 为了克服现有技术的不足，本发明提供了一种不会产生轴向力的矢量摆线变速单元。 [0008] In order to overcome the shortcomings of the prior art, the present invention provides a vector cycloidal transmission unit that does not generate an axial force.

问题的解决方案 Problem solution

技术解决方案 Technical solutions

[0009] 为了实现上述目的，本发明采用的技术方案是：一种矢量摆线变速单元，包括摆线盘以及绕周向分布的若干个滚珠，所述摆线盘的轴向两侧分别设置有上固定夹板和下固定夹板，上固定夹板和下固定夹板固定连接，所述摆线盘和上固定夹板的相对面上分别设置有摆线槽和滚珠固定孔，摆线盘和下固定夹板的相对面上也分别设置有摆线槽和滚珠固定孔，滚珠置于摆线槽和滚珠固定孔之间使摆线盘与上固定夹板和下固定夹板均构成协调一致的摆线运动配合。 [0009] In order to achieve the above object, the technical solution adopted by the present invention is: a vector cycloidal transmission unit, comprising a cycloidal disc and a plurality of balls distributed around a circumferential direction, and the axial sides of the cycloidal disc are respectively provided There are an upper fixing splint and a lower fixing splint, the upper fixing splint and the lower fixing splint are fixedly connected, and the cycloid plate and the upper fixing splint are respectively provided with cycloid grooves and ball fixing holes on the opposite faces, and the cycloid plate and the lower fixing splint Opposite surfaces of the trochoid are also provided with cycloid grooves and ball fixing holes, respectively. Balls are placed between the cycloid grooves and ball fixing holes, so that the cycloid plate and the upper and lower fixed clamping plates form a coordinated and coordinated cycloidal movement.

发明的有益效果 The beneficial effects of the invention

有益效果 Beneficial effect

[0010] 上述技术方案中，由于摆线槽的内壁是呈弧面设置的，所以当滚珠在做摆线运动时会产生单向的轴向分力，以摆线槽设置在摆线盘的上、下两侧面，滚珠固定孔设置在上固定夹板和下固定夹板上为例，摆线盘置于上固定夹板和下固定夹板之间，两排滚珠的轴向分力分别作用在上固定夹板和下固定夹板上形成作用力，由于上固定夹板和下固定夹板是固定连接，即上固定夹板和下固定夹板是固定不动的，所以上固定夹板和下固定夹板对滚珠会产生反作用力，又因为两摆线槽及滚珠参数完全一致，所以作用力和反作用力大小相等，方向相反，从而使摆线盘的轴向分力被消除，同理可得，当摆线槽设置在上固定夹板和下固定夹板上，滚珠固定孔设置在摆线盘的上、下两侧面时，轴向分离也会被消除，或者摆线槽设置在上固定夹板和摆线盘的下侧面，滚珠固定槽设置在下固定夹板和摆线盘的上侧面，或者摆线槽设置在下固定夹板和摆线盘的上侧面，滚珠固定槽设置在上固定夹板和摆线盘的下侧面，轴向分离均会被消除，还有本变速单元没有传统减速机所具有的输入和输出部分，这种变速单元的出现可以突破传统思想在机器人或其他领域的传动机构的设计，为实现多元化设计思想提供了基础和核心技术。 [0010] In the above technical solution, since the inner wall of the cycloid groove is provided in an arc surface, when the ball performs a cycloidal movement, a unidirectional axial component of force is generated, and the cycloid groove is provided on the cycloid plate. On the upper and lower sides, for example, the ball fixing holes are set on the upper and lower fixing clamps. The cycloid disk is placed between the upper and lower clamping clamps. The axial component forces of the two rows of balls act on the upper and lower clamps, respectively. The clamp plate and the lower clamp plate form a force. Since the upper clamp plate and the lower clamp plate are fixedly connected, that is, the upper clamp plate and the lower clamp plate are immovable, the upper clamp plate and the lower clamp plate will react against the balls. Also, because the parameters of the two cycloid grooves and the balls are completely the same, the magnitude of the acting force and the reaction force are equal, and the directions are opposite, so that the axial component force of the cycloid plate is eliminated. Similarly, it can be obtained that when the cycloid groove is set on the Fixed splint and under When the fixed clamping plate is provided with the ball fixing holes on the upper and lower sides of the cycloid plate, the axial separation is also eliminated, or the cycloid groove is provided on the lower side of the upper fixed plate and the cycloid plate, and the ball fixing groove is provided on the lower side. The upper side of the fixed clamping plate and the cycloid plate, or the cycloid groove is provided on the upper side of the lower fixed clamping plate and the cycloid plate, and the ball fixing groove is provided on the lower side of the upper fixed plate and the cycloid plate. The axial separation will be eliminated. In addition, the transmission unit does not have the input and output parts of a traditional reducer. The emergence of such a transmission unit can break through the traditional design of the transmission mechanism in robots or other fields, and provides the basis and core technology for achieving diversified design ideas .

[0011] 作为本发明的进一步设置，所述上固定夹板和下固定夹板呈相合设置构成环形的盒体，盒体的内壁上设置有供摆线盘安装的环形夹持腔，摆线盘的直径小于环形夹持腔的外径。 [0011] As a further arrangement of the present invention, the upper fixed clamping plate and the lower fixed clamping plate are arranged to form a ring-shaped box body, and an inner wall of the box body is provided with a ring-shaped clamping cavity for installing the cycloid disk. The diameter is smaller than the outer diameter of the annular clamping cavity.

[0012] 上述技术方案中，环形夹持腔设置在上固定夹板和下固定夹板的连接处，环形夹持腔可以单独设置在其中一个夹板上，另一个夹板充当盖板，也可以一半设置在上固定夹板上，另一半设置在下固定夹板上，上固定夹板和下固定夹板相合后构成完整的环形夹持腔，因为摆线盘既有径向摆线运动又有周向转动运动，所以环形夹持腔的外径要大于摆线盘的直径，这样摆线盘才能在径向上有摆动空间，结构简单，加工方便。 [0012] In the above technical solution, the annular clamping cavity is provided at the connection between the upper fixed clamping plate and the lower fixed clamping plate. The annular clamping cavity may be separately provided on one of the clamping plates, and the other clamping plate serves as a cover plate, or may be half disposed on the clamping plate. The upper fixed clamping plate and the other half are arranged on the lower fixed clamping plate. The upper fixed clamping plate and the lower fixed clamping plate are combined to form a complete annular clamping cavity. Because the cycloid disk has both radial cycloidal motion and circumferential rotational motion, The outer diameter of the clamping cavity must be larger than the diameter of the cycloid disk, so that the cycloid disk can have a swing space in the radial direction, the structure is simple, and the processing is convenient.

[0013] 作为本发明的进一步设置，所述摆线盘上设置有输入输出驱动孔。 [0013] As a further arrangement of the present invention, the cycloid disc is provided with an input-output driving hole.

[0014] 上述技术方案中，输入输出驱动孔也可以是驱动键，用于安装驱动机构或连接输出轴。 [0014] In the above technical solution, the input / output driving hole may also be a driving key, which is used to install a driving mechanism or connect an output shaft.

[0015] 作为本发明的进一步设置，所述摆线槽设置在摆线盘的上侧面和下侧面，滚珠固定孔设置在上固定夹板和下固定夹板上。 [0015] As a further arrangement of the present invention, the cycloid groove is provided on the upper side and the lower side of the cycloid disk, and the ball fixing hole is provided on the upper fixing plate and the lower fixing plate.

[0016] 上述技术方案中，此处两摆线槽呈对称设置，两排滚珠固定孔也呈对称设置，保持摆线运动的一致性。 [0016] In the above technical solution, the two cycloid grooves are symmetrically arranged here, and the two rows of ball fixing holes are also symmetrically arranged to maintain the consistency of the cycloidal movement.

[0017] 作为本发明的进一步设置，所述摆线槽设置在上固定夹板和下固定夹板上，滚珠固定孔设置在摆线盘的上侧面和下侧面。 [0017] As a further arrangement of the present invention, the cycloid groove is provided on the upper fixing plate and the lower fixing plate, and the ball fixing hole is provided on the upper side and the lower side of the cycloid plate.

[0018] 上述技术方案中，此处两摆线槽呈对称设置，两排滚珠固定孔也呈对称设置，保持摆线运动的一致性。 [0018] In the above technical solution, the two cycloid grooves are symmetrically arranged here, and the two rows of ball fixing holes are also symmetrically arranged to maintain the consistency of the cycloidal movement.

[0019] 作为本发明的进一步设置，所述摆线槽设置在摆线盘的上侧面和下固定夹板上，滚珠固定孔设置在摆线盘的下侧面和上固定夹板上。 [0019] As a further arrangement of the present invention, the cycloid groove is provided on the upper side of the cycloid disc and the lower fixed clamping plate. The ball fixing holes are arranged on the lower side of the cycloid disk and the upper fixing clamp plate.

[0020] 上述技术方案中，此处两摆线槽不管是大小还是位置均一致，即两摆线槽在轴向上可完全重叠，两排滚珠固定孔的朝向和排列也完全一致，保持摆线运动的一致性。 [0020] In the above technical solution, the two cycloid grooves are the same in size and position, that is, the two cycloid grooves can completely overlap in the axial direction, and the orientation and arrangement of the two rows of ball fixing holes are also completely the same. Line motion consistency.

[0021] 作为本发明的进一步设置，所述摆线槽设置在摆线盘的下侧面和上固定夹板上 [0021] As a further arrangement of the present invention, the cycloid groove is provided on a lower side of the cycloid disc and an upper fixing clamp plate.

，滚珠固定孔设置在摆线盘的上侧面和下固定夹板上。 The ball fixing holes are arranged on the upper side of the cycloid disk and the lower fixing clamp plate.

[0022] 上述技术方案中，此处两摆线槽不管是大小还是位置均一致，即两摆线槽在轴向上可完全重叠，两排滚珠固定孔的朝向和排列也完全一致，保持摆线运动的一致性。 [0022] In the above technical solution, the two cycloidal grooves are the same in size and position, that is, the two cycloidal grooves can completely overlap in the axial direction, and the orientation and arrangement of the two rows of ball fixing holes are completely the same. Line motion consistency.

[0023] 作为本发明的进一步设置，所述上固定夹板和下固定夹板上均设置有沿其周向分布的安装孔。 [0023] As a further arrangement of the present invention, the upper fixing clamp plate and the lower fixing clamp plate are both provided with mounting holes distributed along a circumferential direction thereof.

[0024] 上述技术方案中，安装孔可用于与机器人或其他结构连接，优选的上固定夹板上的各个安装孔与下固定夹板上的各个安装孔一一对应呈对齐设置，结构简单，方便安装。 [0024] In the above technical solution, the mounting holes can be used to connect with a robot or other structures. Each mounting hole on the upper clamping plate is preferably aligned with each mounting hole on the lower clamping plate. The structure is simple and easy to install. .

[0025] 下面结合附图对本发明作进一步描述。 [0025] The present invention is further described below with reference to the drawings.

对附图的简要说明 Brief description of the drawings

附图说明 BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 附图 1为本发明具体实施例变速单元的结构示意图； 1 is a schematic structural diagram of a speed changing unit according to a specific embodiment of the present invention;

[0027] 附图 2为附图 1的 A- A剖视图； [0027] FIG. 2 is a cross-sectional view taken along A-A of FIG. 1;

[0028] 附图 3为本发明具体实施例变速单元的结构***图； [0028] FIG. 3 is an exploded view of the structure of a transmission unit according to a specific embodiment of the present invention;

[0029] 附图 4为本发明具体实施例变速单元的结构***图； [0029] FIG. 4 is an exploded view of the structure of a transmission unit according to a specific embodiment of the present invention;

[0030] 附图 5为本发明具体实施例变速单元的结构图； 5 is a structural diagram of a speed changing unit according to a specific embodiment of the present invention;

[0031] 附图 6为本发明具体实施例变速单元的应用结构图； [0031] FIG. 6 is an application structural diagram of a speed changing unit according to a specific embodiment of the present invention;

[0032] 附图 7为附图 6的 A-A剖视图； [0032] FIG. 7 is an A-A cross-sectional view of FIG. 6;

[0033] 附图 8为本发明具体实施例变速单元的应用结构***图； 8 is an exploded view of an application structure of a transmission unit according to a specific embodiment of the present invention;

[0034] 附图 9为本发明具体实施例驱动机构的结构***图。 [0034] FIG. 9 is an exploded view of a structure of a driving mechanism according to a specific embodiment of the present invention.

发明实施例 Invention Examples

具体实施方式 [0035] 本发明的具体实施例如图 1-9所示，一种矢量摆线变速单元，包括上固定夹板 1 、下固定夹板 2以及设置在上固定夹板 1和下固定夹板 2之间的摆线盘 3 , 上固定夹板 1和下固定夹板 2固定连接，所述摆线盘 3和上固定夹板 1的相对面上分别设置有摆线槽 31和滚珠固定孔 11、 21，摆线盘 3和下固定夹板 2的相对面上也分别设置有摆线槽 31和滚珠固定孔 11、 21，所述摆线盘 3与上固定夹板 1之间以及摆线盘 3与下固定夹板 2之间均设置有滚珠 4, 滚珠 4处于摆线槽 31和滚珠固定孔 11 、 21中使摆线盘 3与上固定夹板 1和下固定夹板 2构成摆线运动配合，两摆线槽 31 呈一致或对称设置，两滚珠固定孔 11、 21呈一致或对称设置。由于摆线槽 31的内壁是呈弧面设置的，所以当滚珠 4在做摆线运动时会产生单向的轴向分力，以摆线槽 31设置在摆线盘 3的上、下两侧面，滚珠固定孔 11、 21设置在上固定夹板 1和下固定夹板 2上为例，摆线盘 3置于上固定夹板 1和下固定夹板 2之间，两排滚珠 4的轴向分力分别作用在上固定夹板 1和下固定夹板 2上形成作用力，由于上固定夹板 1和下固定夹板 2是固定连接，即上固定夹板 1和下固定夹板 2是固定不动的，所以上固定夹板 1和下固定夹板 2对滚珠 4会产生反作用力，又因为两摆线槽 31及滚珠 4参数完全一致，所以作用力和反作用力大小相等，方向相反，从而使摆线盘 3的轴向分力被消除，同理可得，当摆线槽 31设置在上固定夹板 1和下固定夹板 2上，滚珠固定孔 11、 21设置在摆线盘 3的上、下两侧面时，轴向分离也会被消除，或者摆线槽 31设置在上固定夹板 1和摆线盘 3的下侧面，滚珠 4固定槽设置在下固定夹板 2和摆线盘 3的上侧面，或者摆线槽 31设置在下固定夹板 2和摆线盘 3的上侧面，滚珠 4固定槽设置在上固定夹板 1和摆线盘 3的下侧面，轴向分离均会被消除，还有本变速单元没有传统减速机所具有的输入和输出部分，这种变速单元的出现可以突破传统思想在机器人或其他领域的传动机构的设计，为实现多元化设计思想提供了基础和核心技术。 detailed description A specific embodiment of the present invention is shown in FIG. 1-9. A vector cycloidal transmission unit includes an upper fixed clamping plate 1, a lower fixed clamping plate 2, and a pendulum disposed between the upper fixed clamping plate 1 and the lower fixed clamping plate 2. The bobbin 3 is fixedly connected to the upper fixed clamping plate 1 and the lower fixed clamping plate 2. The opposite surfaces of the cycloid disk 3 and the upper fixed clamping plate 1 are respectively provided with a cycloid groove 31 and ball fixing holes 11, 21, and a cycloid disk 3 Cycloidal grooves 31 and ball fixing holes 11, 21 are also provided on the opposite surfaces of the lower fixed clamping plate 2 between the cycloidal plate 3 and the upper fixed clamping plate 1, and between the cycloidal plate 3 and the lower fixed clamping plate 2. Both are provided with balls 4, the balls 4 are located in the cycloid groove 31 and the ball fixing holes 11 and 21, so that the cycloid plate 3 and the upper fixed clamping plate 1 and the lower fixed clamping plate 2 form a cycloid motion cooperation, and the two cycloid grooves 31 are consistent or The two ball fixing holes 11, 21 are arranged symmetrically or symmetrically. Because the inner wall of the cycloid groove 31 is arranged in an arc surface, when the ball 4 performs a cycloidal motion, a unidirectional axial component of force is generated, and the cycloid groove 31 is provided on the upper and lower sides of the cycloid plate 3 On the side, for example, the ball fixing holes 11 and 21 are provided on the upper fixing clamp plate 1 and the lower fixing clamp plate 2 as an example. The cycloid disc 3 is placed between the upper fixing clamp plate 1 and the lower fixed clamp plate 2. The axial component force of the two rows of balls 4 Acting on the upper fixed clamp 1 and the lower fixed clamp 2, respectively, because the upper fixed clamp 1 and the lower fixed clamp 2 are fixedly connected, that is, the upper fixed clamp 1 and the lower fixed clamp 2 are fixed, so the upper fixing The clamp plate 1 and the lower fixed clamp plate 2 have a reaction force on the ball 4, and because the parameters of the two cycloid grooves 31 and the ball 4 are completely the same, the magnitude of the acting force and the reaction force are equal, and the directions are opposite, so that the axial direction of the cycloid plate 3 The component force is eliminated, and the same can be obtained. When the cycloid groove 31 is provided on the upper fixed clamping plate 1 and the lower fixed clamping plate 2, and the ball fixing holes 11, 21 are provided on the upper and lower sides of the cycloid disc 3, the axial direction The separation will also be eliminated, or the cycloidal groove 31 is fixed on the upper side. The lower side of the clamping plate 1 and the cycloid plate 3, the ball 4 fixing groove is provided on the upper side of the lower fixed clamping plate 2 and the cycloid plate 3, or the cycloid groove 31 is provided on the upper side of the lower fixing plate 2 and the cycloid plate 3, and the ball 4 The fixing groove is arranged on the lower side of the upper fixing clamp plate 1 and the cycloid disc 3, and the axial separation will be eliminated. Also, the transmission unit does not have the input and output parts of a traditional reducer. The emergence of this transmission unit can break through The design of the transmission mechanism of traditional thinking in robots or other fields provides the foundation and core technology for the realization of diversified design ideas.

[0036] 上述上固定夹板 1和下固定夹板 2呈相合设置构成环形的盒体 A，盒体 A的内壁上设置有供摆线盘 3安装的环形夹持腔 A 1，摆线盘 3的直径小于环形夹持腔 A 1的外径。环形夹持腔 A1设置在上固定夹板 1和下固定夹板 2的连接处，环形夹持腔 A 1可以单独设置在其中一个夹板上，另一个夹板充当盖板，也可以一半设置在上固定夹板 1上，另一半设置在下固定夹板 2上，上固定夹板 1和下固定夹板 2相合后构成完整的环形夹持腔 Al，因为摆线盘 3既有径向摆线运动又有周向转动运动，所以环形夹持腔 A1的外径要大于摆线盘 3的直径，这样摆线盘 3才能在径向上有摆动空间，结构简单，加工方便。 [0036] The upper fixed clamping plate 1 and the lower fixed clamping plate 2 are arranged to form a ring-shaped box body A. The inner wall of the box body A is provided with a ring-shaped clamping cavity A 1 for mounting the cycloid disk 3, The diameter is smaller than the outer diameter of the annular clamping cavity A 1. The annular clamping cavity A1 is provided at the connection between the upper fixed clamping plate 1 and the lower fixed clamping plate 2. The annular clamping cavity A1 can be separately provided on one of the clamping plates, and the other clamping plate serves as a cover plate, or it can also be half installed on the upper fixing clamping plate. 1, the other half is set on the lower fixing splint 2, the upper fixing splint 1 and the lower fixing splint 2 are combined A complete annular clamping cavity Al is formed later, because the cycloid disk 3 has both a radial cycloidal movement and a circumferential rotational movement, the outer diameter of the annular clamping cavity A1 should be larger than the diameter of the cycloid disk 3, so that the cycloid Only the disk 3 can have a swing space in the radial direction, the structure is simple, and the processing is convenient.

[0037] 实施例 1，摆线槽 31设置在摆线盘 3的上侧面和下侧面，滚珠固定孔 11、 21设置在上固定夹板 1和下固定夹板 2上。此处两摆线槽 31呈对称设置，两排滚珠固定孔 11、 21也呈对称设置，保持摆线运动的一致性。 [0037] In the first embodiment, the cycloid grooves 31 are provided on the upper and lower sides of the cycloid disc 3, and the ball fixing holes 11, 21 are provided on the upper fixing clamp 1 and the lower fixing clamp 2. Here, the two cycloid grooves 31 are symmetrically arranged, and the two rows of ball fixing holes 11, 21 are also symmetrically arranged to maintain the consistency of the cycloidal movement.

[0038] 实施例 2, 摆线槽 31设置在上固定夹板 1和下固定夹板 2上，滚珠固定孔 11、 21 设置在摆线盘 3的上侧面和下侧面。此处两摆线槽 31呈对称设置，两排滚珠固定孔 11、 21也呈对称设置，保持摆线运动的一致性。 [0038] In the second embodiment, the cycloid grooves 31 are provided on the upper fixed clamping plate 1 and the lower fixed clamping plate 2, and the ball fixing holes 11, 21 are provided on the upper side and the lower side of the cycloid plate 3. Here, the two cycloid grooves 31 are symmetrically arranged, and the two rows of ball fixing holes 11, 21 are also symmetrically arranged to maintain the consistency of the cycloidal movement.

[0039] 实施例 3 , 摆线槽 31设置在摆线盘 3的上侧面和下固定夹板 2上，滚珠固定孔 11 、 21设置在摆线盘 3的下侧面和上固定夹板 1上。此处两摆线槽 31不管是大小还是位置均一致，即两摆线槽 31在轴向上可完全重叠，两排滚珠固定孔 11、 21的朝向和排列也完全一致，保持摆线运动的一致性。 [0039] In the third embodiment, the cycloid grooves 31 are provided on the upper side of the cycloid plate 3 and the lower fixed clamping plate 2. Ball fixing holes 11 and 21 are provided on the lower side of the cycloid plate 3 and the upper fixed clamping plate 1. Here, the two cycloid grooves 31 are the same in size and position, that is, the two cycloid grooves 31 can completely overlap in the axial direction, and the orientation and arrangement of the two rows of ball fixing holes 11 and 21 are completely the same. consistency.

[0040] 实施例 4, 摆线槽 31设置在摆线盘 3的下侧面和上固定夹板 1上，滚珠固定孔 11 、 21设置在摆线盘 3的上侧面和下固定夹板 2上。此处两摆线槽 31不管是大小还是位置均一致，即两摆线槽 31在轴向上可完全重叠，两排滚珠固定孔 11、 21的朝向和排列也完全一致，保持摆线运动的一致性。 [0040] Embodiment 4, the cycloid groove 31 is provided on the lower side of the cycloid plate 3 and the upper fixed clamping plate 1, and the ball fixing holes 11 and 21 are provided on the upper side of the cycloid plate 3 and the lower fixed clamping plate 2. Here, the two cycloid grooves 31 are the same in size and position, that is, the two cycloid grooves 31 can completely overlap in the axial direction, and the orientation and arrangement of the two rows of ball fixing holes 11 and 21 are completely the same. consistency.

[0041] 上述上固定夹板 1和下固定夹板 2上均设置有沿其周向分布的安装孔 12、 22, 安装孔 12、 22沿上固定夹板 1或下固定夹板 2的轴向穿设。安装孔 12、 22可用于与机器人或其他结构连接，优选的上固定夹板 1上的各个安装孔 12、 22与下固定夹板 2上的各个安装孔 12、 22—一对应呈对齐设置，结构简单，方便安装。 [0041] The above-mentioned upper fixing splint 1 and lower fixing splint 2 are provided with mounting holes 12, 22, and mounting holes 12, 22 arranged along the circumferential direction thereof along the axial direction of the upper fixing splint 1 or the lower fixing splint 2. The mounting holes 12 and 22 can be used to connect with robots or other structures. Each of the mounting holes 12 and 22 on the preferred upper fixing splint 1 and the mounting holes 12 and 22 on the lower fixing splint 2 are aligned and arranged correspondingly, and the structure is simple. Easy to install.

[0042] 变速单元的应用，摆线盘 3上设置有驱动其径向平移的驱动机构 5以及与摆线盘 3联动的输出轴 6 , 摆线盘 3上设置有三个呈三角分布的输入输出驱动孔 32, 输入输出驱动孔 32个数可以更多，输入输出驱动孔 32上穿设有转轴 51，转轴 51上设置有偏心轮 511，偏心轮 511正对输入输出驱动孔 32, 偏心轮 511上套设有轴承 52 ，偏心轮 511的上下两侧设置有锥形轴承 53 , 转轴 51的一端设置有传动齿轮 54，传动齿轮 54上套设有行星齿轮 55 , 行星齿轮 55与传动齿轮 54啮合，三个行星齿轮 55由设置在三者之间的驱动齿轮驱动，转轴 51、传动齿轮 54、行星齿轮 55和驱动齿轮构成上述的驱动机构 5 , 该驱动机构 5采用行星传动的原理，当然本申请的变速单元还可采用其他传动进行驱动，如在摆线盘 3的中间设置一个偏心轴也可进行驱动，输出轴 6分为两部分分别设置在摆线盘 3的对应两侧构成上输出端 61和下输出端 62, 上输出端 61和下输出端 62通过穿设在输入输出驱动孔 33中的连接销 63联动，输入输出驱动孔 33与连接销 63间隙配合，驱动齿轮、行星齿轮 55和传动齿轮 54之间通过行星传动驱动摆线盘 3径向移动，径向移动的过程中，通过滚珠 4在摆线槽 31内的运动来驱动摆线盘 3的转动，从而带动输出轴 6转动，由于摆线槽 31的齿廓数少于滚珠 4数 1到 n个，因此摆线盘 3质心公转的同时绕自身轴线做转动，从而达到从转轴到输出轴 6的减速传动，反之加速，为了消除输出轴 6的径向移动，上固定夹板 1上连接有上连接盖 7 , 下固定夹板 2上连接有下连接盖 8 , 上连接盖 7与上固定夹板 1通过连接在安装孔 12、 22内的螺丝固定，下连接盖 8与下固定夹板 2通过连接在安装孔 12、 22内的螺丝固定，上连接盖 7和下连接盖 8也成环形，上输出端 61和下输出端 62分别穿过上连接盖 7和下连接盖 8 ，上固定夹板 1、上连接盖 7与上输出端 61之间设置有交叉滚柱轴承 71、 81，下固定夹板 2、下连接盖 8与下输出端 62之间也设置有交叉滚柱轴承 71、 81，行星齿轮 55和驱动齿轮位于上输出端 61的外侧。 [0042] For the application of the speed change unit, the cycloid disc 3 is provided with a driving mechanism 5 for driving its radial translation and the output shaft 6 linked with the cycloid disc 3. The cycloid disc 3 is provided with three inputs and outputs in a triangular distribution. There can be more driving holes 32, 32 input and output driving holes. The input and output driving holes 32 are provided with a rotating shaft 51. The rotating shaft 51 is provided with an eccentric wheel 511. The eccentric wheel 511 faces the input and output driving holes 32 and eccentric wheel 511. The upper sleeve is provided with a bearing 52, the upper and lower sides of the eccentric wheel 511 are provided with tapered bearings 53, the one end of the rotating shaft 51 is provided with a transmission gear 54, the transmission gear 54 is sleeved with a planetary gear 55, and the planetary gear 55 meshes with the transmission gear 54 The three planetary gears 55 are driven by a driving gear disposed between the three, the rotating shaft 51, the transmission gear 54, the planetary gear 55 and The driving gear constitutes the driving mechanism 5 described above. The driving mechanism 5 uses the principle of planetary transmission. Of course, the transmission unit of the present application may also be driven by other transmissions. For example, an eccentric shaft may be provided in the middle of the cycloid disc 3 to drive. The output shaft 6 is divided into two parts, which are respectively arranged on the corresponding sides of the cycloid disk 3 to constitute an upper output terminal 61 and a lower output terminal 62. The upper output terminal 61 and the lower output terminal 62 are connected through the input and output driving holes 33. The pin 63 is linked, and the input-output driving hole 33 and the connecting pin 63 are clearance-fitted. The driving gear, the planetary gear 55, and the transmission gear 54 drive the cycloid disc 3 to move radially through the planetary transmission. During the radial movement, the ball 4 The movement in the cycloid groove 31 drives the rotation of the cycloid disk 3, thereby driving the output shaft 6 to rotate. Since the number of tooth profiles of the cycloid groove 31 is less than the number of balls 4 to 1 to n, the centroid of the cycloid disk 3 revolves At the same time, it rotates around its own axis to achieve a deceleration transmission from the rotating shaft to the output shaft 6 and vice versa. In order to eliminate the radial movement of the output shaft 6, an upper connection cover 7 is connected to the upper fixed clamping plate 1, and the lower fixed A lower connection cover 8 is connected to the splint 2, the upper connection cover 7 and the upper fixing splint 1 are fixed by screws in the mounting holes 12, 22, and the lower connection cover 8 and the lower fixing splint 2 are connected in the mounting holes 12, 22 The upper connection cover 7 and the lower connection cover 8 also form a ring shape. The upper output end 61 and the lower output end 62 pass through the upper connection cover 7 and the lower connection cover 8, respectively. The upper fixing clamp plate 1, the upper connection cover 7 and the upper Crossed roller bearings 71, 81 are provided between the output ends 61, and cross roller bearings 71, 81 are also provided between the lower fixed clamping plate 2, the lower connection cover 8 and the lower output end 62. The planetary gear 55 and the driving gear are located on the upper side. The output 61 is outside.

[0043] 本发明不局限于上述具体实施方式，本领域一般技术人员根据本发明公开的内容，可以采用其他多种具体实施方式实施本发明的，或者凡是采用本发明的设计结构和思路，做简单变化或更改的，都落入本发明的保护范围。 [0043] The present invention is not limited to the specific embodiments described above. Those skilled in the art can implement the present invention in various other specific embodiments according to the disclosure of the present invention, or adopt the design structure and ideas of the present invention. Any simple changes or modifications fall into the protection scope of the present invention.

Claims

权利要求书 Claim

[权利要求 1] 一种矢量摆线变速单元，包括摆线盘以及绕周向分布的若干个滚珠，其特征在于：所述摆线盘的轴向两侧分别设置有上固定夹板和下固定夹板，上固定夹板和下固定夹板固定连接，所述摆线盘和上固定夹板的相对面上分别设置有摆线槽和滚珠固定孔，摆线盘和下固定夹板的相对面上也分别设置有摆线槽和滚珠固定孔，滚珠置于摆线槽和滚珠固定孔之间使摆线盘与上固定夹板和下固定夹板均构成协调一致的摆线运动配合。 [Claim 1] A vector cycloid transmission unit, comprising a cycloid disc and a plurality of balls distributed around the circumference, characterized in that: both sides of the cycloid disc in the axial direction are provided with an upper fixing plate and a lower fixing, respectively. The splint, the upper fixing splint and the lower fixing splint are fixedly connected, and the cycloid groove and the ball fixing hole are respectively provided on the opposite surfaces of the cycloid disk and the upper fixing splint, and the opposite surfaces of the cycloid disk and the lower fixing splint are also respectively provided. There are cycloid grooves and ball fixing holes. Balls are placed between the cycloid grooves and ball fixing holes so that the cycloid plate and the upper and lower fixed clamping plates form a coordinated and coordinated cycloidal motion cooperation.

[权利要求 2] 根据权利要求 1所述的矢量摆线变速单元，其特征在于：所述上固定夹板和下固定夹板呈相合设置构成环形的盒体，盒体的内壁上设置有供摆线盘安装的环形夹持腔，摆线盘的直径小于环形夹持腔的外径。 [Claim 2] The vector cycloid transmission unit according to claim 1, characterized in that: the upper fixed clamping plate and the lower fixed clamping plate are arranged to form a ring-shaped box body, and an inner wall of the box body is provided with a cycloid The diameter of the annular clamping cavity in which the disk is mounted is smaller than the outer diameter of the annular clamping cavity.

[权利要求 3] 根据权利要求 2所述的矢量摆线变速单元，其特征在于：所述摆线盘上设置有输入输出驱动孔。 [Claim 3] The vector cycloidal transmission unit according to claim 2, characterized in that: the cycloid disc is provided with input and output driving holes.

[权利要求 4] 根据权利要求 1或 2或 3所述的矢量摆线变速单元，其特征在于：所述摆线槽设置在摆线盘的上侧面和下侧面，滚珠固定孔设置在上固定夹板和下固定夹板上。 [Claim 4] The vector cycloid transmission unit according to claim 1 or 2 or 3, characterized in that: the cycloid groove is provided on the upper side and the lower side of the cycloid disk, and the ball fixing hole is provided on the upper fixing Plywood and lower fixing splint.

[权利要求 5] 根据权利要求 1或 2或 3所述的矢量摆线变速单元，其特征在于：所述摆线槽设置在上固定夹板和下固定夹板上，滚珠固定孔设置在摆线盘的上侧面和下侧面。 [Claim 5] The vector cycloidal transmission unit according to claim 1 or 2 or 3, characterized in that: the cycloid groove is provided on the upper fixing plate and the lower fixing plate, and the ball fixing hole is provided on the cycloid plate The top and bottom sides.

[权利要求 6] 根据权利要求 1或 2或 3所述的矢量摆线变速单元，其特征在于：所述摆线槽设置在摆线盘的上侧面和下固定夹板上，滚珠固定孔设置在摆线盘的下侧面和上固定夹板上。 [Claim 6] The vector cycloid transmission unit according to claim 1 or 2 or 3, characterized in that: the cycloid groove is provided on the upper side of the cycloid plate and the lower fixing clamp plate, and the ball fixing hole is provided on the The lower side of the cycloid disk and the upper clamp plate.

[权利要求 7] 根据权利要求 1或 2或 3所述的矢量摆线变速单元，其特征在于：所述摆线槽设置在摆线盘的下侧面和上固定夹板上，滚珠固定孔设置在摆线盘的上侧面和下固定夹板上。 [Claim 7] The vector cycloid transmission unit according to claim 1 or 2 or 3, characterized in that: the cycloid groove is provided on a lower side of the cycloid plate and an upper fixing clamp plate, and a ball fixing hole is provided on the The upper side of the cycloid disk and the lower clamp plate.

[权利要求 8] 根据权利要求 1或 2或 3所述的矢量摆线变速单元，其特征在于：所述上固定夹板和下固定夹板上均设置有沿其周向分布的安装孔。 [Claim 8] The vector cycloidal transmission unit according to claim 1 or 2 or 3, characterized in that: the upper fixing clamp plate and the lower fixing clamp plate are provided with mounting holes distributed along a circumferential direction thereof.