WO2020233195A1 - Internal meshing speed reducer for precision control - Google Patents

Internal meshing speed reducer for precision control Download PDF

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Publication number
WO2020233195A1
WO2020233195A1 PCT/CN2020/078194 CN2020078194W WO2020233195A1 WO 2020233195 A1 WO2020233195 A1 WO 2020233195A1 CN 2020078194 W CN2020078194 W CN 2020078194W WO 2020233195 A1 WO2020233195 A1 WO 2020233195A1
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Prior art keywords
cycloid
gear
reducer
precision control
bearings
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PCT/CN2020/078194
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French (fr)
Chinese (zh)
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刘巍巍
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苏州华震工业机器人减速器有限公司
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Publication of WO2020233195A1 publication Critical patent/WO2020233195A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion

Definitions

  • the present invention relates to the technical field of a reducer for precision control (Reducer For High Precision Control), and in particular to an internal meshing reducer for precision control, which is used to replace the RV-E reducer.
  • the line wheel-pin wheel’ is improved to a double cycloid structure of “cycloid wheel-hypocycloid ring gear”.
  • Robots are the jewel at the top of the manufacturing crown; robots are an important indicator of a country's technological innovation and high-end manufacturing level. However, most domestic robot joints are equipped with Japanese RV reducers.
  • the problem of the domestic RV reducer is that the heating temperature rises during operation and the wear life is short and the dynamic characteristics are poor.
  • the poor dynamic characteristics are because domestic researchers ignore the influence of thermal expansion:
  • the purpose of the present invention is to propose the relationship between the cycloidal gear shape modification reasonable meshing backlash ⁇ c and the thermal expansion ⁇ , so as to solve the defect of short heating life during operation in the prior art, and a precise control internal meshing with good dynamic characteristics Reducer.
  • the double cycloid gear reducer first breaks through the meshing principle. It uses a pair of fully enveloped cycloid gears as the gear mechanism of the conjugate curve, and uses different forms of one-tooth difference planetary gear transmission to achieve speed reduction, thereby greatly simplifying The structure and craftsmanship.
  • the present invention provides a precision control internal meshing reducer with good dynamic characteristics, which includes a hypocycloid ring gear and two-stage reduction components placed therein:
  • the first-stage reduction components include input shaft, sun gear and planetary gear;
  • the second-stage reduction components include 2 to 3 uniformly distributed eccentric shafts, cycloidal gears, and right rigid discs.
  • the cycloidal gear adopts an isometric-shift combination to modify the shape. The modification makes the cycloidal gear teeth and the hypocycloid ring gear A radial gap and reasonable backlash on both sides are formed between them.
  • the backlash between the cycloidal gear teeth and the hypocycloid ring gear ⁇ c (0.8-3) ⁇ (mm).
  • the backlash between the cycloidal gear teeth and the hypocycloid ring gear ⁇ c (0.9-2) ⁇ (mm).
  • the backlash between the cycloidal gear teeth and the hypocycloid ring gear ⁇ c (1 ⁇ 1.4) ⁇ (mm).
  • the backlash between the two cycloid gear teeth and the hypocycloid ring gear is ⁇ c ⁇ 1.1 ⁇ (mm).
  • the cycloid is modified by a combination of positive equidistance and positive displacement.
  • the third bearing is a sealed single-row radial thrust ball bearing or a thin-wall sealed four-point contact ball bearing, which can bear radial load, two-way thrust load and overturning moment, or Thin-wall sealed cross-roller bearings, bearing preload, can effectively improve stiffness and rotation accuracy.
  • the double cycloid structure of the present invention can be made into a model with a large reduction ratio or a small model to replace the harmonic reducer;
  • hypocycloid ring gear replaces the needle pin and the needle gear shell, which greatly simplifies the structure
  • Fig. 1 is a schematic structural sectional view of a preferred embodiment of an internal gear reducer for precision control of the present invention.
  • an embodiment of the present invention includes:
  • An internal meshing reducer for precision control including a hypocycloid ring gear 1 and two-stage reduction components placed therein: the first-stage reduction component includes the input shaft 9, the sun gear 14, and the planetary gear 4; the second-stage reduction component It includes 2 to 3 uniformly distributed eccentric shafts 6, a cycloid, a left rigid disc 13 and a right rigid disc 12.
  • the cycloid includes a left cycloid 3 and a right cycloid 5, and the eccentric shaft 6 is connected with its shaft extension
  • the planetary gear 14, the eccentric shaft 6 are provided with first bearings 8 for supporting the cycloid on the two eccentric sections, and the second bearings 7 for shaft extension on both sides of the eccentric section are respectively supported in the peripheral holes of the left rigid disc 13 and the right rigid disc 12
  • the left rigid disc 13 and the right rigid disc 12 are respectively supported by the inner bores on both sides of the hypocycloid ring gear 1 by the third bearing 2
  • the input shaft 9 is respectively supported on the left rigid disc 13 and the right rigid disc by the fourth bearing 10 12 Center hole, the evenly distributed flange 11 on the left rigid disk 13 passes through the corresponding holes on the cycloidal wheel and is connected to the right rigid disk 12 with screws and positioning pins to form a rigid body.
  • the size of the backlash ⁇ c between the cycloidal gear teeth and the cycloid ring gear 1 is related to factors such as the cycloid ring gear, the pitch deviation of the cycloidal gear and the deviation caused by assembly, and is also related to the size of the reducer. If the backlash ⁇ c is too small, the thermal expansion between the cycloidal gear teeth and the hypocycloid ring gear during load operation will cause increased noise, wear, vibration and shortened life; when the backlash ⁇ c is too large and the input speed is high, vibration is likely to occur.
  • RV-20E RV-40E RV-80E RV-110E RV-160E RV-320E RV-450E Average diameter of cycloidal wheel d0 104 128 164 184 204 229 310 (Thermal expansion + compensation) ⁇ 0.077 0.096 0.122 0.138 0.152 0.176 0.232
  • the cycloid wheel adopts positive equidistance-positive displacement combined modification, and the force between the gear teeth and the needle pin of the positive equidistance-positive displacement combined modification is the negative equidistance-negative displacement combined modification 49%; the bearing capacity of the combined modification of positive equidistance and positive displacement is 1.71 times that of the combined modification of negative equidistance and negative displacement.
  • the combined modification of positive isometric-positive shift distance is reduced to the design requirements by the principle of anti-backlash.
  • Shift modification the grinding wheel is away from the center of the worktable as a positive shift; on the contrary, the shift is a negative shift.
  • the third bearing 2 is a sealed single-row radial thrust ball bearing, or a thin-wall sealed four-point contact ball bearing, which can bear radial load, two-way thrust load and overturning moment, and can simplify the structure of the main engine; it is very convenient to adjust the clearance.
  • thin-wall sealed crossed roller bearings because the rollers and raceways are in line contact, its load capacity is 5-15 times the rated load of ball bearings, so it has high reliability and longer life; crossed roller bearings are preloaded, , Can effectively improve the rigidity and rotation accuracy.
  • the purpose of using sealed bearings is to increase the service life of the bearings, based on the following:
  • the present invention has the following advantages:
  • the double cycloid structure of the present invention is simple and can be made into a small model to replace the harmonic reducer;
  • the present invention has good dynamic characteristics: the running work is not too hot;

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

An internal meshing speed reducer for precision control, comprising an inner cycloid gear ring (1) and two stages of speed reduction components placed therein, wherein a first stage speed reduction component comprises an input shaft (9), a sun gear (14) and a planet gear (4), and a second stage speed reduction component comprises two to three uniformly distributed eccentric shafts (6), cycloidal wheels, a left rigid disc (13) and a right rigid disc (12); the cycloidal wheels are supported at two eccentric sections of each eccentric shaft (6) by means of first bearings (8); shaft extension portions at two ends of each eccentric shaft (6) are supported on the left rigid disc (13) and the right rigid disc (12) by means of second bearings (7); and the rigid discs (13, 12) are supported at two sides of the inner cycloid gear ring (1) by means of third bearings (2). The cycloidal wheels are combined and modified at equal intervals or at shift intervals, and the side clearance Δc between cycloidal wheel teeth grooves and the inner cycloid gear ring (1) is equal to (0.7-5)λ(mm), wherein λ is the thermal expansion amount of the cycloidal wheels when work is performed under rated torque. By means of the described manner, the speed reducer has good dynamic characteristics: under the rated load, work is carried out without overheating, so that the fabrication difficulty is reduced, the structure is simplified, and the bearing capacity is 50% greater than that of a cycloid pinwheel structure due to small equivalent radius of curvature.

Description

精密控制用内啮合减速机Internal gear reducer for precision control 技术领域Technical field
本发明涉及精密控制用减速机(Reducer For High Precision Control)技术领域，尤其是涉及一种精密控制用内啮合减速机，用以取代RV-E减速机，内啮合是指将现有技术‘摆线轮-针轮’改进为‘摆线轮-内摆线齿圈’的双摆线结构。The present invention relates to the technical field of a reducer for precision control (Reducer For High Precision Control), and in particular to an internal meshing reducer for precision control, which is used to replace the RV-E reducer. The line wheel-pin wheel’ is improved to a double cycloid structure of “cycloid wheel-hypocycloid ring gear”.
背景技术Background technique
机器人是制造业皇冠顶端的明珠；机器人是衡量一个国家科技创新和高端制造业水平的重要标志。但是，国内机器人关节装的多数是日本RV减速机。Robots are the jewel at the top of the manufacturing crown; robots are an important indicator of a country's technological innovation and high-end manufacturing level. However, most domestic robot joints are equipped with Japanese RV reducers.
国产RV减速机的问题是运转时发热温升高磨损寿命短动态特性差，动态特性差是因为国内研究者忽视热膨胀的影响：The problem of the domestic RV reducer is that the heating temperature rises during operation and the wear life is short and the dynamic characteristics are poor. The poor dynamic characteristics are because domestic researchers ignore the influence of thermal expansion:
北方工业大学《RV减速器热-结构耦合分析》：“国内对RV减速器热-结构耦合方面研究较少，而减速器用的是脂润滑，散热条件不好，运转中各种状况都和热密切相关。要考虑温度对零件体积的影响，以免因温度过高膨胀卡死。摆线轮是热量的主要来源。”(2016.06)。North China University of Technology "Analysis of Thermal-Structural Coupling of RV Reducers": "There is little domestic research on the thermal-structural coupling of RV reducers, but the reducer uses grease lubrication, and the heat dissipation conditions are not good. Various conditions in operation are affected by heat. Closely related. The influence of temperature on the volume of the part should be considered to avoid the expansion due to excessive temperature. The cycloid is the main source of heat.” (2016.06).
国内现有RV-E型减速机‘针销-摆线轮’啮合结构的问题还在于：The problem with the ‘pin-cycloidal gear’ engagement structure of the existing RV-E type reducer in China lies in:
(1)无法制造比RV-6E型小或更小机型，以取代谐波减速器，因为谐波减速器刚性与寿命不如RV-E型；‘摆线-针轮’制造很困难：“RV减速机针齿壳半埋孔是一组半径尺寸很小而精度要求很高的半圆孔，这种长径比大的高精度小半圆孔的加工工艺在常规生产条件下会有很大难度，…”(《RV减速机运动精度误差因素及高运动精度工艺保证》)；(1) It is impossible to manufacture a model smaller or smaller than the RV-6E type to replace the harmonic reducer, because the rigidity and life of the harmonic reducer are not as good as the RV-E type; the manufacture of the'cycloid-pin wheel' is very difficult: " The semi-buried hole of the needle gear housing of the RV reducer is a set of semi-circular holes with a small radius and high precision requirements. This kind of high-precision small semi-circular hole with a large aspect ratio will be very difficult under normal production conditions ,..." ("The error factors of RV reducer motion accuracy and high motion accuracy process guarantee");
(2)针销与摆线轮系凸-凸啮合，当量半径大接触应力大因而承载能力低于凹-凹的双摆线传动，此外，针销与半埋孔润滑不良且为滑动摩擦，因而易使半 埋孔磨损，导致回差加大。(2) The needle pin and the cycloid gear train are in convex-convex engagement, and the equivalent radius is large and the contact stress is large, so the carrying capacity is lower than the concave-concave double cycloid transmission. In addition, the needle pin and the semi-buried hole are poorly lubricated and have sliding friction. Therefore, the semi-buried hole is easy to wear, resulting in an increase in the return difference.
发明内容Summary of the invention
本发明目的是：提出摆线轮修形合理啮合侧隙Δc与热膨胀量λ的关系式，用以解决现有技术中运转时发热寿命短的缺陷，一种动态特性好的精密控制用内啮合减速机。The purpose of the present invention is to propose the relationship between the cycloidal gear shape modification reasonable meshing backlash Δc and the thermal expansion λ, so as to solve the defect of short heating life during operation in the prior art, and a precise control internal meshing with good dynamic characteristics Reducer.
双摆线齿轮减速器首先从啮合原理上加以突破，利用一对全包络的摆线齿轮作为共轭曲线的齿轮机构，并采用不同形式的一齿差行星齿轮传动来实现减速，从而大大简化了结构和工艺。The double cycloid gear reducer first breaks through the meshing principle. It uses a pair of fully enveloped cycloid gears as the gear mechanism of the conjugate curve, and uses different forms of one-tooth difference planetary gear transmission to achieve speed reduction, thereby greatly simplifying The structure and craftsmanship.
本发明针对现有技术中的缺陷，提供动态特性好的一种精密控制用内啮合减速机，包括内摆线齿圈及置于其中的两级减速部件：Aiming at the defects in the prior art, the present invention provides a precision control internal meshing reducer with good dynamic characteristics, which includes a hypocycloid ring gear and two-stage reduction components placed therein:
第一级减速部件包括输入轴、太阳轮及行星轮；The first-stage reduction components include input shaft, sun gear and planetary gear;
第二级减速部件包括2～3只均布偏心轴、摆线轮、右刚性盘，摆线轮采用等距-移距组合修形，修形使摆线轮齿与内摆线齿圈之间形成径隙及两侧的合理的啮合侧隙。The second-stage reduction components include 2 to 3 uniformly distributed eccentric shafts, cycloidal gears, and right rigid discs. The cycloidal gear adopts an isometric-shift combination to modify the shape. The modification makes the cycloidal gear teeth and the hypocycloid ring gear A radial gap and reasonable backlash on both sides are formed between them.
物理学阐明，固体在各方向上膨胀规律相同，因此可以用固体在一个方向上的线膨胀规律来表征它的体膨胀。因而，摆线轮齿-内摆线齿圈间的侧隙Δc，应与减速机在额定扭矩下做功时摆线轮热膨胀量λ密切相关：侧隙Δc＝(0.7～5)λ(mm)，Physics clarifies that the law of solid expansion in all directions is the same, so the linear expansion law of a solid in one direction can be used to characterize its body expansion. Therefore, the backlash Δc between the cycloidal gear tooth and the hypocycloid ring gear should be closely related to the thermal expansion λ of the cycloidal gear when the reducer is working at the rated torque: Backlash Δc=(0.7～5)λ(mm) ,
λ＝(d0Δt)αt＝0.00062d0(mm)，式中：λ=(d0Δt)αt=0.00062d0(mm), where:
轴承钢热膨胀系数αt＝1.379·10 -5(1/℃)，d0为摆线轮平均直径，温升Δt＝45℃。 The thermal expansion coefficient of bearing steel αt=1.379·10 -5 (1/℃), d0 is the average diameter of the cycloid, and the temperature rise Δt=45℃.
在本发明一个较佳实施例中,所述摆线轮齿与内摆线齿圈间的侧隙Δc＝(0.8～3)λ(mm)。In a preferred embodiment of the present invention, the backlash between the cycloidal gear teeth and the hypocycloid ring gear Δc=(0.8-3)λ(mm).
在本发明一个较佳实施例中，所述摆线轮齿与内摆线齿圈间的侧隙Δc＝(0.9～2)λ(mm)。In a preferred embodiment of the present invention, the backlash between the cycloidal gear teeth and the hypocycloid ring gear Δc=(0.9-2)λ(mm).
在本发明一个较佳实施例中，所述摆线轮齿与内摆线齿圈间的侧隙Δc＝(1～1.4)λ(mm)。In a preferred embodiment of the present invention, the backlash between the cycloidal gear teeth and the hypocycloid ring gear Δc=(1～1.4)λ(mm).
在本发明一个较佳实施例中，所述二摆线轮齿与内摆线齿圈间的侧隙Δc≈1.1λ(mm)。In a preferred embodiment of the present invention, the backlash between the two cycloid gear teeth and the hypocycloid ring gear is Δc≈1.1λ (mm).
在本发明一个较佳实施例中，所述摆线轮采用正等距-正移距组合修形。In a preferred embodiment of the present invention, the cycloid is modified by a combination of positive equidistance and positive displacement.
在本发明一个较佳实施例中，所述第三轴承为带密封的单列向心推力球轴承、或薄壁密封四点接触球轴承，能承受径向载荷、双向推力载荷和倾覆力矩，或薄壁密封交叉滚子轴承，轴承施加预载,能有效提高刚度和旋转精度。In a preferred embodiment of the present invention, the third bearing is a sealed single-row radial thrust ball bearing or a thin-wall sealed four-point contact ball bearing, which can bear radial load, two-way thrust load and overturning moment, or Thin-wall sealed cross-roller bearings, bearing preload, can effectively improve stiffness and rotation accuracy.
本发明的有益效果是：The beneficial effects of the present invention are:
(1)本发明双摆线结构可以制成大减速比机型，也可制成小机型取代谐波减速器；(1) The double cycloid structure of the present invention can be made into a model with a large reduction ratio or a small model to replace the harmonic reducer;
(2)等距-移距组合修形产生的侧隙Δc与摆线轮热膨胀量λ密切相关，因而具有良好的动态特性：额定载荷下运转做功不过热；(2) The backlash Δc produced by the isometric-shifting combined modification is closely related to the thermal expansion λ of the cycloid, so it has good dynamic characteristics: the work done under the rated load is not too hot;
(3)内摆线齿圈取代针销与针齿壳大大简化了结构；(3) The hypocycloid ring gear replaces the needle pin and the needle gear shell, which greatly simplifies the structure;
(4)系凹-凸啮合,当量曲率半径小因而承载能力比摆线针轮结构大50％，能在啮合节点附近强制形成高压油膜，液体摩擦润滑状态，使传动效率比摆线针轮结构大5％。(4) Concave-convex meshing, the equivalent radius of curvature is small, so the load-bearing capacity is 50% larger than that of the cycloidal pinwheel structure. High-pressure oil film can be forced to form near the meshing node. The liquid friction lubrication state makes the transmission efficiency more than the cycloid pinwheel structure 5% larger.
附图说明Description of the drawings
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下， 还可以根据这些附图获得其它的附图，其中：In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings, among which:
图1是本发明精密控制用内啮合减速机一较佳实施例的结构剖面示意图，Fig. 1 is a schematic structural sectional view of a preferred embodiment of an internal gear reducer for precision control of the present invention.
附图中的标记为：1.内摆线齿圈，2.第三轴承，3.左摆线轮，4.行星轮，5.右摆线轮，6.偏心轴，7.第二轴承，8.第一轴承，9.输入轴，10.第四轴承，11.凸缘，12.右刚性盘，13.左刚性盘，14.太阳轮。The marks in the attached drawings are: 1. Hypocycloid ring gear, 2. Third bearing, 3. Left cycloid, 4. Planetary gear, 5. Right cycloid, 6. Eccentric shaft, 7. Second bearing , 8. First bearing, 9. Input shaft, 10. Fourth bearing, 11. Flange, 12. Right rigid disc, 13. Left rigid disc, 14. Sun gear.
具体实施方式Detailed ways
下面将对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
请参阅图1，本发明实施例包括：Please refer to Fig. 1, an embodiment of the present invention includes:
一种精密控制用内啮合减速机，包括内摆线齿圈1及置于其中的两级减速部件：第一级减速部件包括输入轴9、太阳轮14及行星轮4；第二级减速部件包括2～3只均布偏心轴6、摆线轮、左刚性盘13及右刚性盘12，摆线轮包括左摆线轮3与右摆线轮5，所述偏心轴6轴伸端连接行星轮14，偏心轴6两偏心段上设有用以支承摆线轮的第一轴承8，偏心段两侧轴伸用第二轴承7分别支承在左刚性盘13和右刚性盘12周边孔中，左刚性盘13和右刚性盘12用第三轴承2分别支承在内摆线齿圈1两侧内孔，所述输入轴9用第四轴承10分别支承在左刚性盘13和右刚性盘12中心孔，左刚性盘13上均布的凸缘11穿过摆线轮上相应孔与右刚性盘12用螺钉与定位销连接成刚性体，所述摆线轮采用等距-移距组合修形，修形就会使摆线轮齿与内摆线齿圈之间同时产生径隙与两侧隙Δc，所述侧隙Δc＝(0.7～5)λ(mm)，An internal meshing reducer for precision control, including a hypocycloid ring gear 1 and two-stage reduction components placed therein: the first-stage reduction component includes the input shaft 9, the sun gear 14, and the planetary gear 4; the second-stage reduction component It includes 2 to 3 uniformly distributed eccentric shafts 6, a cycloid, a left rigid disc 13 and a right rigid disc 12. The cycloid includes a left cycloid 3 and a right cycloid 5, and the eccentric shaft 6 is connected with its shaft extension The planetary gear 14, the eccentric shaft 6 are provided with first bearings 8 for supporting the cycloid on the two eccentric sections, and the second bearings 7 for shaft extension on both sides of the eccentric section are respectively supported in the peripheral holes of the left rigid disc 13 and the right rigid disc 12 , The left rigid disc 13 and the right rigid disc 12 are respectively supported by the inner bores on both sides of the hypocycloid ring gear 1 by the third bearing 2, and the input shaft 9 is respectively supported on the left rigid disc 13 and the right rigid disc by the fourth bearing 10 12 Center hole, the evenly distributed flange 11 on the left rigid disk 13 passes through the corresponding holes on the cycloidal wheel and is connected to the right rigid disk 12 with screws and positioning pins to form a rigid body. The cycloidal wheel adopts an isometric-shift combination Modification, the modification will cause a radial gap and a side gap Δc between the cycloidal gear teeth and the hypocycloid ring gear at the same time, the backlash Δc=(0.7～5)λ(mm),
式中：减速机在额定扭矩下做功时摆线轮热膨胀量λ＝(d0Δt)αt＝0.00062d0 (mm)，In the formula: the thermal expansion of the cycloid λ=(d0Δt)αt=0.00062d0 (mm) when the reducer is working under the rated torque,
轴承钢热膨胀系数αt＝1.379·10 -5(1/℃)，d0为摆线轮平均直径，温升Δt＝45℃。 The thermal expansion coefficient of bearing steel αt=1.379·10 -5 (1/℃), d0 is the average diameter of the cycloid, and the temperature rise Δt=45℃.
摆线轮齿与内摆线齿圈1之间的侧隙Δc的大小与内摆线齿圈、摆线轮齿距偏差及装配产生的偏差等因素相关，此外与减速机型号大小有关，侧隙Δc过小时，摆线轮齿与内摆线齿圈间在负载运转时热膨胀导致噪声加大、磨损、振动及寿命缩短；侧隙Δc过大且输入转速偏高时易出现振动。The size of the backlash Δc between the cycloidal gear teeth and the cycloid ring gear 1 is related to factors such as the cycloid ring gear, the pitch deviation of the cycloidal gear and the deviation caused by assembly, and is also related to the size of the reducer. If the backlash Δc is too small, the thermal expansion between the cycloidal gear teeth and the hypocycloid ring gear during load operation will cause increased noise, wear, vibration and shortened life; when the backlash Δc is too large and the input speed is high, vibration is likely to occur.
所述摆线轮齿与内摆线齿圈1之间的侧隙Δc＝(0.8～3)λ(mm)。The backlash between the cycloidal gear teeth and the hypocycloid ring gear 1 is Δc=(0.8-3)λ(mm).
所述摆线轮齿与内摆线齿圈1之间的侧隙Δc＝(0.9～2)λ(mm)。The backlash between the cycloidal gear teeth and the hypocycloid ring gear 1 is Δc=(0.9-2)λ(mm).
所述摆线轮齿与内摆线齿圈1之间的侧隙Δc＝(1～1.4)λ(mm)。The backlash between the cycloidal gear teeth and the hypocycloid ring gear 1 is Δc=(1～1.4)λ(mm).
所述摆线轮齿与内摆线齿圈1之间的侧隙Δc≈1.1λ(mm)，如下表所示：The backlash Δc≈1.1λ(mm) between the cycloid gear tooth and the hypocycloid ring gear 1 is shown in the following table:
 To RV-20ERV-20E RV-40ERV-40E RV-80ERV-80E RV-110ERV-110E RV-160ERV-160E RV-320ERV-320E RV-450ERV-450E
摆线轮平均直径d0Average diameter of cycloidal wheel d0 104104 128128 164164 184184 204204 229229 310310
(热膨胀+补偿量)λ(Thermal expansion + compensation)λ 0.0770.077 0.0960.096 0.1220.122 0.1380.138 0.1520.152 0.1760.176 0.2320.232
侧向间隙理论值ΔcTheoretical value of lateral clearance Δc 0.0830.083 0.1010.101 0.1330.133 0.1520.152 0.1590.159 0.1860.186 0.2480.248
Δc≈1.1λΔc≈1.1λ 1.081.08 1.051.05 1.091.09 1.11.1 1.051.05 1.061.06 1.071.07
所述摆线轮采用正等距-正移距组合修形，正等距-正移距组合修形的轮齿与针销之间的作用力为负等距-负移距组合修形的49％；正等距-正移距组合修形的承载力为负等距-负移距组合修形的1.71倍。正等距-正移距组合修形回差用消隙原理减至设计要求。The cycloid wheel adopts positive equidistance-positive displacement combined modification, and the force between the gear teeth and the needle pin of the positive equidistance-positive displacement combined modification is the negative equidistance-negative displacement combined modification 49%; the bearing capacity of the combined modification of positive equidistance and positive displacement is 1.71 times that of the combined modification of negative equidistance and negative displacement. The combined modification of positive isometric-positive shift distance is reduced to the design requirements by the principle of anti-backlash.
《齿轮传动设计手册》804页指出：摆线轮修形应能形成合理的侧隙与径隙，既能补偿制造误差，又保证多齿啮合；齿形工作部分逼近共轭齿形使传动平稳及.磨削工艺简单。理论与实践均已证明‘正等距-正移距’组合修形，可得到上述理想齿形。"Gear Transmission Design Manual" page 804 points out: the cycloid modification should be able to form reasonable backlash and radial clearance, which can not only compensate for manufacturing errors, but also ensure multi-tooth meshing; the working part of the tooth profile is close to the conjugate tooth profile to make the transmission smooth And. The grinding process is simple. Both theory and practice have proved that the above-mentioned ideal tooth profile can be obtained by the combination modification of ‘positive equidistance-positive displacement’.
等距修形：砂轮磨削半径增大为正等距；反之，减小为负等距；Isometric modification: the grinding wheel grinding radius increases to a positive offset; on the contrary, it decreases to a negative offset;
移距修形：磨轮背离工作台中心为正移距；反之，移进为负移距。Shift modification: the grinding wheel is away from the center of the worktable as a positive shift; on the contrary, the shift is a negative shift.
所述第三轴承2为带密封单列向心推力球轴承，或薄壁密封四点接触球轴承，能承受径向载荷、双向推力载荷和倾覆力矩，能简化主机结构；调整游隙非常方便，或薄壁密封交叉滚子轴承，由于滚子与滚道为线接触,其载荷容量是球轴承额定载荷的5～15倍,因此可靠性高,寿命较长；交叉滚子轴承施加预载,，能有效提高刚度和旋转精度。The third bearing 2 is a sealed single-row radial thrust ball bearing, or a thin-wall sealed four-point contact ball bearing, which can bear radial load, two-way thrust load and overturning moment, and can simplify the structure of the main engine; it is very convenient to adjust the clearance. Or thin-wall sealed crossed roller bearings, because the rollers and raceways are in line contact, its load capacity is 5-15 times the rated load of ball bearings, so it has high reliability and longer life; crossed roller bearings are preloaded, , Can effectively improve the rigidity and rotation accuracy.
采用带密封的轴承的目的是提高轴承的使用寿命，其依据如下：The purpose of using sealed bearings is to increase the service life of the bearings, based on the following:
(1)“润滑不良是引起轴承早期破坏的主要原因”(刘泽九《滚动轴承应用手册》891页)；(1) "Poor lubrication is the main cause of early damage to bearings" (Liu Zejiu "Rolling Bearing Application Manual" page 891);
(2)“轴承早期失效往往不是材质引起的疲劳破坏，而是污染物进入轴承内部后润滑脂质逐渐变坏，在滚动接触面上产生压痕所致。”(《密封深沟球轴承的密封技术》轴承2009.05)；(2) "The early failure of the bearing is often not caused by the fatigue damage caused by the material, but the lubricating lipid gradually deteriorates after the pollutants enter the bearing, and the indentation is generated on the rolling contact surface." ("Sealed deep groove ball bearing Sealing Technology "Bearing 2009.05);
(3)“结构紧凑时，最好使用装有两面密封的向心球轴承。装有两面密封圈的向心球轴承已装入足够轴承整个使用期限的润滑脂。”(埃斯曼《滚动轴承设设计与应用手册》221页)。(3) "When the structure is compact, it is best to use a radial ball bearing equipped with two-sided sealing. The radial ball bearing equipped with a two-sided sealing ring has been loaded with sufficient grease for the entire life of the bearing." (Esman "Rolling Bearings" Design and Application Manual" page 221).
本发明与现有技术相比具有如下优点：Compared with the prior art, the present invention has the following advantages:
(1)本发明双摆线结构简单、可制成小机型取代谐波减速器；(1) The double cycloid structure of the present invention is simple and can be made into a small model to replace the harmonic reducer;
(2)本发明具有良好动态特性：运转做功不过热；(2) The present invention has good dynamic characteristics: the running work is not too hot;
(3)在节点附近凹-凸啮合,齿形接近于密合状态,因而接触强度高,其承载力比摆线针轮结构大50％，能形成高压油膜，液体摩擦润滑状态，使传动效率比摆线针轮结构大5％。(3) Concave-convex meshing near the node, the tooth profile is close to the close state, so the contact strength is high, its bearing capacity is 50% larger than the cycloidal pinwheel structure, it can form a high-pressure oil film, liquid friction and lubrication, and make transmission efficiency It is 5% larger than the cycloidal pinwheel structure.
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利 用本发明说明书内容所作的等效结构或等效流程变换，或直接或间接运用在其它相关的技术领域，均同理包括在本发明的专利保护范围内。The above are only the embodiments of the present invention and do not limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the present invention description, or directly or indirectly applied to other related technical fields, are all The same reason is included in the scope of patent protection of the present invention.

Claims (7)

  1. 一种精密控制用内啮合减速机，包括内摆线齿圈(1)及置于其中的两级减速部件：第一级减速部件包括输入轴(9)、太阳轮(14)及行星轮(4)；第二级减速部件包括2～3只均布的偏心轴(6)、摆线轮、左刚性盘(13)及右刚性盘(12)，摆线轮包括左摆线轮(3)与右摆线轮(5)，偏心轴(6)轴伸端连接行星轮(4)，偏心轴(6)两偏心段上设有用以支承摆线轮的第一轴承(8)，所述偏心段两侧轴伸用第二轴承(7)分别支承在左刚性盘(13)和右刚性盘(12)周边孔中，左刚性盘(13)和右刚性盘(12)用第三轴承(2)分别支承在内摆线齿圈(1)两侧内孔，所述输入轴(9)用第四轴承(10)分别支承在左刚性盘(13)和右刚性盘(12)中心孔，左刚性盘(13)上均布的凸缘(11)穿过摆线轮上相应孔与右刚性盘(12)用螺钉与定位销连接成刚性体，摆线轮采用等距-移距组合修形，使摆线轮齿槽与内摆线齿圈(1)之间形成径隙与两侧隙Δc，其特征在于：所述侧隙Δc＝(0.7～5)λ(mm)，式中：减速机在额定扭矩下做功时摆线轮热膨胀量λ＝(d0Δt)αt＝0.00062d0(mm)，An internal meshing reducer for precision control, including a hypocycloid ring gear (1) and two-stage reduction components placed therein: the first-stage reduction component includes an input shaft (9), a sun gear (14) and a planetary gear ( 4); The second-stage reduction component includes 2 to 3 uniformly distributed eccentric shafts (6), cycloid, left rigid disc (13) and right rigid disc (12), the cycloid includes the left cycloid (3) ) Is connected to the planetary gear (4) with the right cycloid (5) and eccentric shaft (6). The two eccentric sections of the eccentric shaft (6) are provided with first bearings (8) for supporting the cycloid. The second bearings (7) for the shaft extension on both sides of the eccentric section are respectively supported in the peripheral holes of the left rigid disk (13) and the right rigid disk (12), and the left rigid disk (13) and the right rigid disk (12) use the third The bearings (2) are respectively supported by the inner holes on both sides of the hypocycloid ring gear (1), and the input shaft (9) is respectively supported on the left rigid disk (13) and the right rigid disk (12) by a fourth bearing (10) In the center hole, the evenly distributed flange (11) on the left rigid disc (13) passes through the corresponding holes on the cycloid and is connected to the right rigid disc (12) with screws and positioning pins to form a rigid body. The cycloid is equidistant- Shift combination modification to form a radial gap and a side gap Δc between the cycloid tooth groove and the inner cycloid ring gear (1), characterized in that: the backlash Δc=(0.7～5)λ(mm ), where: the thermal expansion of the cycloid λ=(d0Δt)αt=0.00062d0(mm) when the reducer is working under the rated torque,
    轴承钢热膨胀系数αt＝1.379·10 -5(1/℃)，d0为摆线轮平均直径，温升Δt＝45℃。 The thermal expansion coefficient of bearing steel αt=1.379·10 -5 (1/℃), d0 is the average diameter of the cycloid, and the temperature rise Δt=45℃.
  2. 根据权利要求1所述精密控制用内啮合减速机，其特征在于：所述摆线轮齿与内摆线齿圈(1)之间的侧隙Δc＝(0.8～3)λ(mm)。The internal gear reducer for precision control according to claim 1, wherein the backlash between the cycloidal gear teeth and the hypocycloid ring gear (1) is Δc=(0.8-3)λ(mm).
  3. 根据权利要求2所述精密控制用内啮合减速机，其特征在于：所述摆线轮齿与内摆线齿圈(1)之间的侧隙Δc＝(0.9～2)λ(mm)。The internal gear reducer for precision control according to claim 2, wherein the backlash between the cycloidal gear teeth and the hypocycloid ring gear (1) is Δc=(0.9-2)λ(mm).
  4. 根据权利要求3所述精密控制用内啮合减速机，其特征在于：所述摆线轮齿与内摆线齿圈(1)之间的侧隙Δc＝(1～1.4)λ(mm)。The internal gear reducer for precision control according to claim 3, characterized in that: the backlash between the cycloid gear tooth and the hypocycloid ring gear (1) is Δc=(1~1.4)λ(mm).
  5. 根据权利要求4所述精密控制用内啮合减速机，其特征在于：所述摆线轮与内齿圈(1)之间的侧向间隙Δc≈1.1λ(mm)。The internal gear reducer for precision control according to claim 4, characterized in that: the lateral gap between the cycloid and the ring gear (1) is Δc≈1.1λ (mm).
  6. 根据权利要求1至5之一所述精密控制用内啮合减速机，其特征在于：所述摆线轮采用正等距-正移距组合修形。The internal gear reducer for precision control according to any one of claims 1 to 5, characterized in that: the cycloid is shaped by a combination of positive equidistance and positive displacement.
  7. 根据权利要求1所述精密控制用内啮合减速机，其特征在于：所述第三轴承(2)为带密封的单列向心推力球轴承，或薄壁密封四点接触球轴承，或薄壁密封交叉滚子轴承。The internal gear reducer for precision control according to claim 1, characterized in that: the third bearing (2) is a sealed single-row radial thrust ball bearing, or a thin-wall sealed four-point contact ball bearing, or a thin-walled sealed four-point contact ball bearing Sealed cross roller bearings.
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