WO2018103160A1

WO2018103160A1 - Cycloidal-pin wheel speed reducer

Info

Publication number: WO2018103160A1
Application number: PCT/CN2016/112903
Authority: WO
Inventors: 陈卫兵; 朱轩; 王劲松; 王瑶
Original assignee: 深圳市荣德机器人科技有限公司
Priority date: 2016-12-09
Filing date: 2016-12-29
Publication date: 2018-06-14
Also published as: CN106545622A

Abstract

A cycloidal-pin wheel speed reducer (100), comprising an input portion, a speed reduction portion, and an output portion; the speed reduction portion comprises an eccentric wheel (20), a cycloidal wheel (40), and a pin wheel (60); the pin wheel comprises a pin wheel housing (62), pin wheel teeth (64) disposed in the pin wheel housing, and a pin wheel shaft (66) assembled with the pin wheel teeth; the pin wheel teeth are arranged into an annular pin wheel teeth group around the circumferential inner wall of the pin wheel housing; the cycloidal wheel is engaged with the pin wheel teeth; and the pin wheel teeth are a bearing pin wheel teeth. In the related cycloidal-pin wheel speed reducer, the bearing structural pin wheel teeth are installed on each pin wheel shaft, and the cycloidal wheel and the pin wheel teeth are in a rolling transmission. Thus, the friction coefficient between the cycloidal wheel and the pin wheel teeth is reduced, transmission efficiency is improved, the abrasion between the cycloidal wheel and the pin wheel teeth is reduced, service life is improved, repeated angle precision is improved, the operating temperature of the speed reducer is reduced, and electricity consumption is greatly reduced.

Description

Cycloidal pinwheel reducer

Technical field

The invention relates to a speed reducer, in particular to a cycloidal pin wheel reducer.

Background technique

The needle of the existing cycloidal pinwheel reducer is fixed, the pin gear and the cycloidal wheel are sliding transmission, the friction coefficient is large, the transmission efficiency is low, the wear is short, and the service life is short.

Technical solution

Based on this, it is necessary to provide a cycloidal pinwheel reducer capable of reducing the coefficient of friction.

A cycloidal pinwheel reducer comprising: an input portion, a decelerating portion, and an output portion, the decelerating portion comprising: an eccentric wheel, a cycloidal wheel, and a pin gear, the pin gear comprising: a pin gear housing, disposed at a pin gear in the pin gear case, a pin gear shaft on which the pin teeth are mounted, the pin teeth are arranged around the inner circumferential wall of the pin gear case as an annular pin gear group, and the cycloidal wheel meshes with the pin gear The needle teeth are bearing needles.

In a preferred embodiment, the cycloidal wheel meshes with the annularly arranged pin gear set and constitutes an internal meshing speed reduction mechanism with a tooth difference of one tooth, and the pin gear shaft is fixed to the pin gear shell by a fixing member. The cycloidal wheel and the pin gear are driven by the rolling.

In a preferred embodiment, the cycloidal wheel includes: a first cycloidal wheel and a second cycloidal wheel arranged in parallel, wherein the first cycloidal wheel and the second cycloidal wheel are fixed together by a fixing member. The pin gear set includes: a first pin gear set corresponding to the first cycloidal wheel, and a second pin gear set corresponding to the second cycloidal wheel, the first cycloidal wheel and the The first set of teeth is engaged, and the second cycloid is engaged with the second set of teeth.

In a preferred embodiment, the first set of teeth and the second set of teeth are arranged side by side, the pinion shaft includes: a first fixing portion, a second fixing portion, and the a third fixing portion between the first pin group and the second pin group, wherein the fixing member fixes the pin shaft to the pin housing through the first fixing portion, the second fixing portion and the third fixing portion respectively on.

In a preferred embodiment, the eccentric is disposed in a cavity of the cycloidal wheel, the eccentric includes: a first eccentric wheel set corresponding to the first cycloidal wheel, and The second cycloidal wheel is correspondingly disposed on the second eccentric wheel set, the first eccentric wheel set is disposed in the first cycloidal inner cavity, and the second eccentric wheel set is disposed in the second cycloidal inner cavity The first eccentric wheel set includes: a pair of misaligned 180° double eccentric wheels, the second eccentric wheel comprising: a pair of misaligned 180° double eccentric wheels, the first eccentric wheel set and the first eccentric wheel set The two eccentric wheel sets are misaligned.

In a preferred embodiment, the teeth are needle bearing needles.

In a preferred embodiment, the teeth are roller bearing needles.

In a preferred embodiment, the input portion includes an input shaft, an input gear disposed on the input shaft, and a planetary gear set that meshes with the input gear.

In a preferred embodiment, the planetary gear set includes a sun gear and three planet gears meshing therewith, the eccentric being disposed coaxially with the planet gears.

The cycloidal pinwheel reducer described above adopts a pin-shaped structure of a bearing type structure on each pin gear shaft, and the cycloidal wheel and the pin gear roll transmission reduce the friction coefficient between the cycloidal wheel and the pin teeth. The transmission efficiency is improved, the wear between the cycloidal wheel and the needle teeth is reduced, and the service life is improved. At the same time, the repeating angle accuracy is improved, the operating temperature of the reducer is lowered, and the power consumption is also greatly reduced.

DRAWINGS

1 is a schematic view of a cycloidal pinwheel reducer according to an embodiment of the present invention;

Figure 2 is a cross-sectional view taken along line A-A of Figure 1;

Figure 3 is a cross-sectional view taken along line B-B of Figure 2;

Fig. 4 is an enlarged view of a portion C of Fig. 3.

Embodiments of the invention

As shown in FIG. 1 to FIG. 4, a cycloidal pinwheel reducer 100 according to an embodiment of the present invention includes an input portion, a deceleration portion, and an output portion. The decelerating portion includes an eccentric 20, a cycloidal wheel 40, and a pin gear 60. The pin gear 60 includes a pin gear case 62, pin teeth 64 provided in the pin gear case 62, and a pin gear shaft 66 on which the pin teeth 64 are attached. The teeth 64 are arranged around the circumferential inner wall of the pin housing 62 as an annular set of teeth. The cycloidal wheel 40 meshes with the pinion teeth 64. The needle teeth are bearing needles. Bearing-type pin teeth can be directly used as pin teeth, and parts with similar bearing structure can also be used as pin teeth.

In a preferred embodiment, the cycloidal wheel 40 of the present embodiment engages with the annular array of teeth and forms an internal engagement reduction mechanism having a tooth difference of one tooth. The pinion shaft 66 is fixed to the pin housing 62 by a fixing member. The cycloidal wheel 40 of the present embodiment and the pin gear 64 are rollingly driven.

Further, the cycloidal wheel 40 of the present embodiment includes a first cycloidal wheel 42 and a second cycloidal wheel 44 arranged in parallel, and the first cycloidal wheel 42 and the second cycloidal wheel 44 are fixed together by a fixing member.

Further, the set of teeth of the present embodiment includes: a first set of teeth 642 disposed corresponding to the first cycloidal wheel 42 and a second set of teeth 644 corresponding to the second cycloidal wheel 44. The first cycloidal wheel 42 is meshed with the first set of teeth 642, and the second cycloidal wheel 44 is meshed with the second set of teeth 644.

Further, the first set of teeth 642 and the second set of teeth 644 of the present embodiment are arranged side by side. The pinion shaft 66 includes a first fixing portion provided at the end portion, a second fixing portion, and a third fixing portion provided between the first pin group and the second pin group. The fixing member fixes the pinion shaft 66 to the pin housing 62 via the first fixing portion, the second fixing portion, and the third fixing portion, respectively.

Further, the eccentric 20 of the present embodiment is disposed in the inner cavity of the cycloidal wheel 40. The eccentric includes a first eccentric wheel set 22 corresponding to the first cycloidal wheel 42 and a second eccentric wheel set 24 corresponding to the second cycloidal wheel 44. The first eccentric wheel set 22 is disposed in the inner cavity of the first cycloidal wheel 42, and the second eccentric wheel set 24 is disposed in the inner cavity of the second cycloidal wheel 44. The first eccentric wheel set comprises: a pair of misaligned 180° double eccentric wheels, and the second eccentric wheel comprises: a pair of misaligned 180° double eccentric wheels. The first eccentric wheel set and the second eccentric wheel set are offset.

Preferably, the needle teeth of the embodiment adopt needle roller bearing type needle teeth. It is possible to directly use a needle bearing as a needle or a needle bearing structure as a needle.

Preferably, the needle teeth of the embodiment are roller bearing type needle teeth.

Further, the input portion of the present embodiment includes an input shaft 30, an input gear 32 disposed on the input shaft 30, and a planetary gear set 34 that meshes with the input gear 32.

The planetary gear set 34 includes a sun gear and three planet gears that mesh therewith. The eccentric 20 of the present embodiment is disposed coaxially with the planetary gears.

The cycloidal pinwheel reducer 100 of the present invention drives the input shaft 30 to rotate by a power mechanism such as a motor, and drives the input gear 32 connected to the input shaft to rotate, so that the driven planetary gear set 34 meshed with the input gear rotates, and the planetary gear set 34 rotates. The three planetary gears rotate to drive the eccentric 20 disposed coaxially with the planetary gears to rotate, and the eccentric 20 rotates on the cycloidal wheel 40, thereby driving the cycloidal wheel 40 along the annular pin gear set. The cycloidal pinwheel reducer 100 of the present invention is disposed in a robot arm, and the mechanical arm is rotated by the pin gear housing 62.

The cycloidal pinwheel reducer 100 of the present invention can also be used as an input by the pinion housing 62, and the input shaft is used as an output.

The cycloidal pinwheel reducer 100 of the present invention is fixed to the pin gear housing 62 by means of two pin gears 64 of a bearing structure on each of the pin gear shafts 66. The cycloidal gear 40 and the pin gear 64 are fixed. The rolling drive reduces the friction coefficient between the cycloidal wheel and the pin teeth, improves the transmission efficiency, reduces the wear between the cycloidal wheel and the pin teeth, and improves the service life.

Through experiments, it can be concluded that the cycloidal pinwheel reducer 100 of the present invention has improved the repeating angle precision and the repeating angle precision deviation by 0.3 arc.min or more, and can even achieve higher precision, compared with the conventional cycloidal pinwheel reducer. After 8 hours of continuous experiment, compared with the traditional cycloidal pinwheel reducer, the temperature of the reducer can be reduced by more than 5 degrees, and the power consumption is also greatly reduced. The power is reduced by more than 15%, and the transmission efficiency is increased by more than 15%.

The above-mentioned embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

A cycloidal pinwheel reducer, comprising: an input portion, a decelerating portion, and an output portion, the decelerating portion comprising: an eccentric wheel, a cycloidal wheel, and a pin gear, the pin gear comprising: a pin gear a housing, a pin disposed in the pinion housing, a pinion shaft on which the pin teeth are mounted, the pin teeth being arranged around the inner circumferential wall of the pin housing to form an annular pin set, the cycloidal wheel and the needle The teeth are engaged, and the teeth are bearing needles.
The cycloidal pinwheel reducer according to claim 1, wherein said cycloidal wheel meshes with an annularly arranged pin group and constitutes an internal meshing reduction mechanism having a tooth difference of said one tooth, said pinion shaft It is fixed to the pin gear housing by a fixing member, and the cycloidal wheel and the pin gear are driven by rolling.
The cycloidal pinwheel reducer according to claim 2, wherein the cycloidal wheel comprises: a first cycloidal wheel and a second cycloidal wheel arranged in parallel, the first cycloidal wheel and the second The cycloidal wheel is fixed together by a fixing member, the set of teeth includes: a first set of teeth arranged corresponding to the first cycloidal wheel, and a second set of teeth corresponding to the second cycloidal wheel The first cycloidal wheel is meshed with the first set of pin teeth, and the second cycloidal wheel is meshed with the second set of teeth.
The cycloidal pinwheel reducer according to claim 3, wherein the first pin gear set and the second pin gear set are juxtaposed, and the pin gear shaft comprises: a first fixing portion provided at the end portion; a second fixing portion, and a third fixing portion disposed between the first pin group and the second pin group, wherein the fixing member passes through the first fixing portion, the second fixing portion, and the third fixing portion respectively The pinion shaft is fixed to the pin housing.
The cycloidal pinwheel reducer according to claim 3, wherein the eccentric wheel is disposed in an inner cavity of the cycloidal wheel, and the eccentric wheel comprises: corresponding to the first cycloidal wheel a first eccentric wheel set and a second eccentric wheel set corresponding to the second cycloidal wheel, the first eccentric wheel set being disposed in the first cycloidal wheel cavity, the second eccentric wheel set Disposed in the second cycloid inner cavity, the first eccentric wheel set comprises: a pair of misaligned 180° double eccentric wheels, the second eccentric wheel comprising: a pair of misaligned 180° double eccentricity The wheel, the first eccentric wheel set and the second eccentric wheel set are offset.
The cycloidal pinwheel reducer according to any one of claims 1 to 5, wherein the pin teeth are needle bearing type pin teeth.
The cycloidal pinwheel reducer according to any one of claims 1 to 5, wherein the pin teeth are roller bearing type pin teeth.
The cycloidal pinwheel reducer according to any one of claims 1 to 5, wherein the input portion includes: an input shaft, an input gear provided on the input shaft, and meshing with the input gear Planet gear set.
A cycloidal pinwheel reducer according to claim 8, wherein said planetary gear set comprises: a sun gear and three planetary gears meshing therewith, said eccentric being coaxially disposed with said planetary gear.