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WO2018103160A1 - 摆线针轮减速器 - Google Patents

摆线针轮减速器 Download PDF

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Publication number
WO2018103160A1
WO2018103160A1 PCT/CN2016/112903 CN2016112903W WO2018103160A1 WO 2018103160 A1 WO2018103160 A1 WO 2018103160A1 CN 2016112903 W CN2016112903 W CN 2016112903W WO 2018103160 A1 WO2018103160 A1 WO 2018103160A1
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WO
WIPO (PCT)
Prior art keywords
cycloidal
pin
wheel
teeth
gear
Prior art date
Application number
PCT/CN2016/112903
Other languages
English (en)
French (fr)
Inventor
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
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Application filed by 深圳市荣德机器人科技有限公司 filed Critical 深圳市荣德机器人科技有限公司
Publication of WO2018103160A1 publication Critical patent/WO2018103160A1/zh

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Classifications

    • 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
    • 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
    • F16H2001/327—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 with the orbital gear having internal gear teeth

Definitions

  • the invention relates to a speed reducer, in particular to a cycloidal pin wheel reducer.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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
  • 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.
  • the teeth are needle bearing needles.
  • the teeth are roller bearing needles.
  • 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.
  • 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.
  • the repeating angle accuracy is improved, the operating temperature of the reducer is lowered, and the power consumption is also greatly reduced.
  • FIG. 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.
  • a cycloidal pinwheel reducer 100 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.
  • 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.
  • 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.
  • 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
  • the second cycloidal wheel 44 is meshed with the second set of teeth 644.
  • 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.
  • 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
  • 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
  • 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.
  • 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.
  • the needle teeth of the embodiment are roller bearing type needle teeth.
  • 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.
  • 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.
  • 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%.

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

Abstract

一种摆线针轮减速器（100），包括：输入部分、减速部分、及输出部分，减速部分包括：偏心轮（20）、摆线轮（40）、及针齿轮（60），针齿轮包括：针齿壳（62）、设置在针齿壳中的针齿（64）、装设针齿的针齿轴（66），针齿环绕针齿壳的圆周内壁排列成环形针齿组，摆线轮与针齿啮合，针齿为轴承式针齿；涉及的摆线针轮减速器通过采用在每个针齿轴上装上轴承式结构的针齿，摆线轮与针齿滚动传动，减小摆线轮与针齿之间的磨擦系数大，提高了传动效率，减小摆线轮与针齿之间的磨损，提高使用寿命，同时提高了重复角度精度，降低了减速器的工作温度，同时消耗的电量也大大降低。

Description

摆线针轮减速器 技术领域
本发明涉及一种减速器，特别涉及一种摆线针轮减速器。
背景技术
现有的摆线针轮减速器的针齿为固定式、针齿与摆线轮为滑动传动，磨擦系数大，传动效率低，会磨损，使用寿命短。
技术解决方案
基于此，有必要提供一种能减小摩擦系数的摆线针轮减速器。
一种摆线针轮减速器，包括：输入部分、减速部分、及输出部分，所述减速部分包括：偏心轮、摆线轮、及针齿轮，所述针齿轮包括：针齿壳、设置在针齿壳中的针齿、装设所述针齿的针齿轴，所述针齿环绕所述针齿壳的圆周内壁排列成环形针齿组，所述摆线轮与针齿啮合，所述针齿为轴承式针齿。
在优选的实施例中，所述摆线轮与环形排列的针齿组内啮合并组成齿差为一齿的内啮合减速机构，所述针齿轴通过固定件固定在针齿壳上，所述摆线轮与所述针齿滚动传动。
在优选的实施例中，所述摆线轮包括：并列设置的第一摆线轮及第二摆线轮，所述第一摆线轮与第二摆线轮通过固定件固定在一起，所述针齿组包括：与所述第一摆线轮相应设置的第一针齿组、及与所述第二摆线轮相应设置的第二针齿组，所述第一摆线轮与所述第一针齿组啮合，所述第二摆线轮与所述第二针齿组啮合。
在优选的实施例中，所述第一针齿组与第二针齿组并列设置，所述针齿轴包括：设于端部的第一固定部、第二固定部、及设于所述第一针齿组与第二针齿组之间的第三固定部，固定件分别通过第一固定部、第二固定部、第三固定部将所述针齿轴固定在所述针齿壳上。
在优选的实施例中，所述偏心轮设置在所述摆线轮的内腔中，所述偏心轮包括：与所述第一摆线轮相应设置的第一偏心轮组、及与所述第二摆线轮相应设在第二偏心轮组，所述第一偏心轮组设置在第一摆线轮内腔中，所述第二偏心轮组设置在所述第二摆线轮内腔中，所述第一偏心轮组包括：一对错位180°设置的双偏心轮，所述第二偏心轮包括：一对错位180°设置的双偏心轮，所述第一偏心轮组与第二偏心轮组错位设置。
在优选的实施例中，所述针齿为滚针轴承式针齿。
在优选的实施例中，所述针齿为滚柱轴承式针齿。
在优选的实施例中，所述输入部分包括：输入轴、设置在所述输入轴上的输入齿轮、及与所述输入齿轮啮合的行星齿轮组。
在优选的实施例中，所述行星齿轮组包括：太阳齿轮及与其啮合的三个行星齿轮，所述偏心轮与所述行星齿轮同轴设置。
上述的摆线针轮减速器通过采用在每个针齿轴上装上轴承式结构的针齿，，摆线轮与针齿滚动传动，减小摆线轮与针齿之间的磨擦系数大，提高了传动效率，减小摆线轮与针齿之间的磨损，提高使用寿命。同时提高了重复角度精度，降低了减速器的工作温度，同时消耗的电量也大大降低。
 附图说明
图1为本发明一实施例的摆线针轮减速器的示意图；
图2为图1的A-A方向的剖视图；
图3为图2的B-B方向的剖视图；
图4为图3的C部分的放大图。
 本发明的实施方式
如图1至图4所示，本发明一实施例的摆线针轮减速器100，包括：输入部分、减速部分、及输出部分。减速部分包括：偏心轮20、摆线轮40、及针齿轮60。针齿轮60包括：针齿壳62、设置在针齿壳62中的针齿64、装设针齿64的针齿轴66。针齿64环绕针齿壳62的圆周内壁排列成环形针齿组。摆线轮40与针齿64啮合。针齿为轴承式针齿。轴承式针齿可采用轴承直接作为针齿，也可采用类似轴承结构的零件作为针齿。
在优选的实施例中，本实施例的摆线轮40与环形排列的针齿组内啮合并组成齿差为一齿的内啮合减速机构。针齿轴66通过固定件固定在针齿壳62上。本实施例的摆线轮40与针齿64滚动传动。
进一步，本实施例的摆线轮40包括：并列设置的第一摆线轮42及第二摆线轮44，第一摆线轮42与第二摆线轮44通过固定件固定在一起。
进一步，本实施例的针齿组包括：与第一摆线轮42相应设置的第一针齿组642、及与第二摆线轮44相应设置的第二针齿组644。第一摆线轮42与第一针齿组642内啮合传动，第二摆线轮44与所述第二针齿组644内啮合传动。
进一步，本实施例的第一针齿组642与第二针齿组644并列设置。针齿轴66包括：设于端部的第一固定部、第二固定部、及设于第一针齿组与第二针齿组之间的第三固定部。固定件分别通过第一固定部、第二固定部、第三固定部将针齿轴66固定在针齿壳62上。
进一步，本实施例的偏心轮20设置在摆线轮40的内腔中。偏心轮包括：与第一摆线轮42相应设置的第一偏心轮组22、及与第二摆线轮44相应设在第二偏心轮组24。第一偏心轮组22设置在第一摆线轮42的内腔中，第二偏心轮组24设置在第二摆线轮44内腔中。第一偏心轮组包括：一对错位180°设置的双偏心轮，第二偏心轮包括：一对错位180°设置的双偏心轮。第一偏心轮组与第二偏心轮组错位设置。
优选的，本实施例的针齿采用滚针轴承式针齿。可以直接采用滚针轴承做针齿，也可以做成类似滚针轴承结构作为针齿。
优选的，本实施例的针齿为滚柱轴承式针齿。
进一步，本实施例的输入部分包括：输入轴30、设置在输入轴30上的输入齿轮32、及与输入齿轮32啮合的行星齿轮组34。
行星齿轮组34包括：太阳齿轮及与其啮合的三个行星齿轮。本实施例的偏心轮20与行星齿轮同轴设置。
本发明的摆线针轮减速器100，通过动力机构如电机带动输入轴30转动，带动与输入轴连接的输入齿轮32转动，从而与输入齿轮啮合的带动行星齿轮组34转动，行星齿轮组34的三个行星齿轮转动，从而带动与行星齿轮同轴设置的偏心轮20转动，偏心轮20在摆线轮40上转动，从而带动摆线轮40沿环形针齿组走。本发明的摆线针轮减速器100设置在机械臂中，通过针齿壳62带动机械臂转动。
本发明的摆线针轮减速器100也可由针齿壳62作为输入，输入轴作为输出使用。
本发明的摆线针轮减速器100通过采用在每个针齿轴66上装2个轴承式结构的针齿64，针齿轴66固定在针齿壳62上，摆线轮40与针齿64滚动传动，减小摆线轮与针齿之间的磨擦系数大，提高传动效率，减小摆线轮与针齿之间的磨损，提高使用寿命。
通过实验可以得出本发明的摆线针轮减速器100相对传统的摆线针轮减速器，提高了重复角度精度，重复角度精度偏差提高0.3arc.min以上，甚至可以达到更高的精度，经过连续8小时实验相对传统的摆线针轮减速器，减速器温度可降低5度以上，同时消耗的电量也大大降低，电量降低15%以上，传动效率提高15%以上。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (9)

  1. 一种摆线针轮减速器，其特征在于，包括：输入部分、减速部分、及输出部分，所述减速部分包括：偏心轮、摆线轮、及针齿轮，所述针齿轮包括：针齿壳、设置在针齿壳中的针齿、装设所述针齿的针齿轴，所述针齿环绕所述针齿壳的圆周内壁排列成环形针齿组，所述摆线轮与针齿啮合，所述针齿为轴承式针齿。
  2. 根据权利要求1所述的摆线针轮减速器，其特征在于：所述摆线轮与环形排列的针齿组内啮合并组成齿差为一齿的内啮合减速机构，所述针齿轴通过固定件固定在针齿壳上，所述摆线轮与所述针齿滚动传动。
  3. 根据权利要求2所述的摆线针轮减速器，其特征在于：所述摆线轮包括：并列设置的第一摆线轮及第二摆线轮，所述第一摆线轮与第二摆线轮通过固定件固定在一起，所述针齿组包括：与所述第一摆线轮相应设置的第一针齿组、及与所述第二摆线轮相应设置的第二针齿组，所述第一摆线轮与所述第一针齿组啮合，所述第二摆线轮与所述第二针齿组啮合。
  4. 根据权利要求3所述的摆线针轮减速器，其特征在于：所述第一针齿组与第二针齿组并列设置，所述针齿轴包括：设于端部的第一固定部、第二固定部、及设于所述第一针齿组与第二针齿组之间的第三固定部，固定件分别通过第一固定部、第二固定部、第三固定部将所述针齿轴固定在所述针齿壳上。
  5. 根据权利要求3所述的摆线针轮减速器，其特征在于：所述偏心轮设置在所述摆线轮的内腔中，所述偏心轮包括：与所述第一摆线轮相应设置的第一偏心轮组、及与所述第二摆线轮相应设在第二偏心轮组，所述第一偏心轮组设置在第一摆线轮内腔中，所述第二偏心轮组设置在所述第二摆线轮内腔中，所述第一偏心轮组包括：一对错位180°设置的双偏心轮，所述第二偏心轮包括：一对错位180°设置的双偏心轮，所述第一偏心轮组与第二偏心轮组错位设置。
  6. 根据权利要求1至5任意一项所述的摆线针轮减速器，其特征在于：所述针齿为滚针轴承式针齿。
  7. 根据权利要求1至5任意一项所述的摆线针轮减速器，其特征在于：所述针齿为滚柱轴承式针齿。
  8. 根据权利要求1至5任意一项所述的摆线针轮减速器，其特征在于：所述输入部分包括：输入轴、设置在所述输入轴上的输入齿轮、及与所述输入齿轮啮合的行星齿轮组。
  9. 根据权利要求8所述的摆线针轮减速器，其特征在于：所述行星齿轮组包括：太阳齿轮及与其啮合的三个行星齿轮，所述偏心轮与所述行星齿轮同轴设置。
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