CN108458058B - Vector cycloid speed variator - Google Patents
Vector cycloid speed variator Download PDFInfo
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- CN108458058B CN108458058B CN201810297804.0A CN201810297804A CN108458058B CN 108458058 B CN108458058 B CN 108458058B CN 201810297804 A CN201810297804 A CN 201810297804A CN 108458058 B CN108458058 B CN 108458058B
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- cycloid
- sliding
- guide rail
- sliding plate
- driving disc
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- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 238000013519 translation Methods 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 abstract description 20
- 230000007246 mechanism Effects 0.000 abstract description 11
- 230000008859 change Effects 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000009347 mechanical transmission Effects 0.000 abstract description 2
- 239000003638 chemical reducing agent Substances 0.000 description 23
- 238000005452 bending Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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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
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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
- F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing
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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
- F16H2001/325—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 comprising a carrier with pins guiding at least one orbital gear with circular holes
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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
- F16H2001/328—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 comprising balancing means
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Friction Gearing (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a mechanical transmission speed change technology, which is suitable for various transmission speed change fields, in particular to a driving speed changer (a speed reducing mechanism) for a multi-joint robot. The utility model provides a vector cycloid derailleur, including having cycloid dish, the ball, be equipped with by the eccentric drive of input shaft driving disk and by driving disk drive's slide, this slide redrive output shaft, wherein, cycloid dish is fixed on the organism, the ball is in the cycloid groove of cycloid dish and the ball fixed orifices of driving disk make driving disk rather than cycloid motion cooperation, all be provided with the grip block on driving disk and the output shaft, be provided with the translation guide rail between slide and each grip block, be equipped with between translation guide rail and the slide and make both keep radial slip complex slider, each grip block radially slides axial rotation centre gripping cooperation with the slide respectively. A new technical scheme called a vector cycloid speed change mechanism is provided.
Description
Technical Field
The invention relates to a mechanical transmission speed change technology, which is suitable for various transmission speed change fields, in particular to a driving speed changer (a speed reducing mechanism) for a multi-joint robot.
Background
The transmission device applied to the precise servomechanism of robots, precise machine tools, aerospace and the like is required to have the characteristics of high transmission precision, high transmission rigidity, large transmission ratio, high transmission efficiency, small volume, light weight, small transmission return difference, small rotational inertia of a rotating part and the like. The cycloidal pin gear planetary transmission in the existing transmission mechanism has a plurality of advantages, but is complex in processing, low in transmission precision and large in transmission return difference; the worm drive has a large drive ratio but low drive efficiency; the harmonic transmission can better meet the requirements, but the harmonic transmission transmits power and motion by means of deformation of the flexible gear, and the flexible gear material has high requirements and short service life.
At present, the research of a speed reducing mechanism with a novel structure is more and more active, and the principle of the speed reducing mechanism is that a cycloid speed reducer combining a transmission steel ball (ball) with cycloid planetary transmission is more and more reported and disclosed in literature. For example, the earlier published cn86104457 document, entitled "gearless differential speed reducer" applies for a solution, which uses a pair of discs with hypocycloidal raceways and discs with epicycloidal raceways respectively as meshing transmission pairs, the two discs being opposite and in the raceways are placed transmission balls, which exploit the advantages of cycloidal transmission and the balls can circulate, but the transmission is relatively small. After high-speed operation, the distance between two adjacent balls can change, and two balls can collide together, so that the speed reducer is blocked, and internal expansion and the like can occur after the operation time is long.
In CN102767600a published in 2012, a BS speed reducer for realizing speed reduction by using S-shaped cycloidal grooves and balls arranged in the S-shaped cycloidal grooves is disclosed, and the technology does not need to realize speed change by means of gear or worm gear transmission, so that the noise of the speed reducer is reduced to a certain extent, and the transmission efficiency is improved. However, the S-shaped cycloid groove of the BS speed reducer limits the eccentric amount of the eccentric shaft, so that the motion track of the speed reducer cannot be completely controlled in the motion process, and the mechanical interference generated by the balls in the S-shaped cycloid groove is easy to generate the bad phenomena of unstable output, stepping vibration, large heat productivity, high wear rate and the like of the speed reducer. The publication No. CN104964011A discloses a cross slide block driving speed reducer for a multi-joint robot, which does not need to realize speed change by means of gear or worm gear transmission, reduces the noise of the speed reducer to a certain extent and improves the transmission efficiency. However, the driving ball is easy to slightly jump during working, has poor stability, and is easy to produce the phenomena of unstable output, stepping vibration, high wear rate and the like of the speed reducer.
The prior application number is 201610997116.6, and the name is a follow-up driving speed reducer; the transmission ball is fixed on a transmission ball fixing hole on an output shaft, so that the transmission ball moves in a ball movement track of a differential speed changer (namely a cycloidal disc), and the balls cannot shift in the movement process, thereby ensuring the normal movement of a speed reducer. The motion of the eccentric shaft is transmitted to the differential speed changer through the first and second crossed (rotating) rollers on the surfaces of the follow-up plate (V-shaped groove) and A, B, the motion of the eccentric shaft is automatically adjusted to be completely matched with the eccentric amount, so that the transmission balls are completely matched with the ball motion track of the differential speed changer, and the differential speed changer makes relative motion with the transmission balls through the ball motion track according to the eccentric motion, so that the speed reduction output of the output shaft is formed, and the stable speed reduction output function of the speed reducer is realized. There is a disadvantage in that dynamic balance cannot be completely achieved and the use is convenient in many application occasions.
The main problems of the development are that the advantages of the novel speed reducer are difficult to be brought into play, and particularly the problems of internal expansion, bending moment rigidity, dynamic balance and the like are solved simultaneously.
Disclosure of Invention
The invention aims to overcome the structural design of the existing cycloidal reducer
The problem is to provide a new technical scheme called a vector cycloid speed change mechanism.
The invention relates to a vector cycloid speed changer, which comprises a cycloid disc with a cycloid groove, balls, a driving disc eccentrically driven by an input shaft and a sliding plate driven by the driving disc, wherein the sliding plate drives an output shaft, the cycloid disc is fixed on a machine body, the balls are positioned in the cycloid groove of the cycloid disc and ball fixing holes of the driving disc to enable the driving disc to be matched with cycloid motion of the driving disc, clamping blocks are arranged on the driving disc and the output shaft, a translation guide rail is arranged between the sliding plate and each clamping block, a sliding piece which enables the translation guide rail and the sliding plate to be in radial sliding fit is arranged between the translation guide rail and the sliding plate, and each clamping block is respectively in radial sliding axial rotation clamping fit with the sliding plate.
Compared with the prior art, the invention effectively solves the problems of internal expansion, bending moment rigidity, dynamic balance and the like which are easy to exist in the speed reducing mechanism with the novel structure due to the adoption of reasonable structural configuration of sequential progressive driving discs, sliding plates, translation guide rails and the like, and ensures that the flattening design of the speed reducing mechanism and the speed reducer thereof is very easy.
The invention is characterized in that the upper end and the lower end of the input shaft are respectively provided with a driving disc driven by the eccentric of the input shaft and a sliding plate driven by the driving disc, the upper surface and the lower surface of the swinging wire disc between the upper driving disc and the lower driving disc are respectively and symmetrically provided with a swinging wire groove and a ball, and the sliding plates at the two ends of the axial direction are respectively matched with the output shafts at the two ends of the axial direction in a driving way.
The output shafts at the two axial ends can be connected in a linkage way through the connecting pins, and the corresponding driving disc and the sliding plate are respectively provided with a pin hole in clearance fit with the connecting pins.
The invention adopts a symmetrical cycloid speed reducing mechanism structure, solves the dynamic balance problem of the whole machine, and makes the whole machine possible to be used as an input end and an output end at any end or at the same end; the double-sided swing wire disc, the driving disc and the sliding plate are adopted, so that the overall bearing capacity of the speed reducer is increased, and the internal expansion effect is symmetrically counteracted. So that the input and output have no problem of bending moment rigidity, and the installation is convenient,
The sliding piece which is arranged between the translation guide rail and the sliding plate and keeps the two to slide in the radial direction is a cross roller, and the cross roller and the sliding piece are jointly arranged in the V-shaped groove on the side surface of the sliding plate and the V-shaped groove on the side surface of the translation guide rail.
The sliding piece which slides in the radial direction adopts the crossed roller, so that the rigidity of the whole structure is enhanced, the problem of the reliability of the longitudinal and transverse rolling sliding is solved, and the sliding piece is particularly arranged in the V-shaped groove on the side surface of the sliding plate, thereby greatly reducing the surface rigidity requirement of the sliding plate and the like.
The invention is described in further detail below with reference to the drawings and the detailed description.
Drawings
FIG. 1 is a cross-sectional view of an axial structure of an embodiment of the present invention applied to a speed reducer;
FIG. 2 is an exploded view of the overall structure of the present invention applied to a speed reducer;
FIG. 3 is a cross-sectional view of FIG. 1B, and also a cross-sectional view of a drive relationship between a slide plate and a drive disc and between an output shaft, etc. applied to a speed reducer according to an embodiment of the present invention;
FIG. 4 is an exploded view of the driving relationship between a slide plate and a driving disc and between the slide plate and an output shaft applied to a speed reducer according to the embodiment of the present invention;
Fig. 5 is a cross-sectional view of fig. 1A-A, also showing a cross-sectional view of the driving relationship of the wobble groove, the drive disc, and the output shaft, according to an embodiment of the present invention.
Detailed Description
The component labels in the drawings are described below; 1. the input shaft, 2, the output shaft, 3, the slide plate, 4, the driving disk, 5, the cycloid disk, 6, the ball, 7, the translation guide rail, 8, the organism, 9, the cross roller, 10, the connecting pin, 11, the bearing, 21, the output shaft clamping block, 22, the output shaft pin hole, 31, the V-shaped groove, 32, the slide plate pin hole, 41, the driving disk clamping block, 42, the driving disk pin hole, 51 and the cycloid groove.
The embodiment of the invention comprises a cycloid disc with a cycloid groove 51, balls 6, a driving disc 4 eccentrically driven by an input shaft 1 and a sliding plate 3 driven by the driving disc 4, wherein the sliding plate 3 drives an output shaft 2, the cycloid disc is fixed on a machine body 8, the balls 6 are positioned in the cycloid groove 51 of the cycloid disc and the fixing holes of the balls 6 of the driving disc 4 to enable the driving disc 4 to be matched with the cycloid motion of the cycloid disc, the fixing means fixing in certain directions, clamping blocks 21 and 41 are arranged on the driving disc 4 and the output shaft 2, a translation guide rail 7 is arranged between the sliding plate 3 and each clamping block, a sliding piece which enables each sliding guide rail 7 and the sliding plate 3 to keep radial sliding fit is arranged between the sliding guide rail 7 and the sliding plate 3, and each clamping block 21 and 41 is respectively matched with the sliding plate 3 in a radial sliding axial rotation clamping mode. It is of course also intended to be of the invention if the translatory guide rail 7 is provided directly on the clamping blocks 21, 41 or their respective output shaft 2 and drive disk 4, i.e. of an integrated design. In addition, some necessary bearings 11 or balls 6, roller holders, oil seals, connecting screws, etc. are required to be disposed between these components, and will not be described in detail herein. The upper section and the lower section of the axial direction of the input shaft 1 are respectively provided with a driving disc 4 which is driven by the eccentric direction of the input shaft 1 and a sliding plate 3 which is driven by the driving disc 4, the upper surface and the lower surface of a swinging wire disc between the upper driving disc 4 and the lower driving disc 4 are respectively symmetrically provided with a swinging wire groove 51 and a ball 6, and the sliding plates 3 at the two axial ends are respectively driven on the output shafts 2 at the two axial ends. Advantageously, in the specific application of the embodiment of the invention, the output shafts 2 at the two axial ends can be connected in a linkage way through the connecting pins 10, and the corresponding driving disc 4 and the sliding plate 3 are respectively provided with pin holes in clearance fit with the connecting pins 10. The sliding members of the translation guide rail 7 and the sliding plate 3, which are arranged to keep the two in radial sliding fit, are cross rollers 9, and are jointly arranged in the V-shaped groove 31 on the side surface of the sliding plate 3 and the V-shaped groove 31 on the side surface of the translation guide rail 7. The translation guide rail 7 is respectively fixed on the driving disc 4 and the output shaft 2, and two clamping blocks are respectively arranged on the driving disc 4 and the output shaft 2 and are respectively arranged on four sides of the sliding plate 3.
In practical application, the structure is assembled into the speed reducer body 8, when the speed reducing mechanism drives in two sides, the input shaft 1 can be regarded as a crankshaft in the body 8, the motor drives the crankshaft to rotate generally through the connection of end face bolts of the crankshaft, and two shaft handles on the crankshaft drive the center of mass of the driving disc 4 to do circular motion rotating around the center of the crankshaft by taking the eccentric distance as the radius through a bearing 11 arranged on the shaft handles, and as the uniform balls 6 on the driving disc 4 and cycloidal profiles on the double-sided cycloidal disc belong to embedded meshing states, the number of cycloidal tooth profiles of the double-sided cycloidal disc is less than 1 to n of balls 6 on the driving disc 4, so that the center of mass of the driving disc 4 revolves around the axis of the motor, and the speed reducing transmission from the input shaft 1 (crankshaft) to the output shaft 2 is achieved. The balls 6 are positioned in the cycloid grooves 51 of the cycloid disc and the ball 6 fixing holes of the driving disc 4 to enable the driving disc 4 to be matched with cycloid (cycloid track) motion of the driving disc, radial plane relative motion among the driving disc 4, the sliding plate 3 and the output shaft 2 is transmitted and released through the translation guide rail 7, particularly sliding pieces which enable the two sliding pieces to be in radial sliding fit are preferably crossed rollers 9 and are jointly arranged in the V-shaped groove 31 on the side face of the sliding plate 3 and the V-shaped groove 31 on the side face of the translation guide rail 7, the force released by the translation guide rail 7 is radial force, the requirement on the rigidity of the sliding plate 3 is reduced, the axial structural layout is enabled to be more compact, the sliding friction is reduced due to the fact that eccentric motion is released, and the transmission efficiency is improved. I.e. the translating guide rail 7 and the cross roller 9 are used to release the eccentric motion, and the output shaft 2 finally mainly receives the centring rotational driving force of the slide 3.
Claims (3)
1. The utility model provides a vector cycloid derailleur, includes cycloid dish, ball that have the cycloid groove, its characterized in that: the driving disc and the output shaft are provided with a translation guide rail between the sliding plate and each clamping block, a sliding piece which enables the sliding guide rail and the sliding plate to be in radial sliding fit is arranged between the translation guide rail and the sliding plate, and each clamping block is respectively in radial sliding axial rotation clamping fit with the sliding plate; the upper end and the lower end of the axial direction of the input shaft are respectively provided with a driving disc driven by the eccentric of the input shaft and a sliding plate driven by the driving disc, the upper surface and the lower surface of the swinging wire disc between the upper driving disc and the lower driving disc are respectively and symmetrically provided with a swinging wire groove and a ball, and the sliding plates at the two ends of the axial direction are respectively matched with the output shafts at the two ends of the axial direction in a driving way; two clamping blocks are arranged on the driving disc and the output shaft and are arranged on four sides of the sliding plate; the translation guide rail is integrally arranged on the clamping block; the input shaft is a crankshaft, and the motor is connected with the crankshaft through a crankshaft end face bolt.
2. The vector cycloidal transmission according to claim 1 characterized in that: the output shafts at the two ends of the axial direction are connected in a linkage way through connecting pins, and pin holes in clearance fit with the connecting pins are formed in the corresponding driving discs and the sliding plates.
3. The vector cycloidal transmission according to claim 2 characterized in that: the sliding piece which enables the translation guide rail and the sliding plate to be in radial sliding fit is a cross roller and is jointly arranged in the V-shaped groove on the side surface of the sliding plate and the V-shaped groove on the side surface of the translation guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810297804.0A CN108458058B (en) | 2018-04-04 | 2018-04-04 | Vector cycloid speed variator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810297804.0A CN108458058B (en) | 2018-04-04 | 2018-04-04 | Vector cycloid speed variator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108458058A CN108458058A (en) | 2018-08-28 |
| CN108458058B true CN108458058B (en) | 2024-07-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810297804.0A Active CN108458058B (en) | 2018-04-04 | 2018-04-04 | Vector cycloid speed variator |
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| Country | Link |
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| CN (1) | CN108458058B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110043610B (en) * | 2019-05-07 | 2023-12-12 | 江阴市传动机械研究所 | Bearing type speed reducer with high bearing capacity and capable of driving robot |
| CN110230525A (en) * | 2019-06-18 | 2019-09-13 | 海尚集团有限公司 | Variable valve timing apparatus with vector cycloid gear |
| AU2021336120A1 (en) * | 2020-09-07 | 2023-05-25 | Peeshraneh Samaneh Parand | Pericyclic gear reducer |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0510400A (en) * | 1991-07-02 | 1993-01-19 | Kamo Seiko Kk | Reduction gear |
| CN104696460A (en) * | 2015-01-15 | 2015-06-10 | 江苏联合传动设备有限公司 | Bearing speed reducer |
| CN208123363U (en) * | 2018-04-04 | 2018-11-20 | 海尚集团有限公司 | Vector cycloid speed changer |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5908372A (en) * | 1994-02-14 | 1999-06-01 | Spinea S.R.O. | Gear system |
| CN2398478Y (en) * | 1999-01-19 | 2000-09-27 | 杭州电子工业学院 | Dense bead cycloid steel ball speed reducer |
| CN101101044A (en) * | 2006-07-09 | 2008-01-09 | 杨光笋 | Monotype cycloid reducer with retainer |
| JP4172516B2 (en) * | 2006-12-26 | 2008-10-29 | 隆雄 横井 | Planetary differential reducer |
| JP2009036224A (en) * | 2007-07-31 | 2009-02-19 | Nabtesco Corp | Eccentric oscillation type gear device |
| JP2009195002A (en) * | 2008-02-13 | 2009-08-27 | Nsk Ltd | Reduction gear contained motor |
| JP4814351B2 (en) * | 2009-02-23 | 2011-11-16 | 加茂精工株式会社 | Rolling ball type two-stage low speed transmission |
| KR101677359B1 (en) * | 2015-02-06 | 2016-11-17 | 한상권 | Sealed type cycloidal decelerator |
| CN104832602B (en) * | 2015-02-25 | 2018-06-01 | 佛山市诺尔贝机器人技术有限公司 | A kind of power output device of more bent axle cycloid speed reducers |
| CN206054641U (en) * | 2016-08-25 | 2017-03-29 | 深圳市领略数控设备有限公司 | A kind of high accuracy cycloidal planetary gear speed reducer |
-
2018
- 2018-04-04 CN CN201810297804.0A patent/CN108458058B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0510400A (en) * | 1991-07-02 | 1993-01-19 | Kamo Seiko Kk | Reduction gear |
| CN104696460A (en) * | 2015-01-15 | 2015-06-10 | 江苏联合传动设备有限公司 | Bearing speed reducer |
| CN208123363U (en) * | 2018-04-04 | 2018-11-20 | 海尚集团有限公司 | Vector cycloid speed changer |
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| Publication number | Publication date |
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| CN108458058A (en) | 2018-08-28 |
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