CN109372952B - Compact cycloid planetary harmonic speed change device and speed change method thereof - Google Patents
Compact cycloid planetary harmonic speed change device and speed change method thereof Download PDFInfo
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- CN109372952B CN109372952B CN201811525415.5A CN201811525415A CN109372952B CN 109372952 B CN109372952 B CN 109372952B CN 201811525415 A CN201811525415 A CN 201811525415A CN 109372952 B CN109372952 B CN 109372952B
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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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
- F16H55/0833—Flexible toothed member, e.g. harmonic drive
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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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
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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
- 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
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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
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02034—Gearboxes combined or connected with electric machines
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
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Abstract
The invention discloses a compact cycloid planetary harmonic speed change device and a speed change method thereof. The cycloid planetary transmission structure and the harmonic transmission structure can realize the functions of one-side speed reduction output and the other-side speed increase output or two-side speed increase output and the like, and meet the requirements of multiple outputs on different speed increases and decreases. The cycloid planetary transmission structure has the characteristics of high torsional rigidity, high impact resistance, small back clearance and the like through primary planetary transmission and two cycloid gears with 180-degree phase difference. The harmonic transmission structure is meshed with the flexible rigid wheel through the flexible wheel integrated with the planet carrier of the cycloid planetary transmission structure to carry out transmission motion, and the planetary transmission structure has the characteristics of large speed ratio change, no back clearance and the like. Through three-stage transmission structure acceleration and deceleration, different output requirements are met, the three-stage transmission structure acceleration and deceleration mechanism not only has high transmission precision and repeated positioning precision, but also has large rigidity, small back clearance and compact structure, and therefore diversified motion transmission is realized.
Description
Technical Field
The invention relates to an improvement of a cycloid planetary transmission and harmonic transmission integrated speed change device. The speed change device has the characteristics of high rigidity, low backlash, high transmission precision, stable operation and the like, and belongs to the technical field of speed reducer equipment.
Background
The existing cycloid planetary reducer is meshed with a pin shaft through an eccentric crankshaft and cycloids, has the characteristics of high bearing capacity, high torsional rigidity, small vibration, high transmission precision, good impact resistance and the like, is mainly applied to industries such as industrial machines, medical appliances and the like, realizes high-precision motion through the meshing of a rigid gear and a flexible gear, has the characteristics of no back clearance, low noise, high precision and the like, and is mainly applied to aerospace, cooperative robots, electronic industries and the like. The cycloid planetary reducer and the harmonic reducer are both of a single-input single-output structure, and even if the speed increasing and decreasing requirements of larger speed ratios are met, the cycloid planetary reducer and the harmonic reducer are simply combined in series, so that the cycloid planetary reducer is more complicated in structure, high in installation space requirement, large in axial size, large in transmission precision change, high in concentricity assembly requirement and the like, and cannot meet the speed increasing and decreasing multi-output requirements of different speed ratios.
Disclosure of Invention
The invention aims to overcome the defect that a cycloid planetary structure and a harmonic transmission structure are simply connected in series, and provides a compact cycloid planetary harmonic transmission structure, so that the combined structure becomes compact, and the multi-output requirements on different rigidity requirements are met.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
The compact cycloid planetary harmonic speed change device comprises a cycloid planetary speed change structure and a harmonic speed change structure; the harmonic speed change structure comprises a rigid gear, a flexible gear matched with the rigid gear and a wave generator positioned in the flexible gear; the flexible gear is integrated with or fixedly connected with a planet carrier of the cycloidal planetary speed change structure, and the rigid gear of the harmonic speed change structure is integrated with or fixedly connected with a needle gear shell of the cycloidal planetary speed change structure; the wave generator consists of a cam and a flexible bearing; the planet carrier is connected with the needle gear shell through an angular contact ball bearing.
Preferably, the cycloidal planetary speed change structure comprises a pin gear shell, a plurality of pin shafts are arranged in tooth grooves of the pin gear shell, a planet carrier is connected with an inner ring of an angular contact ball bearing, the pin gear shell is connected with an outer ring of the angular contact ball bearing, an eccentric crankshaft is connected with a planet wheel, and the eccentric crankshaft is matched with two cycloidal gears through a needle bearing; the gear shaft, the planet wheel and the eccentric crankshaft form a planetary motion assembly; the eccentric crankshaft, the needle roller bearing, the cycloid gear and the pin shaft form a cycloid motion assembly; the eccentric crankshaft is mounted on a planet carrier through tapered roller bearings, and the planet carrier serves as an input or output component of the cycloid planetary speed change structure.
Preferably, the rigid wheel of the harmonic speed change structure is of a flexible structure, the excircle of the meshing tooth part of the rigid wheel is thinned, and the ratio of the thickness of the rigid wheel to the diameter D of the excircle is 1 (45-60).
Preferably, the pin gear housing and the rigid wheel are connected by adopting an inner hexagon screw and then are fixed on the outer bracket together; or the needle gear housing and the rigid wheel are separately connected to the corresponding outer bracket respectively.
Preferably, according to different speed ratios and different use requirements, the gear shaft penetrates through the hollow structure from one side of the cycloid planetary harmonic speed change device to be meshed with the planetary gear; or the planetary gear is meshed with the planetary gear from the other side in order to shorten the input length and improve the input rigidity.
The invention discloses an input/output method of the compact cycloid planetary harmonic speed change device, which comprises the following steps:
The pin gear shell connected with the external support is fixed, the gear shaft is inserted into the motor, and the motor drives the gear shaft to be meshed with the planet gears to serve as first-stage planetary transmission;
the planet wheel drives an eccentric crankshaft, two cycloid wheels do deflection motion with 180-degree phase difference, the planet carrier outputs, and the whole cycloid planetary speed change structure does deceleration motion;
meanwhile, the planet carrier serving as output also serves as input of harmonic drive, and as the rigid wheel is fixed and the cam outputs, the harmonic drive is a back-clearance-free acceleration motion; the whole motion process is that the needle gear shell and the rigid wheel are fixed together, the gear shaft is input, the left part of the planet carrier is output after the speed is reduced, and then the wave generator is output after the speed is increased by harmonic engagement.
The invention also discloses another input/output method of the compact cycloid planetary harmonic speed change device, which comprises the following steps:
The needle gear shell and the rigid gear are fixed, the left part of the planet carrier is connected with the motor interface to serve as an input end, and after passing through the cycloid planetary speed change structure, the gear shaft performs speed increasing movement output; the right part of the planet carrier is used as a flexible gear tooth of harmonic drive, and the cam is also subjected to speed-increasing motion output after meshing motion with the rigid gear; the needle gear shell and the rigid gear are fixed in the whole movement process, the planet carrier is used as input of cycloid planetary transmission and harmonic transmission, and the gear shaft and the cam are both used for speed-increasing movement output.
The invention also discloses another input/output method of the compact cycloid planetary harmonic speed change device, which comprises the following steps:
The needle gear shell and the rigid gear are fixed, the cam is connected with the input end of the motor, the left part of the planet carrier performs speed-reducing motion output after harmonic transmission, meanwhile, the planet carrier is used as input of cycloid planetary motion, and the planet carrier is output by the gear shaft after speed-increasing motion of a cycloid planetary speed-changing structure; the needle gear shell and the rigid gear are fixed in the whole motion process, the cam is used as input, the planet carrier is subjected to speed reduction output through harmonic transmission and is used as input of cycloid planetary transmission, and the final gear shaft is subjected to speed increasing output.
The innovation point of the invention is that: firstly, the flexible wheel body and the planet carrier of the harmonic drive are processed into a whole, flexible gear teeth are integrated on the cycloid planet carrier, the planet carrier in the cycloid planetary drive is equivalent to the needle gear shell as a bearing inner ring, the needle gear shell as a bearing outer ring and the left and right bearings as bearing rolling bodies, the flexible wheel body and the planet carrier of the harmonic drive have the cross bearing function in the traditional harmonic speed reducer, the input or output rigidity of the harmonic drive flexible wheel is improved, the concentricity of the combination of the harmonic drive and the cycloid planetary drive is improved, and the transmission precision is improved. The second is that the rigid gear of the harmonic meshing transmission is connected on the needle gear shell, the rigid gear of the traditional harmonic reducer is rigid, the excircle of the meshing gear part of the rigid gear is thinned and designed to be flexible, when the flexible gear is meshed with the flexible rigid gear teeth, the rigid gear can also flexibly deform, and the corresponding degree of deformation of the flexible part of the rigid gear can be caused by the change of input and output, so that the meshing tooth number is increased, the bearing capacity is improved, the transmission is more stable, and the service life is longer. And thirdly, compared with the traditional cycloidal planetary reducer and the serial combination of the cycloidal reducer, the cam is arranged in the space of the planet carrier, and the crossed roller bearing for connecting the flexible wheel and the rigid wheel is also omitted, so that the whole transmission structure is flattened, the axial size is reduced, and the transmission structure is more compact. And fourthly, the transmission structure can realize functions of one-end input and two-end output, such as fixed pin gear housing, gear shaft input, planet carrier and cam output. And fifthly, the rigidity of the cycloid speed reducer and the advantage of zero back clearance transmission of the harmonic speed reducer are fully utilized, so that the transmission precision can be improved, and the bearing performance of the structure can be improved.
Due to the characteristics of the technical scheme, compared with the prior art, the invention has the following advantages:
1) The cycloid planetary transmission planet carrier and the harmonic transmission flexible gear are processed into a whole, and the characteristics of low axial size change, compactness, high precision and the like of the cycloid transmission rigidity and the harmonic transmission flexibility are inherited.
2) The rigid gear of the harmonic drive is designed to be flexible, the external load changes in the meshing process of the flexible gear and the rigid gear, the meshing tooth number also changes along with the change, the contact deformation of the tooth part is also automatically adjusted, the adaptability to the external change is stronger, and the service life is prolonged.
3) The cycloid planetary transmission device has the advantages that the cycloid planetary transmission device effectively combines the characteristics of cycloid planetary transmission and harmonic transmission, the whole transmission device can meet the requirements of one-end input and two-end output, and the output end can simultaneously obtain speed-increasing motion, speed-reducing motion or one-increase one-decrease motion, so that the cycloid planetary transmission device better meets the output requirements of different working conditions.
Drawings
FIG. 1is a front view of an embodiment of the present invention;
FIG. 2 is an internal structure view of an embodiment of the present invention;
in the figure: 1-a gear shaft; 2-eccentric crankshafts; 3-cycloidal gears; 4-pin shafts; 5-needle gear housing; 6-hexagon socket head cap screw; 7-a flexible rigid wheel; 8-flexible bearings; 9-a flexible tooth planet carrier; 10-angular contact ball bearings; 11-planet wheels; 12-tapered roller bearings; 13-needle bearings; 14-circlips for shafts; 15-cam.
FIG. 3 is a schematic diagram of a planet carrier assembly according to an embodiment of the present invention;
In the figure: 9.1—a planet carrier left member; 9.2-right planet carrier member.
Fig. 4 is a schematic view of a rigid wheel according to an embodiment of the present invention.
Detailed Description
The invention is further illustrated and described below with reference to the drawings and detailed description. The technical features of the embodiments of the invention can be combined correspondingly on the premise of no mutual conflict.
As shown in fig. 1 and 2, the compact cycloidal planetary harmonic speed change device includes a cycloidal planetary speed change structure and a harmonic speed change structure; the harmonic speed change structure comprises a rigid gear, a flexible gear matched with the rigid gear and a wave generator positioned in the flexible gear; the flexible gear is integrated with or fixedly connected with a planet carrier 9 of the cycloidal planetary speed change structure, and the rigid gear of the harmonic speed change structure is integrated with or fixedly connected with a pin gear housing 5 of the cycloidal planetary speed change structure; the wave generator consists of a cam 15 and a flexible bearing 8; the planet carrier 9 is connected with the needle gear housing 5 through an angular contact ball bearing 10. The cycloidal planetary speed change structure comprises a pin gear shell 5, a plurality of pin shafts 4 are arranged in tooth grooves of the pin gear shell, a planet carrier 9 is connected with an inner ring of an angular contact ball bearing 10, the pin gear shell 5 is connected with an outer ring of the angular contact ball bearing 10, an eccentric crankshaft 2 is connected with a planet wheel 11, and the eccentric crankshaft 2 is matched with two cycloidal gears 3 through a needle bearing 13; the gear shaft 1, the planet wheel 11 and the eccentric crankshaft 2 form a planetary motion assembly; the eccentric crankshaft 2, the needle roller bearing 13, the cycloid gear 3 and the pin shaft 4 form a cycloid motion assembly; the eccentric crankshaft 2 is mounted on a carrier 9 via tapered roller bearings 12, the carrier 9 serving as an input or output member of a cycloid planetary transmission structure.
As shown in FIG. 4, in one embodiment of the invention, the rigid wheel is of a flexible structure, and the ratio of the thickness to the diameter D of the outer circle is 1 (45-60); wherein, the thickness= (D-D)/2, D is the inner hole diameter; alloy steel can be selected as the material of the rigid wheel. The design ensures that the external load changes in the meshing process of the flexible gear and the rigid gear, the meshing tooth number also changes along with the change of the external load, the contact deformation of the tooth part is also automatically adjusted, the adaptability to the external change is stronger, and the service life is prolonged.
The compact cycloid planetary harmonic speed-changing device can realize various speeds, and three specific embodiments are taken as the description below according to different input and output modes.
The first embodiment is as follows:
As shown in fig. 3, the present embodiment marks the entire planet carrier 9 of the cycloidal planetary transmission as a planet carrier left part 9.1 and a planet carrier right part 9.2, both being integrated. The planet carrier right part 9.2 and flexible gear teeth of the cycloid transmission are machined into a whole, and the whole planet carrier 9 plays a role in linking the cycloid planetary transmission and the harmonic transmission, so that the optimization of the whole transmission in the aspect of axial dimension is facilitated. The angular ball bearing 10 and the tapered roller bearing 12 are fitted to the left and right members of the carrier 9, respectively. The planet carrier left part 9.1 is used as a matrix, the needle gear shell 5, the eccentric crankshaft 2, the needle roller bearing 13, the cycloid gear 3 and the pin shaft 4 are sequentially arranged, the cycloid gear 3 is distributed in a 180-degree phase staggering manner and moves relative to the pin shaft 4 with two teeth different, then the planet carrier right part 9.2 provided with the angular contact ball bearing and provided with flexible teeth is combined and connected to the planet carrier left part 9.1, and in order to ensure smoothness of the whole movement, the pre-tightening degree of the angular contact ball bearing 10 is critical. The planet wheel 11 is fixed to the eccentric crankshaft 2 by means of a circlip 14 for the shaft. The wave generator formed by combining the cam 15 with the flexible bearing 8 for harmonic transmission is assembled on the right part 9.2 of the planet carrier with flexible gear teeth, and finally the flexible rigid wheel 7 is connected to the needle gear shell 5 by using the hexagon socket head cap screw, so that the whole structure can be mounted on an external bracket.
The pin gear housing 5 connected with the external support is fixed, the gear shaft 1 is inserted into the motor, the motor drives the gear shaft 1 to be meshed with the planet gears 11, and is used as first-stage planetary transmission to drive the eccentric crankshaft 2 in cycloid motion, the two cycloid gears 3 do 180-degree phase difference deflection motion, the planet carrier 9 outputs, the whole cycloid planetary motion does deceleration motion, and the output rigidity and the bearing capacity are large. The planet carrier as output also serves as input of harmonic drive, and the cam 15 outputs as the rigid wheel 7 is fixed, so that the harmonic drive is a back-clearance-free speed-increasing motion. The whole motion process is that the needle gear shell 5 and the rigid wheel 7 are fixed together, the gear shaft 1 is input, the planetary carrier left part 9.1 is output after the speed is reduced, and then the wave generator is output after the speed is increased through harmonic engagement.
The second embodiment is as follows: the needle gear housing 5 and the rigid gear 7 are fixed, the planet carrier left part 9.1 is connected with a motor interface to serve as an input end, after cycloid and planetary motion, the gear shaft 1 performs speed-increasing motion output, the planet carrier right part 9.2 serves as a flexible gear tooth of harmonic transmission, and the cam 15 also performs speed-increasing motion output after meshing motion with the rigid gear 7. The needle gear housing 5 and the rigid gear 7 are fixed in the whole movement process, the planet carrier 9 is used as input of cycloid planetary transmission and harmonic transmission, and the gear shaft 1 and the cam 15 perform speed-increasing movement output.
And a third specific embodiment: the needle gear housing 5 and the rigid gear 7 are fixed, the cam 15 is connected with the input end of the motor, the planet carrier left part 9.1 performs deceleration motion output after harmonic transmission, meanwhile, the planet carrier 9 is used as input of cycloid planetary motion, and the planet carrier is output by the gear shaft 1 after acceleration motion. The needle gear housing 5 and the rigid gear 7 are fixed in the whole movement process, the cam 15 is used as input, the planet carrier 9 is used as output for speed reduction through harmonic transmission and is used as input for cycloid planetary transmission, and the final gear shaft 1 is used as output for speed increase.
The above embodiment is only a preferred embodiment of the present invention, but it is not intended to limit the present invention. Various changes and modifications may be made by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present invention. Therefore, all the technical schemes obtained by adopting the equivalent substitution or equivalent transformation are within the protection scope of the invention.
Claims (6)
1. A compact cycloid planetary harmonic speed change device is characterized by comprising a cycloid planetary speed change structure and a harmonic speed change structure;
The harmonic speed change structure comprises a rigid gear, a flexible gear matched with the rigid gear and a wave generator positioned in the flexible gear; the flexible gear is integrated with or fixedly connected with a planet carrier (9) of the cycloidal planetary speed change structure, and the rigid gear of the harmonic speed change structure is integrated with or fixedly connected with a needle gear shell (5) of the cycloidal planetary speed change structure; the wave generator consists of a cam (15) and a flexible bearing (8); the planet carrier (9) is connected with the needle gear shell (5) through an angular contact ball bearing (10);
The cycloidal planetary speed change structure comprises a pin gear shell (5), a plurality of pin shafts (4) are arranged in tooth grooves of the pin gear shell, a planet carrier (9) is connected with an inner ring of an angular contact ball bearing (10), the pin gear shell (5) is connected with an outer ring of the angular contact ball bearing (10), an eccentric crankshaft (2) is connected with a planet wheel (11), and the eccentric crankshaft (2) is matched with two cycloidal gears (3) through a needle bearing (13); the gear shaft (1), the planet wheel (11) and the eccentric crankshaft (2) form a planetary motion assembly; the eccentric crankshaft (2), the needle roller bearing (13), the cycloid gear (3) and the pin shaft (4) form a cycloid motion assembly; the eccentric crankshaft (2) is arranged on a planet carrier (9) through a tapered roller bearing (12), and the planet carrier (9) is used as an input or output part of a cycloid planetary speed change structure;
The planet carrier (9) is marked as a planet carrier left part (9.1) and a planet carrier right part (9.2), the planet carrier left part (9.2) and the planet carrier right part are integrated into a whole, the needle gear housing (5), the eccentric crankshaft (2), the needle bearing (13), the cycloidal gear (3) and the pin shaft (4) are all installed by taking the planet carrier left part (9.1) as a matrix;
The rigid gear of the harmonic speed change structure is of a flexible structure, the excircle of the meshing tooth part of the rigid gear is thinned, and the ratio of the thickness of the rigid gear to the diameter D of the excircle is 1 (45-60).
2. The compact cycloidal planetary harmonic speed change device according to claim 1 wherein: the pin gear shell (5) and the rigid wheel (7) are connected by adopting an inner hexagon screw (6) and then are fixed on the outer bracket together; or the needle gear housing (5) and the rigid wheel (7) are separately connected to the corresponding outer bracket respectively.
3. The compact cycloidal planetary harmonic speed change device according to claim 1 wherein: according to different speed ratios and different use requirements, the gear shaft (1) penetrates through the hollow structure from one side of the cycloid planetary harmonic speed change device to be meshed with the planetary gear (11); or the planetary gear (11) is meshed with the other side of the planetary gear from the other side in order to shorten the input length and improve the input rigidity.
4. The input-output method of the compact cycloidal planetary harmonic speed changing device according to claim 1, characterized in that:
The pin gear shell (5) connected with the external support is fixed, the gear shaft (1) is inserted into the motor, and the motor drives the gear shaft (1) to be meshed with the planet gears (11) to serve as first-stage planetary transmission;
The planet wheel (11) drives the eccentric crankshaft (2), the two cycloid gears (3) do 180-degree phase difference deflection movement, the planet carrier (9) outputs, and the whole cycloid planetary speed change structure does deceleration movement;
Meanwhile, the planet carrier serving as output is used as input of harmonic drive, and as the rigid wheel (7) is fixed and the cam (15) outputs, the harmonic drive is a zero-backlash speed-increasing motion; the whole motion process is that the needle gear shell (5) and the rigid gear (7) are fixed together, the gear shaft (1) is input, the planetary carrier left part (9.1) is output after the gear shaft is decelerated, and then the wave generator is output after the gear shaft is in harmonic engagement and acceleration.
5. The input-output method of the compact cycloidal planetary harmonic speed changing device according to claim 1, characterized in that:
The needle gear shell (5) and the rigid gear (7) are fixed, the left part (9.1) of the planet carrier is connected with a motor interface to serve as an input end, and after the cycloid planetary speed change structure is adopted, the gear shaft (1) performs speed increasing movement output; the right part (9.2) of the planet carrier is used as a flexible gear tooth of harmonic drive, and the cam (15) is also used for speed-increasing movement output after meshing movement with the rigid gear (7); in the whole motion process, the needle gear shell (5) and the rigid gear (7) are fixed, the planet carrier (9) is used as input of cycloid planetary transmission and harmonic transmission, and the gear shaft (1) and the cam (15) perform speed-increasing motion output.
6. The input-output method of the compact cycloidal planetary harmonic speed changing device according to claim 1, characterized in that:
The needle gear housing (5) and the rigid gear (7) are fixed, the cam (15) is connected with the input end of the motor, the left part (9.1) of the planet carrier is subjected to speed reduction motion output after harmonic transmission, meanwhile, the planet carrier (9) is used as input of cycloid planetary motion, and the output is output by the gear shaft (1) after speed increase motion of a cycloid planetary speed change structure; in the whole motion process, the needle gear shell (5) and the rigid gear (7) are fixed, the cam (15) is used as input, the planet carrier (9) is used as output for speed reduction through harmonic transmission and is used as input of cycloid planetary transmission, and the final gear shaft (1) is used as output for speed increase.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811525415.5A CN109372952B (en) | 2018-12-13 | 2018-12-13 | Compact cycloid planetary harmonic speed change device and speed change method thereof |
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| CN201811525415.5A CN109372952B (en) | 2018-12-13 | 2018-12-13 | Compact cycloid planetary harmonic speed change device and speed change method thereof |
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| CN109372952A CN109372952A (en) | 2019-02-22 |
| CN109372952B true CN109372952B (en) | 2024-08-16 |
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