Quasi-symmetric structure single shock wave device oscillating tooth speed reducer

Abstract

The invention discloses a quasi-symmetric structure single shock wave device oscillating tooth speed reducer, and belongs to the technical field of oscillating tooth speed reducers. Wherein the eccentric shaft assembly drives the oscillating tooth assembly to generate tangential motion under the limitation of the inner gear ring assembly through a wave exciter, and the oscillating tooth carrier assembly is pushed to rotate at a low speed to achieve speed reduction; the shock wave device is of a single shock wave device structure, and an elliptic shock wave device or an eccentric circular shock wave device is adopted; the inner gear ring assembly comprises main bearings symmetrically arranged on the speed reducer shell, and the main bearings are double-conical needle bearings or zero-degree-angle double-cross cylindrical roller bearings. The main bearing and the wave exciter are arranged in bilateral symmetry along the axis; and the speed reducer has a double-layer roller or three-layer roller oscillating tooth structure. The overall axial length of the speed reducer is effectively reduced, the machining and assembling difficulty is reduced, meanwhile, the types and the number of parts are reduced, the manufacturing cost is reduced, and the production process is simplified.

Description

Technical Field

[0001] The present invention relates to the technical field of movable tooth reducers, and in particular to a movable tooth reducer with a single shock wave generator having a quasi-symmetrical structure. Background Art

[0002] Currently, CNC five-axis machine tools are widely used in high-end equipment fields such as precision manufacturing and complex surface processing. To achieve higher transmission accuracy and compact structure, CNC turntables, as one of their core components, are increasingly valued for their performance indicators such as size, rigidity, and torque density. However, existing CNC turntable reducers have many shortcomings, mainly reflected in the following aspects:

[0003] First, while traditional planetary reducers are widely used, they have a small first-stage reduction ratio and utilize a double-involute tooth profile, resulting in large transmission clearance and low transmission rigidity. Although some high-precision products, such as the German PSC planetary reducer, utilize a tapered tooth profile with axial clearance elimination, achieving minimal backlash (approximately 6"), they are difficult to manufacture, complex in structure, and expensive, limiting reduction ratios, particularly in multi-stage transmission applications.

[0004] Secondly, although the RV reducer has high transmission accuracy, it has a needle-tooth sliding link, which requires extremely high manufacturing precision and poor precision retention, making it difficult to meet the long-term reliability and precision requirements of high-performance five-axis machine tools.

[0005] Thirdly, due to its structural characteristics, harmonic reducers often have problems such as low efficiency, easy heat generation, and insufficient rigidity. They are especially unsuitable for application scenarios with high requirements for rigidity and torque response.

[0006] In contrast, the recently developed double- or triple-layer roller movable tooth reducers demonstrate excellent performance in reducing sliding friction, increasing transmission stiffness, and minimizing backlash. However, existing movable tooth reducers still suffer from the large number of main bearings and large axial dimensions, making them difficult to meet the requirements for lightweight turntables.

[0007] In view of this, this application is hereby filed. Summary of the Invention

[0008] The purpose of the present invention is to provide a quasi-symmetrical structure single shock wave movable tooth reducer, which adopts symmetrically arranged double tapered needle roller bearings or zero-degree angle double cross bearings to effectively construct a quasi-symmetrical structure movable tooth reducer. While ensuring high transmission accuracy and high rigidity, the axial length of the reducer is greatly reduced, and the overall structural compactness is improved. It is particularly suitable for five-axis CNC turntable equipment with high requirements on structural size and rotational stiffness.

[0009] The technical solution is as follows: a quasi-symmetrical single-shock movable-tooth reducer, comprising an eccentric shaft assembly, a movable-tooth carrier assembly, an inner gear ring assembly, and a movable-tooth assembly. The eccentric shaft assembly drives the movable-tooth assembly through the shock wave to generate tangential motion under the restriction of the inner gear ring assembly, thereby driving the movable-tooth carrier assembly to rotate at a low speed to achieve deceleration; wherein:

[0010] The shock wave generator is a single shock wave generator structure, and adopts an elliptical shock wave generator or an eccentric circular shock wave generator;

[0011] The inner gear ring assembly includes a main bearing symmetrically arranged on the reducer housing, and the main bearing adopts a double tapered needle roller bearing or a zero-degree double cross cylindrical roller bearing;

[0012] The main bearing and the shock wave generator are arranged bilaterally symmetrically along the axis;

[0013] The speed reducer has a double-layer roller or a three-layer roller movable tooth structure.

[0014] In a further embodiment, the elliptical shock wave generator is a two-lobe curve or two generalized tooth-shaped structures, and the eccentric circular shock wave generator is a single-lobe curve or one generalized tooth-shaped structure.

[0015] Through the above technical solution, the freedom of tooth profile design is improved, and the shock wave type can be flexibly selected according to different application scenarios, thereby optimizing the processing feasibility and meshing accuracy of the reducer.

[0016] In a further embodiment, the reducer adopts a one-tooth difference or two-tooth difference structure. When the theoretical number of teeth in the movable rack assembly is Z2, the reduction ratio is 1 / or / 2.

[0017] The above technical solution provides precise reduction ratio control capability to meet different power and output speed requirements.

[0018] In a further embodiment, the eccentric shaft assembly includes an input shaft, a shock wave support bearing, a shock wave base, a shock wave bearing and a bearing outer ring, wherein:

[0019] Both ends of the input shaft are fixed to the reducer housing by sleeve-engaging the shock wave generator support bearings;

[0020] The shock wave generator base is fixed on the input shaft by interference fit or keyway;

[0021] The shock wave bearing is press-fitted on the outside of the shock wave base;

[0022] The bearing outer ring is arranged on the outer periphery of the shock wave generator bearing.

[0023] Through the above technical solution, the reliability of the entire power transmission system under high-speed rotation is ensured, and the life of the reducer and working safety are improved.

[0024] In a further embodiment, the movable tooth assembly includes an inner movable tooth core shaft, a needle roller bearing assembly and an outer movable tooth core shaft; wherein: the inner movable tooth core shaft is sleeved on the outer ring of the bearing, and the needle roller bearing assembly is installed between the inner movable tooth core shaft and the outer movable tooth core shaft.

[0025] Through the above technical solution, the relative rolling of the inside and outside is effectively achieved, friction is reduced, and transmission efficiency is improved. It is particularly suitable for the compact design of small and medium-sized reducers, and the processing technology is relatively simple, which reduces manufacturing costs.

[0026] In a further embodiment, the inner gear ring assembly further comprises an inner gear ring and a main sealing ring, wherein the inner gear ring is fixed to the reducer housing by bolts, and the main sealing ring is used to prevent lubrication leakage;

[0027] The outer movable tooth core shaft is meshed with the tooth profile of the inner gear ring.

[0028] Through the above technical solution, the sealing and assembly reliability of the transmission structure are further improved.

[0029] In a further embodiment, the movable gear rack assembly includes a right movable gear rack, a left movable gear rack and a shock wave bearing retaining ring. The left movable gear rack and the right movable gear rack are circumferentially positioned by pins and axially locked by screws to form a closed frame. The shock wave bearing retaining ring is in contact with the shock wave bearing to limit the axial movement of the shock wave bearing.

[0030] Through the above technical solution, the structural integrity is ensured, and the movement of the shock wave generator bearing is limited by the bearing retaining ring, thereby enhancing the axial positioning capability and improving the system operation stability.

[0031] In a further embodiment, the movable tooth assembly is embedded in a cavity between the right movable tooth rack and the left movable tooth rack, and the tangential force of the outer movable tooth core shaft drives the movable tooth rack to rotate.

[0032] Through the above technical solution, the force transmission path is effectively simplified and the transmission efficiency is improved.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] (1) By adopting a single shock wave generator with a double cross bearing or double tapered needle roller bearing in a bilaterally symmetrical arrangement, the overall axial length of the reducer is effectively reduced. It is particularly suitable for CNC turntables or double swing head structures with limited space and high compactness requirements.

[0035] (2) Through quasi-symmetrical structural design, the use of main bearings of uniform specifications and symmetrically arranged movable gear rack components reduces the difficulty of processing and assembly, while reducing the types and number of parts, which helps to reduce manufacturing costs and simplify the production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a cross-sectional view of a single elliptical shock reducer;

[0037] Figure 2 This is a cross-sectional view of the shaft of a double-tapered cylindrical roller bearing single elliptical shock reducer;

[0038] Figure 3 This is a cross-sectional view of the shaft of a double cross roller bearing single elliptical shock reducer;

[0039] Figure 4 It is a cross-sectional view of a single eccentric shock reducer;

[0040] Figure 5 This is a cross-sectional view of the shaft of a double-tapered cylindrical roller bearing single eccentric shock reducer;

[0041] Figure 6 This is a cross-sectional view of the shaft of a double cross roller bearing single eccentric shock reducer;

[0042] Figure 7 This is the structural diagram of the 0-degree cross roller bearing.

[0043] Reference numerals: 101, shock wave supporting bearing; 102A, shock wave base 1; 103A, shock wave bearing 1; 104A, shock wave bearing outer ring 1;

[0044] 201A, right movable gear rack (1); 202A, left movable gear rack (1); 203, pin; 204, screw; 205, shock wave generator bearing retaining ring;

[0045] 301A, tapered roller bearing; 302, main seal ring; 303A, inner gear ring 1;

[0046] 102B, shock wave generator base 2; 103B, shock wave generator bearing 2; 104B, shock wave generator bearing outer ring 2;

[0047] 201B, right movable gear rack 2; 202B, left movable gear rack 2;

[0048] 301B, zero-degree double cross cylindrical roller bearing; 303B, internal gear ring 2;

[0049] 401, inner movable tooth core shaft; 402, needle roller bearing assembly; 403, outer movable tooth core shaft. DETAILED DESCRIPTION

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] This application relates to a quasi-symmetrical single-shock movable-tooth reducer, comprising an eccentric shaft assembly, a movable-tooth carrier assembly, an inner ring gear assembly, and a movable-tooth assembly, forming a highly rigid, high-precision, and compact transmission mechanism. This reducer utilizes the non-circular rotation of a single shock to drive the movable-tooth assembly to generate tangential motion, and outputs low-speed rotation through the movable-tooth carrier, achieving a high reduction ratio. This reducer is particularly suitable for applications requiring high compactness and transmission rigidity, such as five-axis CNC turntables.

[0052] The reducer adopts a quasi-symmetrical design in its structure, with double tapered needle roller bearings or zero-degree double cross roller bearings arranged symmetrically in the axial direction, which significantly reduces the axial size and the number of main bearings, optimizes the overall layout, and improves manufacturing efficiency and assembly accuracy.

[0053] like Figures 1 to 2 As shown, Example 1 is a double-tapered cylindrical roller bearing single elliptical shock reducer, which uses a two-tooth difference and an elliptical shock. Its eccentric assembly includes an input shaft, a shock support bearing 101, a shock base 102A, a shock bearing 103A, and a shock bearing outer ring 104A; the movable gear rack assembly includes a right movable gear rack 201A, a left movable gear rack 202A, and a shock bearing retaining ring 205; the inner ring gear assembly includes a tapered roller bearing 301A, a main seal ring 302, and an inner ring gear 303A; the movable gear assembly includes an inner movable gear core shaft, a needle roller bearing assembly inner movable gear core shaft 401, 402, and an outer movable gear core shaft 403.

[0054] Specifically, both ends of the input shaft are fixed to the reducer housing through the sleeve-type shock wave support bearing 101, the shock wave base 102A is fixed to the input shaft through interference fit or keyway, and the shock wave bearing 103A is press-fitted on the outside of the shock wave base 102A; the bearing outer ring 1 is arranged on the outer periphery of the shock wave bearing 103A; the inner movable tooth core shaft is directly sleeved on the bearing outer ring 1, and the outer movable tooth core shaft 403 is connected to the inner movable tooth core shaft through a needle bearing to form a double-layer floating structure. This design allows the outer movable tooth core shaft 403 to be slightly deflected through the needle bearing when it is pushed in the radial direction, and automatically Adapt to the meshing inner gear ring; the inner gear ring 303A is fixed to the outside of the reducer by bolts, the outer movable tooth core shaft 403 is meshed with the tooth profile of the inner gear ring 303A, and the tapered roller bearing 301A is symmetrically arranged on the reducer housing, and is arranged symmetrically with the shock wave along the axis, effectively reducing the overall axial length of the reducer, and the main sealing ring 302 is used to prevent lubrication leakage; the right movable tooth frame 201A and the left movable tooth frame 202A are circumferentially positioned by pins 203 and axially locked by screws 204 to form a closed frame, which is symmetrically assembled on the left and right to wrap the movable tooth assembly like a sandwich. When the movable tooth pushes the movable tooth frame, the force is evenly transmitted to the output end through the left and right frames, and the shock wave bearing retaining ring 205 is in contact with the shock wave bearing 103A to limit the axial movement of the shock wave bearing 103A.

[0055] The specific power transmission path in Example 1 is as follows: the input shaft rotates, driving the shock wave bearing 103A to push the inner movable teeth in radial motion. The outer movable teeth, constrained by the inner ring gear, generate a tangential force component. The needle roller bearing transmits this force to the movable gear carrier, which rotates at a low speed for output. No sliding friction is generated during the entire power transmission process.

[0056] like Figure 1 、 Figure 3 and Figure 7 As shown, embodiment 2 is a double cross roller bearing single elliptical shock wave reducer, which adopts a two-tooth difference, an elliptical shock wave, and the eccentric shaft assembly has the same structure as the movable tooth assembly. The movable tooth rack assembly includes a right movable tooth rack 201B and a left movable tooth rack 202B, and the inner gear ring assembly includes a zero-degree double cross cylindrical roller bearing 301B, a main sealing ring 302, and an inner gear ring 2 303B. Specifically, the right movable tooth rack 201B and the left movable tooth rack 202B are circumferentially positioned by pins 203 and axially locked by screws 204 to form a closed frame. The inner gear ring 2 303B is fixed to the outside of the reducer by bolts, and the outer movable tooth core shaft 403 is engaged with the tooth profile of the inner gear ring 2 303B. The double cross cylindrical roller bearings are symmetrically arranged on the reducer housing and are arranged symmetrically with the shock wave along the axis, effectively reducing the overall axial length of the reducer.

[0057] like Figure 4 and Figure 5As shown, Example 3 is a double-tapered cylindrical roller bearing single eccentric shock reducer, which uses a single-tooth difference and an eccentric circular shock. Its eccentric shaft assembly includes an input shaft, a shock support bearing 101, a second shock base 102B, a second shock bearing 103B, and a second shock bearing outer ring 104B. The mounting structure of its movable gear rack assembly, inner gear ring assembly, and movable gear assembly is the same as that of Example 1.

[0058] like Figure 4 、 Figure 6 and Figure 7 As shown, Example 4 is a double cross roller bearing single eccentric shock wave reducer shaft, which adopts a single tooth difference, eccentric circular shock wave, its eccentric shaft assembly is the same as Example 3, and its movable gear rack assembly, inner gear ring assembly and movable tooth assembly installation structure are the same as Example 2.

[0059] The power transmission routes in Examples 2, 3 and 4 are exactly the same as in Example 1.

[0060] The specific working process of this application is as follows:

[0061] Initial Drive: When the reducer receives the drive source input, the eccentric shaft assembly begins to rotate at high speed. The shock wave base and shock wave bearing are fixed to the eccentric shaft structure, forming a non-circular motion path (elliptical or eccentric). At this time, the shock wave bearing acts as a rotary actuator, rotating as a whole around the eccentric path, outputting a periodically changing trajectory, forming a "shock wave" (i.e., non-uniform circular motion) that acts on the external component.

[0062] Shock wave transmission: An inner movable tooth core shaft is installed on the outer ring of the shock wave bearing, and through its supporting role, the entire movable tooth assembly "rides" on the shock wave to run; the eccentric trajectory of the shock wave pushes the inner movable tooth core shaft to reciprocate in the radial direction; this inner movable tooth core shaft realizes relative motion with the outer movable tooth core shaft 403 through the needle roller bearing; under the drive of the inner movable tooth, the outer movable tooth makes restrictive motion along the fixed inner gear ring tooth profile surface.

[0063] Motion Constraint: Because the inner ring gear assembly is stationary, the outer movable tooth core shaft 403, constrained by its meshing, cannot move purely radially. It is forced to slide along the inner tooth surface, generating a tangential component. This tangential component is transmitted to the movable tooth carrier assembly via the needle roller bearing. Supported by the dual movable tooth structure, the movable tooth carrier generates a stable output.

[0064] Output realization: The movable gear rack assembly begins to rotate slowly under continuous force. The movable gear rack consists of a right movable gear rack and a left movable gear rack structure that are symmetrical on the left and right to ensure balanced force. It is stably connected to the pin 203 and the screw 204 to form a closed frame. The output end can convert high-speed input into stable low-speed high-torque output according to the reduction ratio.

[0065] As a preferred solution, if a common shock wave generator structure (such as an eccentric circle) is used, then every time the eccentric shaft rotates one circle, the movable gear rack rotates 1 / Z2 circle;

[0066] If a flexible shock wave device structure (such as an elliptical shock wave device) is used, the reduction ratio can be Z2 / 2.

[0067] Where Z2 is the theoretical number of teeth on the movable gear rack. By flexibly selecting the shock wave type and tooth difference structure, a variety of reduction ratios can be selected, such as one tooth difference and two tooth differences.

[0068] Compared with the prior art, this application has the following advantages:

[0069] (1) Compact structure, significantly reduced axial size: By adopting a single shock wave generator with a double cross bearing or double tapered needle bearing in a left-right symmetrical arrangement, the overall axial length of the reducer is effectively reduced. It is particularly suitable for CNC turntables or double swing head structures with limited space and high compactness requirements, significantly improving the integration and movement flexibility of the equipment;

[0070] (2) Simplified manufacturing process and reduced number of parts: Through quasi-symmetrical structural design, the use of uniform specifications of main bearings and symmetrically arranged movable gear rack components reduces the difficulty of processing and assembly, while reducing the number and type of parts, which helps to reduce manufacturing costs and simplify the production process;

[0071] (3) Transmission rigidity is improved and precision is maintained better: Compared with the pin-tooth sliding problem of RV reducers and the problem of insufficient rigidity of harmonic reducers, the movable tooth structure in the present invention significantly reduces friction and wear through rolling transmission, improves transmission rigidity and stability, and is easier to maintain high-precision output during long-term use;

[0072] (4) Strong adaptability, supporting a variety of shock wave types and reduction ratio configurations: This application is compatible with elliptical shock waves and eccentric circular shock waves, and can select one tooth difference or two tooth differences according to different scenarios, and even adapt to multiple tooth difference structures in a few cases, thereby obtaining different ranges of reduction ratios (such as 1 / or / 2), meet the needs of diversified industrial applications;

[0073] (5) Applicable to ultra-thin torque motors, improving system integration capabilities: The structure of the present invention is suitable for integrated application with flat and ultra-thin torque motors, and can construct a compact CNC turntable unit with a short axial direction and a small overall height, further promoting the lightweight and integrated development trend of five-axis machining equipment;

[0074] (6) Optimization of the tooth profile of the inner ring gear is beneficial for processing and precision control: The use of elliptical / eccentric shock wave generators in conjunction with simplified tooth profiles of the inner ring gear (such as circular arcs or trapezoidal curves) significantly reduces the requirements for tooth profile processing accuracy, while ensuring the meshing accuracy of the reducer, which is conducive to large-scale mass production.

[0075] The above content is a detailed description of the present invention in conjunction with specific embodiments, and it cannot be considered that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A quasi-symmetrical structure single shock wave movable tooth reducer, comprising an eccentric shaft assembly, a movable tooth carrier assembly, an inner gear ring assembly and a movable tooth assembly, characterized in that: The eccentric shaft assembly drives the movable tooth assembly through the shock wave generator to generate tangential motion under the restriction of the inner gear ring assembly, pushing the movable tooth rack assembly to rotate at a low speed to achieve deceleration; wherein: The shock wave generator is a single shock wave generator structure, and adopts an elliptical shock wave generator or an eccentric circular shock wave generator; The inner gear ring assembly includes a main bearing symmetrically arranged on the reducer housing, and the main bearing adopts a double tapered needle roller bearing or a zero-degree double cross cylindrical roller bearing; The main bearing and the shock wave generator are arranged bilaterally symmetrically along the axis; The speed reducer has a double-layer roller or a three-layer roller movable tooth structure.

2. The quasi-symmetrical structure single shock wave movable tooth reducer according to claim 1, characterized in that: The elliptical shock wave generator is a two-lobe curve or two generalized tooth-shaped structures, and the eccentric circular shock wave generator is a single-lobe curve or one generalized tooth-shaped structure.

3. The quasi-symmetrical structure single shock wave movable tooth reducer according to claim 1, characterized in that: The reducer adopts a one-tooth difference or two-tooth difference structure. When the theoretical number of teeth in the movable gear rack assembly is Z2, the reduction ratio is 1 / Z2 or Z2 / 2.

4. The quasi-symmetrical structure single shock wave movable tooth reducer according to claim 1, characterized in that: The eccentric shaft assembly includes an input shaft, a shock wave support bearing, a shock wave base, a shock wave bearing and a bearing outer ring, wherein: Both ends of the input shaft are fixed to the reducer housing by sleeve-engaging the shock wave generator support bearings; The shock wave generator base is fixed on the input shaft by interference fit or keyway; The shock wave bearing is press-fitted on the outside of the shock wave base; The bearing outer ring is arranged on the outer periphery of the shock wave generator bearing.

5. The quasi-symmetrical structure single shock wave movable tooth reducer according to claim 4, characterized in that: The movable tooth assembly includes an inner movable tooth core shaft, an inner movable tooth core shaft of a needle roller bearing assembly and an outer movable tooth core shaft; wherein: the inner movable tooth core shaft is sleeved on the outer ring of the bearing, and the inner movable tooth core shaft of the needle roller bearing assembly is installed between the inner movable tooth core shaft and the outer movable tooth core shaft.

6. The quasi-symmetrical structure single shock wave movable tooth reducer according to claim 5, characterized in that: The inner gear ring assembly further comprises an inner gear ring and a main sealing ring, wherein the inner gear ring is fixed to the reducer housing by bolts, and the main sealing ring is used to prevent lubrication leakage; The outer movable tooth core shaft is meshed with the tooth profile of the inner gear ring.

7. The quasi-symmetrical structure single shock wave movable tooth reducer according to claim 5, characterized in that: The movable gear rack assembly includes a right movable gear rack, a left movable gear rack and a shock wave bearing retaining ring. The left movable gear rack and the right movable gear rack are circumferentially positioned by pins and axially locked by screws to form a closed frame. The shock wave bearing retaining ring is in contact with the shock wave bearing to limit the axial movement of the shock wave bearing.

8. The quasi-symmetrical structure single shock wave movable tooth reducer according to claim 7, characterized in that: The movable tooth assembly is embedded in a cavity between the right movable tooth rack and the left movable tooth rack, and the tangential force of the outer movable tooth core shaft drives the movable tooth rack to rotate.

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