Ball drive hub reducer

Abstract

The present invention belongs to the technical field of packaging machinery and equipment, and relates to a ball transmission hub reducer, including a shell structure and an output structure rotatably arranged in the shell structure, an input shaft rotatably arranged in the output structure and arranged coaxially with the output structure, and a reduction structure is arranged between the output end of the input shaft and the shell structure; the reduction structure includes an eccentric portion arranged at the output section of the input shaft, a cycloid disk is rotatably supported on the eccentric portion by a first bearing, an inner cycloid groove on one side of the cycloid disk and an outer cycloid groove arranged on the corresponding end face of the output structure are mutually linked by a first transmission steel ball group, a plurality of slots with the same extension direction are arranged on the other side of the cycloid disk, and a cross disk is rotatably arranged between the cycloid disk and the shell structure. The reducer has a simple and reasonable structure, is reliable to use, and can achieve efficient reduction transmission.

Description

Technical Field

[0001] The invention belongs to the technical field of packaging machinery and equipment and relates to a ball transmission hub reducer. Background Art

[0002] In modern industry, reliable motor drive technology is increasingly used and widely used in machine tool CNC systems and automation equipment. Electric drive, green and environmentally friendly, can obtain satisfactory torque, position, speed and other control performance. Especially in the logistics industry, such as logistics sorting systems, material distribution, warehousing, etc.

[0003] Compared with planetary gear reducers, ball-driven hub reducers have lower energy consumption and operating noise, and can better cooperate with control software to accurately implement position and path planning. At present, almost all logistics transportation vehicles use the motor + reducer + hub method, and smaller equipment can obtain the maximum torque output. At the same time, AGV systems are often powered by their own batteries, so high-efficiency hub transmission mechanisms have always been the goal pursued by AGV trolley designers and manufacturers. The ball-driven hub reducer uses high-precision steel balls as the transmission medium, supplemented by precision-machined cycloid grooves, which can achieve very high efficiency and help the entire AGV system. Summary of the invention

[0004] In view of the above problems, the present invention provides a ball transmission hub reducer, which has a simple and reasonable structure, is reliable in use, and can achieve efficient reduction transmission.

[0005] According to the technical solution of the present invention: a ball transmission hub reducer is characterized in that it includes a housing structure and an output structure rotatably arranged in the housing structure, an input shaft is rotatably arranged in the output structure and is coaxially arranged with the output structure, and a reduction structure is arranged between the output end of the input shaft and the housing structure;

[0006] The deceleration structure includes an eccentric part arranged at the output section of the input shaft, and the eccentric part rotatably supports the cycloid disk through a first bearing, and the inner cycloid groove on the surface of one side of the cycloid disk and the outer cycloid groove arranged on the corresponding end face of the output structure are linked to each other through a first transmission steel ball group, and a plurality of slots with the same extension direction are arranged on the other side surface of the cycloid disk, and a cross disk is also rotatably arranged between the cycloid disk and the shell structure, and a plurality of slots are respectively arranged on the two side surfaces of the cross disk, and the length directions of the slots on the same side surface of the cross disk are consistent, and the length directions of the slots on the two side surfaces of the cross disk are perpendicular, the slots on the cycloid disk and the slots on the corresponding surface of the cross disk are linked to each other through a second transmission steel ball group, and the slots on the other side surface of the cross disk and the corresponding slots on the shell structure are linked to each other through a third transmission steel ball group.

[0007] As a further improvement of the present invention, the output structure includes a motor fixing disk and a hollow output shaft fixed to the inner end surface of the motor fixing disk, and the housing structure includes a housing and a front end cover fastened to the axial end surface of the housing.

[0008] As a further improvement of the present invention, the housing structure and the output structure are rotatably supported by a second bearing, the inner ring of the second bearing is fixedly connected to the hollow output shaft, the outer ring of the second bearing is fixedly connected to the inner wall of the housing, the outer ring of the second bearing is axially limited by a nut threaded through the inner wall of the housing, and the inner ring of the second bearing is limited by a radial protrusion at the axial inner end of the hollow output shaft.

[0009] As a further improvement of the present invention, the input shaft is rotatably supported on the mounting hole of the front end cover through a third bearing, and is rotatably supported in the inner hole of the hollow output shaft through a fourth bearing.

[0010] As a further improvement of the present invention, one axial end of the outer ring of the fourth bearing is axially limited by a protrusion extending radially from one axial end of the hollow output shaft, and the other axial end of the outer ring of the fourth bearing is limited by an internal retaining spring arranged on the inner wall of the hollow output shaft; one axial end of the inner ring of the fourth bearing is limited by an external retaining spring arranged in a groove on the surface of the input shaft, and the other axial end of the inner ring of the fourth bearing is limited by a step on the surface of the input shaft.

[0011] As a further improvement of the present invention, a connection hole is provided on the outer side of the shell to connect an external component.

[0012] As a further improvement of the present invention, the countersunk step provided at the axial outer end of the hollow output shaft matches the axial extension portion of the end surface of the motor fixing disk, and the hollow output shaft is fastened to the motor fixing disk by a set screw.

[0013] The technical effects of the present invention are: 1) The ball-driven hub reducer is efficient, quiet and long-lasting. The precision steel balls move in a pure rolling manner in the high-precision manufactured curved grooves, and there will be no adverse effects such as reduced mechanical efficiency, increased noise value, and increased forward and reverse mechanical clearance caused by friction and slippage on the gear tooth surfaces in the planetary gear reduction mechanism.

[0014] 2) The single-stage mechanism of the ball drive hub reducer can be designed with a reduction ratio of about 5-30, which basically covers AGV applications. The planetary gear reduction mechanism can generally be designed with a reduction ratio of 5-9 for a single stage. A reduction ratio of more than 10 must be designed as a two-stage reduction mechanism, which will inevitably lead to a decrease in its efficiency, a decrease in repeated positioning accuracy, and an increase in manufacturing costs.

[0015] 3) The number of parts of the ball drive hub reducer is relatively small, and the reliability is better. Multiple balls bear the load, the structure is compact, and it is easy to arrange and assemble the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the input shaft structure.

[0018] Figure 3 This is a schematic diagram of the end face of a hollow shaft.

[0019] Figure 4 This is a schematic diagram of the end face of the cycloid disk.

[0020] Figure 5 This is the front view of the cross plate.

[0021] Figure 6 for Figure 5 Left view of .

[0022] Figure 7 for Figure 6 Right view of .

[0023] Figure 8 This is the front view of the front cover.

[0024] Fig. 9 for Figure 8 Left view of .

[0025] Fig.10 for Figure 8 Right view of .

[0026] Fig.11 It is a schematic diagram of the use state of the present invention.

[0027] Fig.12 It is a schematic diagram of the use state of the present invention. DETAILED DESCRIPTION

[0028] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0029] Figures 1 to 12 The invention comprises a housing 1, a hexagon socket screw 2, a cross plate 3, a third transmission steel ball group 4, a third bearing 5, a front end cover 6, an iron core 6.1, a rubber ring 6.2, a ball transmission hub reducer body 6.3, a first bearing 7, a horizontal mechanical arm 7.1, a second transmission steel ball group 8, a cycloid plate 9, a hollow output shaft 10, a second bearing 11, a nut 12, a first transmission steel ball group 13, an inner retaining spring 14, an eccentric part 15, an outer retaining spring 16, an input shaft 17, a hexagon socket screw 18, a fourth bearing 19, a motor fixing plate 20, etc.

[0030] like Figure 1As shown, the present invention is a ball transmission hub reducer, including a shell structure and an output structure rotatably arranged in the shell structure, an input shaft 17 is rotatably arranged in the output structure and is coaxially arranged with the output structure, and a reduction structure is arranged between the output end of the input shaft 17 and the shell structure.

[0031] like Figures 1 to 10 As shown, the deceleration structure includes an eccentric portion 15 arranged at the output section of the input shaft 17, and the eccentric portion 15 is rotatably supported by the first bearing 7. The inner cycloidal groove on the surface of one side of the cycloidal disk 9 and the outer cycloidal groove arranged on the corresponding end face of the output structure are linked to each other through the first transmission steel ball group 13. A plurality of slots with the same extension direction are arranged on the other side surface of the cycloidal disk 9. A cross plate 3 is also rotatably arranged between the cycloidal disk 9 and the shell structure. A plurality of slots are respectively arranged on the two side surfaces of the cross plate 3, and the length directions of the slots on the same side surface of the cross plate 3 are consistent, and the length directions of the slots on the two side surfaces of the cross plate 3 are perpendicular. The slots on the cycloidal disk 9 and the slots on the corresponding surface of the cross plate 3 are linked through the second transmission steel ball group 8, and the slots on the other side surface of the cross plate 3 and the corresponding slots on the shell structure are linked through the third transmission steel ball group 4.

[0032] The output structure includes a motor fixing disk 20 and a hollow output shaft 10 fixed to the inner end surface of the motor fixing disk 20 , and the housing structure includes a housing 1 and a front end cover 6 fastened to the axial end surface of the housing 1 .

[0033] The housing structure and the output structure are rotatably supported by a second bearing 11, the inner ring of the second bearing 11 is fixedly connected to the hollow output shaft 10, the outer ring of the second bearing 11 is fixedly connected to the inner wall of the housing 1, the outer ring of the second bearing 11 is axially limited by a nut 12 threadedly connected through the inner wall of the housing 1, and the inner ring of the second bearing 11 is limited by a radial protrusion at the axial inner end of the hollow output shaft 10.

[0034] The input shaft 17 is rotatably supported on the mounting hole of the front end cover 6 through the third bearing 5 , and is rotatably supported in the inner hole of the hollow output shaft 10 through the fourth bearing 19 .

[0035] One axial end of the outer ring of the fourth bearing 19 is axially limited by a protrusion extending radially at one axial end of the hollow output shaft 10, and the other axial end of the outer ring of the fourth bearing 19 is limited by an internal retaining spring 14 arranged on the inner wall of the hollow output shaft 10; one axial end of the inner ring of the fourth bearing 19 is limited by an external retaining spring 16 arranged in a groove on the surface of the input shaft 17, and the other axial end of the inner ring of the fourth bearing 19 is limited by a step on the surface of the input shaft 17.

[0036] A connection hole is arranged on the outer side of the housing 1 for connecting an external component.

[0037] The countersunk step provided at the axial outer end of the hollow output shaft 10 matches the axial extension portion of the end surface of the motor fixing plate 20 , and the hollow output shaft 10 is fastened to the motor fixing plate 20 by means of set screws.

[0038] like Figures 1 to 10 As shown, when in use, when the input shaft 17 starts to rotate under the drive of the external motor shaft, the eccentric portion 15 at the front of the input shaft 17 pushes the first bearing 7, that is, the cycloid disk 9 makes an eccentric rotation. Then the cycloid disk 9 drives the inner cycloid groove and the first transmission steel ball group 13 and the second transmission steel ball group 8 in the groove to move together. The movement law of the cycloid disk 9 is restricted by the outer cycloid groove on the left end face of the hollow output shaft 10 and its own inner cycloid groove, so the movement of the cycloid disk 9 is a planetary motion around the input shaft 17. The revolution motion of this planetary motion is coupled to the front cover 6 through the second transmission steel ball group 8 and the third transmission steel ball group 4. The front cover 6 drives the housing 1 to rotate.

[0039] In view of the general AGV car load, the matching motor power is 50w--1000w, and its output torque is 5NM--100NM. The motor speed is 100RPM--3000RPM (load speed), and the motor runs at variable speed.

[0040] The ball drive hub reducer can be designed with a reduction ratio of 1:5 to 1:30 by coordinating the physical dimensions and space with curves of different parameters. This can change the output speed and torque to adapt to different application scenarios of AGV vehicles.

[0041] The input shaft 17 of the present invention can be made into a solid structure in practical application, and is connected to the motor shaft by a coupling during operation. At the same time, an encoder, such as a magnetic ring encoder, can be configured inside the housing 1 or outside the housing.

[0042] like Fig.11 As shown, when the product of the present invention is in use, the iron core 6.1 can be fastened to the end surface of the ball drive hub reducer body 6.3, the iron core 6.1 is connected to the threaded hole of the housing 1 through screws, and a rubber ring 6.2 is arranged on the outer circumferential surface of the iron core 6.1.

[0043] like Fig.12 As shown, a horizontal mechanical arm 7.1 is provided and fixed on the reducer housing. When the input shaft rotates at a speed of M rpm under the drive of the motor, the horizontal mechanical arm 7.1 rotates at M / i rpm.

[0044] The working principle of the utility model is as follows: when the input shaft 17 rotates, the outer ring of the bearing 7 can form an eccentric cam motion. That is, as the shaft rotates, the eccentricity pushes the first bearing 7 to make an eccentric rotation. The outer ring of the first bearing 7 drives the cycloid disk 9 to make an eccentric rotation. The movement of the cycloid disk 9 is constrained by the cross disk 3 and the slot on the front cover 6 and the second transmission steel ball group 8 and the third transmission steel ball group 4, so the cycloid disk 9 performs a planetary rotation motion, and the front cover 6 outputs a decelerated rotation motion.

[0045] The reduction ratio is set to i, the number of balls in the transmission steel ball group 4 is N, the radius of the distribution circle of these steel balls is R, and then the curve on the left end face of the hollow shaft 10 satisfies the following equation:

[0046] X1= R*COS(t)-e*COS((2*i-1)*t),

[0047] Y1= R*SIN(t)-e*SIN((2*i-1)*t),

[0048] The curve on the right side of the cycloid disk 9 that matches it satisfies the following equation:

[0049] X2=R*COS(t)+e*COS((2*i-1)*t),

[0050] Y2= R*COS(t)-e*SIN((2*i-1)*t), (where e=A / 2, t parameter is generally 0--360, N=2*i-1)

[0051] i (reduction ratio) = input shaft speed (rpm) / front cover speed (rpm), front cover speed = (housing) speed (rpm).

Claims

1. A ball drive hub reducer, characterized in that: It comprises a housing structure and an output structure rotatably disposed in the housing structure, an input shaft (17) rotatably disposed in the output structure and coaxially disposed with the output structure, and a speed reduction structure is disposed between the output end of the input shaft (17) and the housing structure; The deceleration structure comprises an eccentric portion (15) arranged at the output section of the input shaft (17); the eccentric portion (15) rotatably supports a cycloid disk (9) via a first bearing (7); an inner cycloid groove on one side surface of the cycloid disk (9) and an outer cycloid groove arranged on a corresponding end surface of the output structure are linked to each other via a first transmission steel ball group (13); a plurality of slots extending in the same direction are arranged on the other side surface of the cycloid disk (9); a cross disk (3) is rotatably arranged between the cycloid disk (9) and the housing structure; a plurality of slots are arranged on both side surfaces of the cross disk (3); the length directions of the slots on the same side surface of the cross disk (3) are consistent; the length directions of the slots on both side surfaces of the cross disk (3) are perpendicular; the slots on the cycloid disk (9) and the slots on the corresponding surface of the cross disk (3) are linked to each other via a second transmission steel ball group (8); the slots on the other side surface of the cross disk (3) and the corresponding slots on the housing structure are linked to each other via a third transmission steel ball group (4); The output structure comprises a motor fixing disk (20) and a hollow output shaft (10) fixed to the inner end surface of the motor fixing disk (20); the housing structure comprises a housing (1) and a front end cover (6) fastened to the axial end surface of the housing (1); The housing structure and the output structure are rotatably supported by a second bearing (11); the inner ring of the second bearing (11) is fixedly connected to the hollow output shaft (10); the outer ring of the second bearing (11) is fixedly connected to the inner wall of the housing (1); the outer ring of the second bearing (11) is axially limited by a nut (12) threadedly connected to the inner wall of the housing (1); and the inner ring of the second bearing (11) is limited by a radial protrusion at the axial inner end of the hollow output shaft (10); The input shaft (17) is rotatably supported on the mounting hole of the front end cover (6) through a third bearing (5), and is rotatably supported in the inner hole of the hollow output shaft (10) through a fourth bearing (19).

2. The ball drive hub reducer according to claim 1, characterized in that: One axial end of the outer ring of the fourth bearing (19) is axially limited by a protrusion extending radially from one axial end of the hollow output shaft (10), and the other axial end of the outer ring of the fourth bearing (19) is limited by an inner retaining spring (14) arranged on the inner wall of the hollow output shaft (10); one axial end of the inner ring of the fourth bearing (19) is limited by an outer retaining spring (16) arranged in a retaining groove on the surface of the input shaft (17), and the other axial end of the inner ring of the fourth bearing (19) is limited by a step on the surface of the input shaft (17).

3. The ball drive hub reducer according to claim 1, characterized in that: A connection hole is provided on the outer side of the shell (1) for connecting an external component.

4. The ball drive hub reducer according to claim 1, characterized in that: The countersunk step provided at the axial outer end of the hollow output shaft (10) matches the axial extension portion of the end surface of the motor fixing disk (20), and the hollow output shaft (10) is fastened to the motor fixing disk (20) via a set screw.

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