A differential cycloid reducer

Abstract

The invention discloses a differential cycloidal pinwheel reducer, comprising a reducer body; the reducer body is composed of an output shaft, a crankshaft bearing, a front end cover, a secondary cycloidal gear, more than one bearing roller, a cycloidal wheel bearing, a crankshaft, a housing, more than one needle wheel needle roller, a primary cycloidal gear, a driving motor and a motor housing; the output shaft is arranged as a second-stage cycloidal pinwheel, a first needle wheel needle roller groove is arranged on the outer surface, a raceway is arranged on the inner surface, a needle roller groove on the inner surface, and a raceway on the outer surface; the raceway is matched through the bearing roller, the front end cover and the outer raceway of the bearing designed on the housing to form a cross needle roller bearing; the invention is composed of two groups of cycloidal pinwheel reducers with different numbers of teeth, wherein the first-stage needle wheel is fixed, the two cycloidal gears are fixedly connected or locked for rotation, share the same crankshaft, are input by the crankshaft, and the second-stage needle wheel is output; a high-rigidity, long-life, and low-process requirement precision reduction transmission scheme is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical design, and in particular to a differential cycloid pinwheel reducer. Background Art

[0002] At present, the high-precision reducers required by the robotics industry and industrial automation field mainly adopt harmonic reduction and RV reduction. However, the existing harmonic reduction scheme has problems such as weak rigidity and overload resistance, short service life, etc., and the primary cycloid pinwheel reduction scheme adopted by RV reduction is difficult to control the cost due to the complex structure, high process precision requirements, and the reduction ratio cannot be too large, which is difficult to miniaturize. In addition, the production requirements are high and the output is difficult to expand. At the same time, due to the development of low-voltage AC servo motors, their speed has been repeatedly broken through. Under the same power, high-speed and low-torque motors have a great advantage over large-torque and low-speed motors because of their large size. If high-speed and low-torque motors are to be used, the reducer is required to have a large speed ratio and a small starting torque.

[0003] The existing harmonic reduction scheme has low rigidity, short life and high requirements on materials, while the RV reduction scheme has a complex structure, high requirements on matching and process precision, difficult to control costs, difficult to increase output, and the reduction ratio cannot be too large, making it difficult to miniaturize. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a differential cycloid pinwheel reducer; it is composed of two groups of cycloid pinwheel reducers with different numbers of teeth, in which the first-stage pinwheel is fixed, the two cycloid gears are fixedly connected or locked for rotation, share the same crankshaft, are input by the crankshaft, and the second-stage pinwheel is output; a high-rigidity, long life, and low-process requirement precision reduction transmission solution is achieved.

[0005] The differential cycloid pinwheel reducer of the present invention is realized by the following technical scheme: comprising a reducer body; the reducer body is composed of an output shaft, a crankshaft bearing, a front end cover, a secondary cycloid gear, one or more bearing rollers, a cycloid wheel bearing, a crankshaft, a housing, one or more pinwheel rollers, a primary cycloid gear, a drive motor and a motor housing;

[0006] The output shaft is configured as a second-stage cycloidal pinwheel, the outer surface of which is provided with a first needle wheel needle roller groove, the outer surface is provided with a raceway, and the inner surface is provided with a needle roller groove; the raceway cooperates with the bearing roller, the front end cover, and the outer raceway of the bearing designed on the outer shell to form a cross needle roller bearing; the outer shell supports the output shaft and limits more than one degree of freedom, leaving only one degree of freedom; the needle roller grooves cooperate with the needle wheel needle rollers respectively to form the needle wheel part of the second-stage cycloidal pinwheel reducer; and the output shaft also provides support for the crankshaft through the crankshaft bearing.

[0007] As an optimal technical solution, the outer shell is configured as the first-stage cycloidal pinwheel reducer needle wheel; the inner surface is provided with a second roller needle groove, and more than one needle wheel needle rollers cooperate to form the first-stage cycloidal pinwheel reducer needle wheel, and the two halves of the outer raceway of the bearing are respectively arranged with the front end cover.

[0008] As a preferred technical solution, the first-stage cycloid gear is fixedly connected or locked to rotate with the second-stage cycloid gear, and cooperates with the eccentric part of the crankshaft through two cycloid wheel bearings. At the same time, the two cycloid gears cooperate with the two-stage pinwheels respectively to form a differential cycloid pinwheel reducer.

[0009] As a preferred technical solution, the crankshaft is fixedly connected to the rotor of the drive motor, and the stator part of the drive motor is fixedly connected to the motor housing.

[0010] As a preferred technical solution, the number of teeth of the secondary cycloid gear and the primary cycloid gear is 1 less than the number of needles of the corresponding pin wheels. There is no relationship between the number of teeth and the number of needles of the two stages, and they are not equal; primary cycloid gear; secondary cycloid gear.

[0011] The beneficial effects of the present invention are:

[0012] 1. The output is from the second-stage pinwheel coaxially rotating with the first-stage pinwheel. The two cycloid gears are driven by the same crankshaft, which greatly simplifies the transmission mode of various existing cycloid pinwheel reducers. Only a single crankshaft is required, and the features that need to be supported are all rotary structures. The support is simple, the accuracy is easy to ensure, the relative position accuracy requirements are few, and all are concentric position requirements. The processing is simple, the process requirements are low and easy to achieve. Compared with various existing cycloid pinwheel reduction schemes, it is greatly simplified and can easily achieve cost control and increase production;

[0013] 2. The tooth difference adjustment of the two-stage cycloidal pinwheel reducer can achieve a wide range of reduction ratios, and a larger reduction ratio can be achieved with a smaller tooth speed, that is, a larger pinwheel roller and cycloidal gear tooth profile can be used within a certain volume, which also has outstanding performance in improving the rigidity of the reducer and extending its service life. At the same time, the reduction in the number of teeth and pinwheel rollers and the increase in the tooth profile and roller can greatly reduce the processing requirements. At the same time, the structure is more compact than the existing various cycloidal pinwheel reducers, and it is easier to achieve miniaturization and micro-miniaturization. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1It is a schematic diagram of the structural layout of the differential cycloid pinwheel reducer of the present invention;

[0016] Figure 2 It is a schematic diagram of the structural explosion of the differential cycloid pinwheel reducer of the present invention. DETAILED DESCRIPTION

[0017] All features disclosed in this specification, or steps in all methods or processes disclosed, except mutually exclusive features and / or steps, can be combined in any manner.

[0018] Any feature disclosed in this specification (including any additional claims, abstract and drawings), unless otherwise stated, may be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

[0019] In the description of the present invention, it is necessary to understand that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "center", "end", "length", "outer end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0020] In addition, in the description of the present invention, “plurality” means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0021] Terms such as "upper", "above", "lower", "below", etc. used in the present invention to indicate spatial relative positions are used for the purpose of convenience to describe the relationship of one unit or feature relative to another unit or feature as shown in the accompanying drawings. Terms of spatial relative position may be intended to include different orientations of the device in use or operation in addition to the orientation shown in the drawings. For example, if the device in the figure is turned over, the unit described as being "below" or "beneath" other units or features will be located "above" the other units or features. Therefore, the exemplary term "below" can encompass both the above and below orientations. The device may be oriented in other ways (rotated 90 degrees or other orientations), and the spatially related descriptors used herein interpreted accordingly.

[0022] In the present invention, unless otherwise clearly specified and limited, the terms "disposed", "socketed", "connected", "through", "plugged" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] like Figure 1 and Figure 2 As shown, a differential cycloid pinwheel reducer of the present invention comprises a reducer body; the reducer body is composed of an output shaft 001, a crankshaft bearing 010, a front end cover 002, a secondary cycloid gear 004, one or more bearing rollers 008, a cycloid wheel bearing 009, a crankshaft 006, a housing 003, one or more pinwheel rollers 007, a primary cycloid gear 005, a drive motor 100 and a motor housing 102;

[0024] The output shaft 001 is configured as a second-stage cycloidal pinwheel, with a first needle wheel needle roller groove provided on the outer surface, a raceway provided on the outer surface, and a needle roller groove provided on the inner surface; the raceway cooperates with the bearing roller 008, the front end cover 002, and the outer raceway of the bearing designed on the outer shell 003 to form a cross needle roller bearing; the outer shell 003 supports the output shaft 001 and limits more than one degree of freedom, leaving only one degree of freedom; the needle roller grooves cooperate with the needle wheel needle rollers 007 respectively to form the needle wheel part of the second-stage cycloidal pinwheel reducer; and the output shaft 001 also provides support for the crankshaft 006 through the crankshaft bearing 010.

[0025] In this embodiment, the housing 003 is configured as the first-stage cycloidal pinwheel reducer needle wheel; the inner surface is provided with a second roller needle groove, and more than one needle wheel needle 007 cooperate to form the first-stage cycloidal pinwheel reducer needle wheel, and the two halves of the outer raceway of the bearing are respectively provided with the front end cover 002.

[0026] In this embodiment, the first-stage cycloid gear 005 is fixedly connected or locked to rotate with the second-stage cycloid gear 004, and cooperates with the eccentric part of the crankshaft 006 through two cycloid wheel bearings 009. At the same time, the two cycloid gears cooperate with the two-stage pinwheels respectively to form a differential cycloid pinwheel reducer.

[0027] In this embodiment, the crankshaft 006 is fixedly connected to the rotor of the drive motor 100 , and the stator of the drive motor 100 is fixedly connected to the motor housing 102 .

[0028] In this embodiment, the number of teeth of the two cycloid gears, the secondary cycloid gear 004 and the primary cycloid gear 005, is 1 less than the number of needles of the corresponding pin wheels. There is no relationship between the number of teeth and the number of needles of the two stages, and they are not equal; the primary cycloid gear 005; the secondary cycloid gear 004.

[0029] The beneficial effects of the present invention are:

[0030] 1. The output is from the second-stage pinwheel coaxially rotating with the first-stage pinwheel. The two cycloid gears are driven by the same crankshaft, which greatly simplifies the transmission mode of various existing cycloid pinwheel reducers. Only a single crankshaft is required, and the features that need to be supported are all rotary structures. The support is simple, the accuracy is easy to ensure, the relative position accuracy requirements are few, and all are concentric position requirements. The processing is simple, the process requirements are low and easy to achieve. Compared with various existing cycloid pinwheel reduction schemes, it is greatly simplified and can easily achieve cost control and increase production;

[0031] 2. The tooth difference adjustment of the two-stage cycloidal pinwheel reducer can achieve a wide range of reduction ratios, and a larger reduction ratio can be achieved with a smaller tooth speed, that is, a larger pinwheel roller and cycloidal gear tooth profile can be used within a certain volume, which also has outstanding performance in improving the rigidity of the reducer and extending its service life. At the same time, the reduction in the number of teeth and pinwheel rollers and the increase in the tooth profile and roller can greatly reduce the processing requirements. At the same time, the structure is more compact than the existing various cycloidal pinwheel reducers, and it is easier to achieve miniaturization and micro-miniaturization.

[0032] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that are not conceived through creative work should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope defined in the claims.

Claims

1. A differential cycloid reducer, characterized in that: The reducer comprises a main body; the main body of the reducer comprises an output shaft (001), a crankshaft bearing (010), a front end cover (002), a secondary cycloid gear (004), one or more bearing rollers (008), a cycloid wheel bearing (009), a crankshaft (006), a housing (003), one or more needle wheel rollers (007), a primary cycloid gear (005), a drive motor (100) and a motor housing (102); The output shaft (001) is configured as a second-stage cycloidal pinwheel, the outer surface of which is provided with a first needle wheel roller needle groove, and the inner surface of which is provided with a raceway; the raceway is matched with the bearing roller (008) and the front end cover (002) and the outer raceway of the bearing designed on the housing (003) to form a cross needle roller bearing; the housing (003) supports the output shaft (001) and limits more than one degree of freedom thereof; the needle roller grooves are respectively matched with the needle wheel roller needles (007) to form the needle wheel part of the second-stage cycloidal pinwheel reducer; and the output shaft (001) also provides support for the crankshaft (006) through the crankshaft bearing (010); The housing (003) is configured as a first-stage cycloidal pinwheel reducer pinwheel; a second roller needle groove is provided on the inner surface; more than one needle wheel needle (007) cooperate to form a first-stage cycloidal pinwheel reducer pinwheel, and two halves of a bearing outer raceway are respectively provided with the front end cover (002); the first-stage cycloidal gear (005) is fixedly connected to the second-stage cycloidal gear (004), and cooperates with the eccentric part of the crankshaft (006) through two cycloidal wheel bearings (009); the two cycloidal gears cooperate with the two-stage needle wheels respectively to form a differential cycloidal pinwheel reducer; the crankshaft (006) is fixedly connected to the rotor of the drive motor (100), and the stator part of the drive motor (100) is fixedly connected to the motor housing (102); the number of needles of the second-stage cycloidal gear (004) is less than that of the first-stage cycloidal gear (005); the first-stage cycloidal gear (005); the second-stage cycloidal gear (004).

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