An input device and design method for a cycloidal gear speed reducer

Abstract

The present invention discloses an input device and a design method for a cycloidal gear speed reducer. The device includes: two cycloidal gears arranged diagonally at 180 degrees; and a plurality of pin teeth pins, the arc edges of which are connected to the tooth profile edges of the two cycloidal gears. The present invention simplifies the mathematical equation of the cycloidal gear into a parameter equation set regarding the basic design parameters of the cycloidal gear and the pin teeth pins. By using this parameter equation set, the contour of the cycloidal gear can be designed conveniently and quickly, so that the preparation of the corresponding cycloidal gear is simple, and then the corresponding cycloidal speed reducer can be designed quickly, achieving the effect of reducing production costs.

Description

Technical Field

[0001] The invention relates to the field of cycloid pinwheel reducers, and in particular to an input device for a cycloid pinwheel reducer and a design method thereof. Background Art

[0002] Theoretically, there is no gap between the meshing of the cycloid gear tooth profile and the pin teeth, but the standard tooth profile cannot compensate for the errors caused by manufacturing and assembly, and it is actually impossible to transmit. Therefore, for cycloid transmission, the most important thing is to modify the cycloid gear tooth profile, which helps to compensate for the side clearance caused by manufacturing and processing and ensure the correct radial clearance, which is conducive to the use of lubricating oil and convenient assembly.

[0003] Researchers in my country have achieved a series of results in the modification of cycloidal gear tooth profiles. ① A new modification method that combines negative displacement and positive equidistance, the contact transmission part of the tooth profile is close to the conjugate tooth shape under the optimized design. And the load-bearing capacity is large, and there are more meshing tooth shapes. This method can also analyze the force of the cycloidal wheel more easily and accurately in actual engineering problems. ② Another new modification combination method is negative equidistance plus negative displacement. ③ The proposal of the reverse bow tooth profile, a design method that can make the gear tooth contact surface transmission effect the best, can calculate how to combine the best modification value, so that the tooth surface can significantly increase the contact stress intensity and improve the load-bearing capacity of the cycloidal wheel. ④ The calculation formulas for the meshing endpoints, overlap, and correct meshing elements of the cycloidal pin teeth given by Li Chaoyang provide a new general method for cycloidal transmission, which has a guiding role in the subsequent development direction of cycloidal transmission. ⑤Tang Zilin proposed a new composite method, a new type of drum overcorrection plus angle correction applied to the contact tooth segment, and an arc correction method for the tooth root and tooth top in the non-working tooth area. ⑥Zhang Minglu proposed a method to correct the tooth profile by measuring the actual tooth profile at each step during the actual processing of the cycloidal wheel.

[0004] It can be seen from the above cases that there is no universal method for the design of cycloidal wheels. Most of them remain in the academic research stage. Their methods cannot be well, large-scale and efficiently adopted in the actual production process. The preparation of cycloidal wheels is difficult, which leads to high production costs.

[0005] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide an input device and a design method for a cycloidal gear reducer, aiming to solve the technical problem of the difficulty in preparing the cycloidal gear in the prior art.

[0007] The technical solution of the present invention is as follows:

[0008] In a first aspect, the present invention provides an input device for a cycloidal gear reducer, which includes:

[0009] Two cycloidal gears arranged diagonally at 180 degrees;

[0010] A plurality of pin teeth pins, the arc edges of the pin teeth pins are connected to the tooth profile edges of the two cycloidal gears;

[0011] The parameters of the cycloidal gear and the parameters of the pin teeth pin satisfy the following relationship:

[0012] X = R cos(θ) - R r cos(θ - ψ) - E cos(Nθ);

[0013] Y = R sin(θ) - R r sin(θ - ψ) - E sin(Nθ);

[0014]

[0015] Wherein, R is the base circle radius of the cycloidal gear, R r is the radius of the pin teeth pin, E is the eccentricity, N is the number of the pin teeth pins, taking the center of the base circle of the cycloidal gear as the origin, X and Y are the X coordinate and Y coordinate of the tooth profile of the cycloidal gear respectively, and θ is the angle of the tooth profile of the cycloidal gear in the rectangular coordinate system, 0° ≤ θ ≤ 360°.

[0016] In some embodiments, the base circle radius of the cycloidal gear is 30 mm, the radius of the pin teeth pin is 2 mm, the number of the pin teeth pins is 36, and the eccentricity is 1 mm.

[0017] In some embodiments, a center hole is provided at the center of the cycloidal gear, and a plurality of fan-shaped holes surrounding the center hole are provided on the cycloidal gear, and a transition hole is provided between every two adjacent fan-shaped holes.

[0018] In some embodiments, the device further includes:

[0019] A plurality of output eccentric sleeves, and the plurality of output eccentric sleeves are connected to the plurality of transition holes of the cycloidal gear in a one-to-one correspondence.

[0020] In some embodiments, the device further includes:

[0021] An output structure, fixedly connected to the output eccentric sleeve;

[0022] Wherein, the output structure is located on both sides of the cycloidal gear.

[0023] In some embodiments, the device further includes:

[0024] The input eccentric sleeve is connected to the central holes of the two cycloidal gears;

[0025] Wherein, a limiting ring connected to the input eccentric sleeve is provided on the inner wall of the central hole.

[0026] In some embodiments, the input eccentric sleeve is rotatably connected to the inner wall of the central hole through a swing arm bearing, the output eccentric sleeve is rotatably connected to the transition hole through an output bearing, and the input eccentric sleeve and the output eccentric sleeve are respectively rotatably connected to the output structure through a connecting bearing.

[0027] Second, the present invention provides a design method for a cycloidal gear, wherein the method includes:

[0028] Obtain the base circle radius, the radius of the pin tooth, the eccentricity, and the number of pin teeth of the cycloidal gear;

[0029] According to the base circle radius, the radius of the pin tooth, the eccentricity, and the number of pin teeth of the cycloidal gear, determine a parameter equation set; the parameter equation set includes:

[0030] X = R cos(θ) - R r cos(θ - ψ) - Ecos(Nθ);

[0031] Y = R sin(θ) - R r sin(θ - ψ) - Esin(Nθ);

[0032]

[0033] Wherein, R is the base circle radius of the cycloidal gear, R r is the radius of the pin tooth, E is the eccentricity, N is the number of pin teeth, with the center of the base circle of the cycloidal gear as the origin, X and Y are respectively the X coordinate and the Y coordinate of the tooth profile of the cycloidal gear, and θ is the angle of the tooth profile of the cycloidal gear in the rectangular coordinate system, 0° ≤ θ ≤ 360°;

[0034] Perform two-dimensional transformation on the parameter equation set to determine the tooth profile of the cycloidal gear.

[0035] In some embodiments, the tooth profile of the cycloidal gear is the X coordinate and the corresponding Y coordinate of the cycloidal gear; the performing two-dimensional transformation on the parameter equation set to determine the tooth profile of the cycloidal gear includes:

[0036] Perform two-dimensional transformation on the parameter equation set to obtain a three-dimensional recognition equation set;

[0037] According to the three-dimensional recognition equation set, determine the X coordinate and the corresponding Y coordinate of the cycloidal gear.

[0038] In some embodiments, the three-dimensional recognition equation set includes the following formulas:

[0039] X = (R * cos(t)) - (R r * cos(t + arctan(sin((1 - 10) * t) / ((R / EN) - cos((1 - 10) * t)))) - (E * cos(N * t));

[0040] Y = (-R * sin(t)) + (R r * sin(t + arctan(sin((1 - 10) * t) / ((R / EN) - cos((1 - 10) * t)))) + (E * sin(N * t));

[0041] Wherein, t is the angular value of the tooth profile of the cycloid gear in the rectangular coordinate system, and 0 ≤ t ≤ 360.

[0042] Beneficial effects: The present invention provides an input device and a design method for a cycloid gear speed reducer. The device includes: two cycloid gears arranged diagonally at 180 degrees; a plurality of pin teeth. The arc edge of the pin teeth is connected to the tooth profile edge of the two cycloid gears. The present invention simplifies the mathematical equation of the cycloid gear into a parameter equation set regarding the basic design parameters of the cycloid gear and the pin teeth. Using this parameter equation set, the contour of the cycloid gear can be designed conveniently and quickly, so that the preparation of the corresponding cycloid gear is simple, and then the corresponding cycloid speed reducer can be designed quickly, achieving the effect of reducing production costs. Description of the Drawings

[0043] Figure 1 It is an exploded view of the input device for the cycloid gear speed reducer of the present invention.

[0044] Figure 2 It is a three-dimensional structure diagram of the input device for the cycloid gear speed reducer of the present invention.

[0045] Figure 3 It is a three-dimensional view of the cycloid gear, pin teeth, input eccentric sleeve and output eccentric sleeve of the present invention.

[0046] Figure 4 It is a three-dimensional view of the cycloid gear and the pin teeth of the present invention.

[0047] Figure 5 It is a top view of the cycloid gear and the pin teeth of the present invention.

[0048] Figure 6 It is a sectional view of the cycloid gear and the pin teeth of the present invention.

[0049] Figure 7 It is a schematic diagram of the contour of the cycloid gear and the pin teeth of the present invention in the coordinate system.

[0050] Figure 8 This is a flowchart of the design method of the cycloid gear of the present invention.

[0051] Explanation of reference numerals:

[0052] 100, cycloid gear; 101, center hole; 102, fan-shaped hole; 103, transition hole; 104, trapezoidal hole; 110, swing arm bearing; 130, output bearing; 200, pin tooth pin; 310, input eccentric sleeve; 311, input shaft; 320, output eccentric sleeve; 321, output shaft; 510, first output wheel; 520, second output wheel. Detailed implementation manners

[0053] The present invention provides an input device and a design method for a cycloid gear speed reducer. To make the purpose, technical solution and effects of the present invention clearer and more definite, the present invention is further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0054] It should be noted that when a component is referred to as "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0055] It should also be noted that the same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings. It is 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. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be understood as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0056] Currently, the production cost of cycloid speed reducers is still relatively high compared to planetary speed reducers. As a result, although cycloid speed reducers have many incomparable advantages compared to planetary speed reducers, their market share is significantly lower than that of planetary speed reducers. The biggest factor leading to the high production cost of cycloid speed reducers is that the design and production of cycloid gears are very complex, resulting in a high rejection rate, thus greatly increasing the production cost of cycloid speed reducers. Therefore, there is an urgent need to develop a fast and simple design method for cycloid gears to improve production efficiency and reduce the rejection rate at the same time. This can reduce the production cost of cycloid speed reducers, thereby increasing their market application share and generating good social benefits.

[0057] To solve the above problems, the present invention provides an input device for a cycloid gear reducer, which can make the preparation of cycloid gears easier, thereby reducing the production cost of the cycloid reducer; as Figure 1 or Figure 7 shown, the device includes:

[0058] Two cycloid gears 100 arranged diagonally at 180 degrees;

[0059] A plurality of pin teeth 200, the arc edge of the pin teeth 200 is connected to the tooth profile edge of the two cycloid gears 100;

[0060] The parameters of the cycloid gear 100 and the parameters of the pin teeth 200 satisfy the following relationship:

[0061] X = R cos(θ) - R r cos(θ - ψ) - Ecos(Nθ);

[0062] Y = R sinθ - R r sin(θ - ψ) - Esin(Nθ);

[0063]

[0064] Wherein, R is the base circle radius of the cycloid gear 100, R r is the radius of the pin teeth 200, E is the eccentricity, N is the number of the pin teeth, with the center of the base circle of the cycloid gear 100 as the origin, X and Y are the X coordinate and Y coordinate of the tooth profile of the cycloid gear respectively, and θ is the angle of the tooth profile of the cycloid gear in the rectangular coordinate system, 0° ≤ θ ≤ 360°. It should be noted that, as Figure 7 shown, the eccentricity E is the distance between the center of the plurality of pin teeth 200 distributed in a circular array and the center of the cycloid gear 100; the number of the pin teeth 200 is one more than the number of teeth of the cycloid gear 100.

[0065] It is worth noting that the cycloid gear has a very complex contour (i.e., tooth profile), so it is very difficult to construct the tooth profile of the cycloid gear with common drawing tools, and then carry out design and processing. The present invention simplifies the mathematical equation of the cycloid gear 100 into a parameter equation set about the basic design parameters of the cycloid reducer (i.e., the above three parameter equations, and the relationship between R, R r 、E and N satisfies the three parameter equations), and the contour (i.e., tooth profile) of the cycloid gear 100 can be designed conveniently and quickly by using this parameter equation set, so that the preparation of the corresponding cycloid gear 100 is simple, and then the corresponding cycloid reducer can be designed quickly, achieving the effect of reducing the production cost.

[0066] Specifically, a cycloid pinwheel reducer is a novel transmission device that applies the planetary transmission principle and uses cycloid pin tooth meshing. An input eccentric sleeve 310 (i.e., a double eccentric sleeve) with a 180° misalignment is installed on the input shaft 311. Two swing arm bearings 110 (i.e., roller bearings called swing arms) are installed on the input eccentric sleeve 310 to form an H mechanism. The center holes 101 of the two cycloid wheels 100 are the raceways of the swing arm bearings 110 on the input eccentric sleeve 310, and the cycloid wheels 100 mesh with a set of annularly arranged pin teeth on the pin tooth pins 200 to form an internal meshing reduction mechanism with a tooth difference of one tooth. (In order to reduce friction, in a reducer with a small speed ratio, the pin teeth are equipped with pin tooth sleeves).

[0067] When the input shaft 311 drives the input eccentric sleeve 310 to rotate one week, due to the characteristics of the tooth profile curve on the cycloid wheel 100 and its being restricted by the pin teeth on the pin tooth pins 200, the movement of the cycloid wheel 100 becomes a planar movement with both revolution and rotation. When the input shaft 311 rotates one positive revolution, the output eccentric sleeve 320 also rotates one week, and the cycloid wheel 100 rotates one tooth in the opposite direction to obtain deceleration. Then, with the help of the output structure connected to the output eccentric sleeve 320, the low-speed rotation movement of the cycloid wheel 100 is transmitted to the output part through the pin shaft, so as to obtain a lower output speed.

[0068] In this embodiment, as Figure 7 shown, the base circle radius R of the cycloid wheel is 30 mm, the radius R r of the pin tooth pin is 2 mm, the number N of the pin tooth pins is 36, and the eccentricity E is 1 mm.

[0069] It should be noted that through the relatively regular parameter settings of the above R, R r , E, and N (i.e., integer settings), it is convenient to calculate the tooth profile shape of the cycloid wheel 100, and then it is convenient to prepare during the processing and production process, so as to reduce the production difficulty, achieve the effect of reducing production costs and improving production efficiency.

[0070] In this embodiment, as Figure 4 or Figure 6 shown, a center hole 101 is provided at the center of the cycloid wheel 100, and a plurality of sector holes 102 surrounding the center hole 101 are provided on the cycloid wheel 100. A transition hole 103 is provided between every two adjacent sector holes 102;

[0071] The device further includes:

[0072] An input eccentric sleeve 110, which is connected to the center holes 101 of the two cycloid wheels 100.

[0073] Specifically, the number of the sector holes 102 is set to three, and the three sector holes 102 are arranged in a circular array around the central hole 101. The boundary of the sector hole 102 is planar or has a curvature (i.e., arc-shaped chamfers are formed at the four corners of the sector), and the area of each sector hole 102 is larger than the area of the central hole. Thus, by providing the sector holes 102 on the cycloid gear 100, the overall mass of the cycloid gear 100 is reduced, thereby reducing the production cost. In addition, the number of the transition holes 103 is also set to 3, and they are arranged in a circular array around the central hole 101. Under the limitation of the tooth profile of the cycloid gear 100 and the pin tooth pin 200, the input eccentric sleeve 110 rotatably connected to the central hole 101 drives the cycloid gear to revolve and rotate, thereby driving the input eccentric sleeve 320 located in the transition hole 103 to rotate. Since the sector hole 102 has a large area and is adjacent to the transition hole 103, the cycloid gear 100 with a smaller mass can drive a smaller number of input eccentric sleeves 320 to rotate, thereby achieving a relatively stable deceleration effect, reducing energy consumption, and achieving the effects of reducing production cost and improving production efficiency.

[0074] In this embodiment, the device further includes:

[0075] A plurality of output eccentric sleeves 320, and the plurality of output eccentric sleeves 320 are respectively and correspondingly connected to the plurality of transition holes 103 of the cycloid gear 100.

[0076] Specifically, the input eccentric sleeve 310 is fixedly connected to the input shaft 311, the three output eccentric sleeves 320 are fixedly connected to the three output shafts 321, and the two eccentric directions of the input eccentric sleeve 310 and the output eccentric sleeve 320 are 180° to each other.

[0077] In this embodiment, the input eccentric sleeve 310 is rotatably connected to the inner wall of the central hole 101 through a swivel bearing 110, the output eccentric sleeve 320 is rotatably connected to the transition hole 103 through an output bearing 130, and the input eccentric sleeve 310 and the output eccentric sleeve 320 are respectively rotatably connected to the output structure (i.e., the W output mechanism: the first output wheel 510 and the second output wheel 520) through connecting bearings (not marked in the figure, such as Figure 1 the large ring bearing located outside the cycloid gear).

[0078] In this embodiment, as Figure 1 shown, the device further includes:

[0079] An output structure, fixedly connected to the output eccentric sleeve 320;

[0080] Wherein, the output structure is located on both sides of the cycloid gear 100.

[0081] Specifically, the output structure includes a first output wheel 510 and a second output wheel 520, which are respectively located outside the two cycloidal wheels 100. The first output wheel 510 and the second output wheel 520 are fixedly connected by three screws, and the two are connected together by three output shafts, thereby improving the stability of the device. A housing is fixedly connected to the outside of the first output wheel 510 and the second output wheel 520. As Figure 2 shown, the inner wall of the housing is connected to the pin tooth pin 200, thereby realizing the restriction of the pin tooth pin 200 on the tooth profiles of the two cycloidal wheels 100.

[0082] In this embodiment, as Figure 4 or Figure 6 shown, a limiting ring (not marked in the figure) connected to the input eccentric sleeve 310 is provided on the inner wall of the central hole 101, and at least two trapezoidal holes 104 are provided between every two adjacent sector holes 102 on the cycloidal wheel 100.

[0083] Specifically, a limiting ring connected to the output eccentric sleeve 310 is also provided on the inner wall of the transition hole 103, so as to abut against the corresponding swing arm bearing 110 and output bearing 130 through the limiting ring, thereby improving the stability of the device; trapezoidal holes 104 (i.e., direct trapezoidal holes) respectively close to the sector edges of the two sector holes are provided between every two sector holes 102. The inner wall of the trapezoidal hole 104 is plane or arc-shaped (i.e., there is no sharp angle, and the trapezoidal sharp angle is formed into an arc shape through chamfering). The inclined side of the trapezoidal hole 104 faces the central hole. By means of the trapezoidal holes 104, the mass of the cycloidal wheel 100 is further reduced, and then the mass distribution of the cycloidal wheel 100 is made uniform and the shape is regular, so as to facilitate design and preparation, achieve the effect of being easy to process, further reduce the production cost, thereby increasing its market application share, and further generating good social benefits.

[0084] It should be noted that the cycloid pinwheel speed reducer adopts the cycloid pin tooth meshing and planetary transmission principle, so it is usually also called a planetary cycloid speed reducer. The planetary cycloid pinwheel speed reducer can be widely applied to industries such as petroleum, environmental protection, chemical industry, cement, transportation, textile, pharmaceutical, food, printing, lifting, mining, metallurgy, construction, power generation, etc. as a driving or speed reducing device. Its unique stable structure can replace ordinary cylindrical gear speed reducers and worm and worm gear speed reducers in many cases. Therefore, the planetary cycloid pinwheel speed reducer is widely used in various industries and fields and is widely welcomed by users.

[0085] Advantages of the cycloidal speed reducer: small volume and light weight. Due to the planetary transmission structure, it is structurally compact. Compared with ordinary gear speed reducers of the same power, the volume and weight can be reduced by 1 / 2 to 2 / 3; large transmission ratio range; currently, the single-stage transmission ratio i produced in China is 11 - 87: the two-stage transmission ratio i is 121 - 5133; the three-stage transmission ratio can reach i = 20339; it can also reach higher values as needed; high transmission efficiency. The efficiency of single-stage transmission can reach 0.9 - 0.97; smooth operation, noiseless, and has a large overload capacity and strong shock resistance; because a large number of teeth are in mesh at the same time, and theoretically half of the teeth are in mesh, so it has these excellent functions; long service life, because all contact parts are rolling friction, so the service life is long. Compared with ordinary speed reducers, the service life is increased by more than 2 - 3 times; simple structure.

[0086] Based on the above embodiments, the present invention also provides a design method for a cycloid gear, which is applied to the cycloid gear profile design in the input device for the above cycloid speed reducer, as Figure 8 shown, the method includes:

[0087] Step S100, obtain the base circle radius of the cycloid gear, the radius of the pin tooth, the eccentricity, and the number of pin teeth;

[0088] Step S200, determine a parameter equation set according to the base circle radius of the cycloid gear, the radius of the pin tooth, the eccentricity, and the number of pin teeth; the parameter equation set includes:

[0089] X = R cos(θ) - R r cos(θ - ψ) - Ecos(Nθ);

[0090] Y = R sin(θ) - R r sin(θ - ψ) - Esin(Nθ);

[0091]

[0092] wherein, R is the base circle radius of the cycloid gear, R r is the radius of the pin tooth, E is the eccentricity, N is the number of pin teeth, with the center of the base circle of the cycloid gear as the origin, X and Y are the X coordinate and Y coordinate of the cycloid gear profile respectively, θ is the angle of the cycloid gear profile in the rectangular coordinate system, 0° ≤ θ ≤ 360°;

[0093] The cycloid gear profile is the X coordinate and the corresponding Y coordinate of the cycloid gear.

[0094] Step S300, perform two-dimensional transformation on the parameter equation set to determine the cycloid gear profile.

[0095] In some implementations, step S300 specifically includes:

[0096] Step S310: Perform two-dimensional transformation on the parametric equation system to obtain a three-dimensional recognition equation system;

[0097] Step S320: Determine the X coordinate and the corresponding Y coordinate of the cycloid gear according to the three-dimensional recognition equation system.

[0098] In some implementations, to make the design more rapid and convenient, the parametric equation system of step S200 is further simplified into a form recognizable by three-dimensional CAD software. In this way, when designing the cycloid gear profile, only four basic design parameters of the cycloid speed reducer need to be input, truly achieving the purpose of simplicity and rapidity, thereby improving production efficiency. The three-dimensional recognition equation system includes the following formulas:

[0099] X = (R * cos(t)) - (R r * cos(t + arctan(sin((1 - 10) * t) / ((R / EN) - cos((1 - 10) * t)))) - (E * cos(N * t));

[0100] Y = (-R * sin(t)) + (R r * sin(t + arctan(sin((1 - 10) * t) / ((R / EN) - cos((1 - 10) * t)))) + (E * sin(N * t));

[0101] where t includes the angular value of the cycloid gear profile in the rectangular coordinate system, and 0 ≤ t ≤ 360.

[0102] Using the three-dimensional recognition equation system, in three-dimensional CAD software (such as UG, SOLIDWORKS), by using the equation-driven curve module, only the above four basic design parameters of the cycloid speed reducer need to be selected to conveniently and rapidly design the cycloid gear profile, such as Figure 6 the cycloid gear profile curve shown. According to Figure 6 the cycloid gear profile curve, the solid of the cycloid gear 100 can be easily extruded for further design of the cycloid speed reducer and finally for production and processing, greatly improving the design of the cycloid gear, making the cycloid gear easy to fabricate, thereby improving production efficiency and reducing production costs.

[0103] In summary, the present invention provides an input device and a design method for a cycloid gear reducer. The device includes: two cycloid gears arranged diagonally at 180 degrees; and a plurality of pin teeth pins, the arc edges of which are connected to the tooth profile edges of the two cycloid gears. The present invention simplifies the mathematical equation of the cycloid gear into a parameter equation set regarding the basic design parameters of the cycloid gear and the pin teeth pins. By using this parameter equation set, the contour of the cycloid gear can be designed conveniently and quickly, so that the preparation of the corresponding cycloid gear is simple, and then the corresponding cycloid reducer can be designed quickly, achieving the effect of reducing production costs.

[0104] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. An input device for a cycloidal gear reducer, characterized in that, It includes: Two cycloidal gears arranged diagonally at 180 degrees; A plurality of pin teeth pins, and the arc-shaped edges of the pin teeth pins are connected to the tooth profile edges of the two cycloidal gears; The parameters of the cycloidal gear and the parameters of the pin teeth pin satisfy the following relationship: ； ； ； Wherein, R is the base circle radius of the cycloid gear, is the radius of the pin tooth, E is the eccentricity, N is the number of the pin teeth. Taking the center of the base circle of the cycloid gear as the origin, X and Y are the X coordinate and Y coordinate of the tooth profile of the cycloid gear respectively, is the angle of the tooth profile of the cycloid gear in the rectangular coordinate system, 0° ≤ ≤ 360°.

2. The input device for a cycloidal gear reducer according to claim 1, characterized in that, The base circle radius of the cycloidal gear is 30 mm, the radius of the pin teeth pin is 2 mm, the number of the pin teeth pins is 36, and the eccentricity is 1 mm.

3. The input device for a cycloidal gear reducer according to claim 1, characterized in that, A central hole is provided at the center of the cycloidal gear, and a plurality of sector holes surrounding the central hole are provided on the cycloidal gear, and a transition hole is provided between every two adjacent sector holes.

4. The input device for a cycloidal gear reducer according to claim 3, characterized in that, The device further includes: A plurality of output eccentric sleeves, and the plurality of output eccentric sleeves are connected to the plurality of transition holes of the cycloidal gear in one-to-one correspondence.

5. The input device for a cycloidal gear reducer according to claim 4, characterized in that, The device further includes: An output structure fixedly connected to the output eccentric sleeve; Wherein, the output structure is located on both sides of the cycloidal gear.

6. The input device for a cycloidal gear reducer according to claim 5, characterized in that, The device further includes: An input eccentric sleeve connected to the central holes of the two cycloidal gears; Wherein, a limiting ring connected to the input eccentric sleeve is provided on the inner wall of the central hole.

7. The input device for a cycloidal gear reducer according to claim 6, characterized in that, The input eccentric sleeve is rotationally connected to the inner wall of the central hole through a swivel arm bearing, the output eccentric sleeve is rotationally connected to the transition hole through an output bearing, and the input eccentric sleeve and the output eccentric sleeve are rotationally connected to the output structure through a connecting bearing respectively.

8. A design method for a cycloidal gear, characterized in that, The method includes: Obtaining the base circle radius of the cycloidal gear, the radius of the pin teeth pin, the eccentricity, and the number of the pin teeth pins; Determining a parameter equation set according to the base circle radius of the cycloidal gear, the radius of the pin teeth pin, the eccentricity, and the number of the pin teeth pins; the parameter equation set includes: ； ； ； Wherein, R is the base circle radius of the cycloid gear, is the radius of the pin tooth pin, E is the eccentricity, N is the number of the pin tooth pins. Taking the center of the base circle of the cycloid gear as the origin, X and Y are the X coordinate and the Y coordinate of the tooth profile of the cycloid gear respectively, is the angle of the tooth profile of the cycloid gear in the rectangular coordinate system, 0° ≤ ≤ 360°; Performing two-dimensional transformation on the parameter equation set to determine the tooth profile of the cycloidal gear.

9. The design method for a cycloidal gear according to claim 8, characterized in that,The tooth profile of the cycloidal gear is the X coordinate and the corresponding Y coordinate of the cycloidal gear; performing two-dimensional transformation on the parameter equation set to determine the tooth profile of the cycloidal gear includes: Performing two-dimensional transformation on the parameter equation set to obtain a three-dimensional recognition equation set; Determining the X coordinate and the corresponding Y coordinate of the cycloidal gear according to the three-dimensional recognition equation set.

10. According to the design method of the cycloid gear according to claim 9, it is characterized in that, The three-dimensional recognition equation set includes the following formula: X=(R*cos(t))-( *cos(t+arctan(sin((1-10)*t) / ((R / EN)-cos((1-10)*t)))))-(E*cos(N*t)); Y = (-R * sin(t)) + ( * sin(t + arctan(sin((1 - 10) * t) / ((R / EN) - cos((1 - 10) * t)))) + (E * sin(N * t)); Wherein, t is the angle value of the tooth profile of the cycloidal gear in the rectangular coordinate system, and 0 ≤ t ≤ 360.

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