Planetary cycloid gear speed reducer

Abstract

The invention provides a planetary cycloid gear speed reducer, and mainly relates to the field of robot speed reducers. The invention discloses a planetary cycloid gear speed reducer. The speed reducer comprises a two-stage speed reducing mechanism of a cycloid gear and a planetary gear, the cycloid gear speed reducing mechanism eliminates interference by increasing the gear ring displacement coefficient in the forward direction or increasing the cycloid gear displacement coefficient in the negative direction and properly adjusting the heights of the tooth crest and the tooth root. The planetary gear speed reducing mechanism part comprises a planetary gear ring, a star wheel carrier, a star wheel shaft, a planetary gear and a sun gear, the star wheel shaft is fixedly assembled with the planetary gear through a rolling body and then is in interference fit with a star wheel shaft hole in the star wheel carrier and riveted to prevent disengaging, and the planetary gear ring and a cycloid gear ring are concentrically and fixedly assembled; the sun gear and the speed reducer front end cover are fixedly assembled through a bearing and then fixedly assembled with the cycloid gear ring. And a brand-new planetary cycloid gear robot speed reducer is formed.

Description

Technical Field

[0001] The present invention mainly relates to the field of robot reducers, and specifically, it is a planetary cycloidal gear reducer. Background Art

[0002] Patent Invention Number: ZL201510676854.6, "A Precision Reduction Transmission Mechanism" solves the interference problem between involute gears and cycloidal drive of the gear ring by adjusting the pressure angle and addendum height of involute gears, bringing a new form of cycloidal gear reducer to the robot industry and solving many problems existing in other forms of reducers in the previous industry. However, with a large number of market promotions and applications, some defects and problems have gradually emerged, affecting the excellent performance of this new form of cycloidal gear reducer. There are two main problems: one is that the circumferential uniform distribution of multiple cycloidal crankshafts has too large a position, which is not conducive to the miniaturization of the reducer. The first-stage parallel shaft reduction mechanism composed of a central gear and a cycloidal crankshaft gear is installed at the outer end of the output flange through the cycloidal gear, and the mechanism is too complex, increasing the manufacturing difficulty and cost; the other is that by changing the meshing pressure angle and addendum height of the cycloidal gear and the gear ring to eliminate gear interference at a large transmission ratio, the meshing depth of the gear and the gear ring is too shallow, greatly limiting the output torque. The above two points have greatly affected the performance of this type of reducer and are restricted in wider promotions. Summary of the Invention

[0003] To solve the deficiencies of the prior art, the present invention provides a planetary cycloidal gear reducer to solve the problems raised in the above background art.

[0004] To achieve the above object, the present invention is realized through the following technical solutions:

[0005] A planetary cycloid gear reducer includes a reducer housing, a cycloid gear ring, a reducer input end cover, and an output flange. The reducer input end cover, the cycloid gear ring, and the reducer housing are fixedly installed in sequence. The output flange is rotationally connected to the reducer housing and the cycloid gear ring. A centering shaft is fixedly provided on the output flange. The input shaft is rotatably installed at the center of the reducer input end cover. A sun gear is provided on the input shaft. A planetary gear ring is provided between the reducer input end cover and the cycloid gear ring. A star wheel carrier, a first cycloid gear, and a second cycloid gear are sequentially arranged between the reducer input end cover and the output flange. A plurality of star wheel shafts are evenly arranged in a circle on the star wheel carrier. Planetary gears are rotatably arranged on the star wheel shafts. The planetary gears are meshed with the sun gear and the planetary gear ring. A cycloid crankshaft is coaxially and fixedly provided on the star wheel carrier. The cycloid crankshaft is rotationally connected to the centering shaft. The first cycloid gear and the second cycloid gear are both rotationally connected to the cycloid crankshaft through integrated eccentric rolling bodies. A plurality of toggle pins are evenly arranged in a circle on the output flange. Toggle holes corresponding to the toggle pins are provided on both the first cycloid gear and the second cycloid gear. The toggle pins pass through the toggle holes of the first cycloid gear and the second cycloid gear.

[0006] The output flange is coaxial with the centering shaft, and the output flange and the centering shaft are integrally formed.

[0007] The output flange is rotationally installed coaxially through crossed rolling bodies at the contact part between the cycloid gear ring and the reducer housing.

[0008] The sun gear, the cycloid gear ring, and the planetary gear ring are coaxial.

[0009] After the through hole of the planetary gear carrier is in interference fit with the input end of the cycloid crankshaft, the two are tightly connected by riveting.

[0010] 6 - 18 toggle pins are provided on the output flange.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] The biggest feature of the present invention is to axially graft the cycloid gear reduction mechanism and the planetary gear reduction mechanism to form a new combination, giving full play to the respective advantages of the two reduction mechanisms and forming complementarity and superposition, achieving dense and compact connection, smaller volume, higher rigidity after combination, and geometric multiple increase in the output torque density; the sun gear of the planetary gear reduction mechanism is small in volume and light in weight. After being directly connected to the motor shaft, it can smoothly and efficiently bring the high speed of the motor into the planetary gear reduction mechanism to reduce the speed to 1 / 3 - 1 / 5, reducing the transmission ratio requirement of the cycloid gear mechanism, enabling it to select an ideal gear modulus and gear meshing depth, and greatly releasing the torque output density of the cycloid gear with a large transmission ratio and high rigidity reduction mechanism form, doubling the output torque.

[0013] The operation of the present invention is more stable, the precision and rigidity have been greatly improved, the specifications and models have been widely expanded, and the applicable fields are more extensive. After large-scale popularization and application, it will provide a more superior core component for the field of industrial robots and the field of humanoid robots, and will greatly promote the faster and higher-quality development of this industry. Brief Description of the Drawings

[0014] Appendix Figure 1 is a schematic structural diagram of the present invention.

[0015] The reference numerals shown in the drawings: 1. Reducer housing; 2. Cycloid gear ring; 3. Output flange; 4. Poking pin shaft; 5.1. First cycloid gear; 5.2. First cycloid gear; 6. Integrated eccentric rolling element; 7. Integrated centering rolling element; 8. Cycloid crankshaft; 9. Centering shaft; 10. Star wheel carrier; 11. Star wheel shaft; 12. Planet gear; 13. Planet gear ring; 14. Sun gear; 15. Input end cover of the reducer; 16. Motor. Detailed Embodiments

[0016] Combined with the drawings and specific embodiments, the present invention will be further described. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by this application.

[0017] As shown in the figure, a planetary cycloid gear reducer according to the present invention comprises two-stage reduction mechanisms of cycloid gears and planet gears. For the cycloid gear reduction mechanism part, essential changes have been made on the basis of the invention patent "A Precision Reduction Transmission Mechanism". Instead of solely relying on changing the pressure angle and addendum height of involute gears to eliminate interference, interference is eliminated by positively increasing the addendum modification coefficient of the gear ring or negatively increasing the addendum modification coefficient of the cycloid gear plus appropriately adjusting the addendum and dedendum heights. In this way, for each specification in the whole series, an ideal gear module and gear meshing depth can be selected, enabling the torque output density of this form of cycloid gear reducer to be greatly released, and the output torque to double.

[0018] This speed reducer includes a speed reducer housing 1, a cycloidal gear ring 2, a speed reducer input end cover 15, and an output flange 3. The speed reducer housing 1, the cycloidal gear ring 2, the speed reducer input end cover 15, and the output flange 3 form a sealed structure, and the inside thereof is an installation space. Among them, the speed reducer input end cover 15, the cycloidal gear ring 2, and the speed reducer housing 1 are fixedly installed in sequence, and the three are connected and fastened into a whole by fastening bolts. The inner wall of the cycloidal gear ring 2 is provided with cycloidal teeth evenly in a circumferential manner for cooperating with the subsequent cycloidal gears. The output flange 3 is rotatably connected to the speed reducer housing 1 and the cycloidal gear ring 2. In this embodiment, the output flange 3 is coaxially rotatably installed through crossed rolling elements at the contact part between the cycloidal gear ring 2 and the speed reducer housing 1. Through the arrangement of the crossed rolling elements, the rotational bearing capacity output by the output flange 3 is distributed to the speed reducer housing 1 and the cycloidal gear ring 2, making the rotation output by the output flange 3 more stable.

[0019] A centering shaft 9 is fixedly arranged on the output flange 3. The centering shaft 9 is a component for rotatably installing the following integrated eccentric rolling elements 6. Specifically, the output flange 3 and the centering shaft 9 are coaxial, and the output flange 3 and the centering shaft 9 are integrally formed, thereby ensuring the rigidity of the output flange 3 and the centering shaft 9 and ensuring the power output under high torque.

[0020] An input shaft is rotatably installed at the center of the speed reducer input end cover 15. A sun gear 14 is arranged on the input shaft. A planetary gear ring 13 is arranged between the speed reducer input end cover 15 and the cycloidal gear ring 2. A star wheel carrier 10, a first cycloidal gear 5.1, and a second cycloidal gear 5.2 are arranged in sequence between the speed reducer input end cover 15 and the output flange 3. A plurality of star wheel shafts 11 are evenly arranged in a circumferential manner on the star wheel carrier 10. Planetary gears 12 are rotatably arranged on the star wheel shafts 11. The planetary gears 12 are meshed with the sun gear 14 and the planetary gear ring 13. By rotating the input shaft, the sun gear 14 can be driven to rotate, and then the planetary gears 12 can be driven to rotate through meshing, completing the speed reduction step of the planetary gear train and then driving the star wheel carrier 10 to rotate. The sun gear 14, the cycloidal gear ring 2, and the planetary gear ring 13 are coaxially arranged.

[0021] The cycloid crankshaft 8 is coaxially and fixedly arranged on the star wheel frame 10. After the central through hole of the star wheel frame 10 is in interference fit with the input end of the cycloid crankshaft 8, the two are firmly connected by riveting. The cycloid crankshaft 8 is rotatably connected with the centering shaft 9. In this embodiment, the cycloid crankshaft 8 is rotatably installed with the centering shaft 9 after integrating the centering rolling body 7. Both the first cycloid gear 5.1 and the second cycloid gear 5.2 are rotatably connected with the cycloid crankshaft 8 by integrating the eccentric rolling body 6. The first cycloid gear 5.1 and the second cycloid gear 5.2 are axially assembled on two eccentric shaft positions of the cycloid crankshaft 8 that are 180 degrees apart from each other. The rotation is transmitted to the cycloid crankshaft 8 through the star wheel frame 10. The rotation of the cycloid crankshaft 8 drives the first cycloid gear 5.1 and the second cycloid gear 5.2 to rotate through the pushing action of the integrated eccentric rolling body 6. The first cycloid gear 5.1 and the second cycloid gear 5.2 form a cycloid drive relationship with the cycloid gear ring 2 to obtain further deceleration.

[0022] A number of dialing pin shafts 4 are evenly arranged in a circle on the output flange 3. Dialing holes corresponding to the dialing pin shafts 4 are provided on both the first cycloid gear 5.1 and the second cycloid gear 5.2. The diameter of the dialing holes is larger than the diameter of the dialing pin shafts 4. The dialing pin shafts 4 pass through the dialing holes of the first cycloid gear 5.1 and the second cycloid gear 5.2. Through the cooperative dialing of the first cycloid gear 5.1 and the second cycloid gear 5.2, the decelerated rotational motion is transmitted to the output flange 3 for outputting a high-torque rotation. Specifically, 6 - 18 dialing pin shafts 4 are arranged on the output flange 3 and selected according to the output torque to ensure the safety of high-torque transmission.

[0023] The working principle of this reducer is that when the motor 16 is powered on, the output shaft of the motor 16 drives the sun gear 14 to rotate. After the speed is reduced through the planetary transmission relationship of the sun gear 14, the planetary gear 12, and the planetary gear ring 13, the star wheel frame 10 drives the cycloid crankshaft 8 to rotate around the centering shaft 9. The two cycloid gears form a cycloid drive relationship with the cycloid gear ring 2 under the action of the two eccentric shafts on the cycloid crankshaft 8, and then after further deceleration, they engage with the dialing pin shafts 4 to dial the output flange to rotate, completing the decelerated transmission output.

Claims

1. A planetary cycloid gear reducer, comprising a reducer housing (1), a cycloid gear ring (2), a reducer input end cover (15), and an output flange (3), characterized in that: The reducer input end cover (15), the cycloid gear ring (2) and the reducer housing (1) are fixedly installed in sequence; the output flange (3) is rotatably connected to the reducer housing (1) and the cycloid gear ring (2); a centering shaft (9) is fixedly arranged on the output flange (3); an input shaft is rotatably installed on the center of the reducer input end cover (15); a sun gear (14) is arranged on the input shaft; a planetary gear ring (13) is arranged between the reducer input end cover (15) and the cycloid gear ring (2); a star wheel carrier (10), a first cycloid gear (5.1) and a second cycloid gear (5.2) are progressively arranged between the reducer input end cover (15) and the output flange (3); a plurality of star wheel shafts (11) are evenly arranged on the star wheel carrier (10) in a circumferential manner; the star wheel shafts (11) are arranged on the planetary gear ring (13); and the planetary gear rings (13) are arranged on the planetary gear ring (13). A planetary gear (12) is rotatably arranged on the planetary gear frame (11), and the planetary gear (12) is meshed with the sun gear (14) and the planetary gear ring (13); a cycloid crankshaft (8) is coaxially fixedly arranged on the planetary gear frame (10), and the cycloid crankshaft (8) is rotatably arranged with the centering shaft (9); the first cycloid gear (5.1) and the second cycloid gear (5.2) are both rotatably connected to the cycloid crankshaft (8) through an integrated eccentric rolling body (6); a plurality of shifting pins (4) are evenly arranged on the output flange (3); shifting holes corresponding to the shifting pins (4) are arranged on the first cycloid gear (5.1) and the second cycloid gear (5.2); and the shifting pins (4) pass through the shifting holes of the first cycloid gear (5.1) and the second cycloid gear (5.2).

2. A planetary cycloid gear reducer according to claim 1, characterized in that: The output flange (3) is coaxial with the centering shaft (9), and the output flange (3) and the centering shaft (9) are integrally formed.

3. A planetary cycloid gear reducer according to claim 1, characterized in that: The output flange (3) is coaxially rotatably mounted at the contact position between the cycloid gear ring (2) and the reducer housing (1) via cross rolling bodies.

4. A planetary cycloid gear reducer according to claim 1, characterized in that: The sun gear (14), the cycloid gear ring (2) and the planetary gear ring (13) are coaxial.

5. A planetary cycloid gear reducer according to claim 1, characterized in that: After the through hole of the planetary wheel carrier (10) and the input end of the cycloid crankshaft (8) are interference-fitted, the two are fastened and connected by riveting.

6. A planetary cycloid gear reducer according to claim 1, characterized in that: The number of the shifting pins (4) is 6 to 18 and they are arranged on the output flange (3).

Images