Double-pendulum-roller speed changer and speed reducer

Abstract

The invention provides a solution for solving the defects in the background technology, and full-rolling transmission of the transmission and the speed reducer is achieved. The transmission device is simple and compact in structure, can provide a transmission ratio in a large range, is durable and high in transmission efficiency while reducing abrasion and noise in operation, and has the potential of greatly improving transmission precision. The invention provides a brand new way for realizing full-rolling transmission on a transmission and a speed reducer, and provides a structural basis for exceeding the precision of the existing like products. The speed changing device can be used in the forward direction or in the reverse direction, and is suitable for any mechanical equipment needing speed changing, speed reducing or speed increasing, especially high-precision equipment.

Description

Technical Field

[0001] The present invention relates to a transmission and a reducer, belonging to the field of machinery. The present invention discloses a transmission and a reducer with full rolling transmission. Background Art

[0002] There are many types of transmissions and reducers, most of which are gear-driven, such as cycloid reducers or RV reducers, which do not achieve full rolling transmission. Summary of the Invention

[0003] This invention addresses the shortcomings of prior art by achieving full-roll transmission for transmissions and reducers. It features a simple and compact structure, offers a wide range of transmission ratios, reduces wear and noise during operation, and offers high durability and transmission efficiency. It also has the potential to significantly improve transmission accuracy. This invention offers a novel approach to achieving full-roll transmission in transmissions and reducers, providing a structural foundation for achieving accuracy exceeding that of existing comparable products. It can be used in both forward and reverse directions and is suitable for any mechanical equipment requiring speed change, deceleration, or acceleration, particularly high-precision equipment.

[0004] The double pendulum roller transmission and reducer consists of a base, a first shaft, a driving ring, rolling balls, a second shaft, double-stage rolling elements, rolling element bearings, a slewing ring, double-stage rollers, a third shaft and an end cover.

[0005] The base has a center hole, an inner cycloid wheel, and screw holes for fixing the end cover and the entire body to connect the drive.

[0006] The first shaft has main structures such as a first eccentric neck and a dynamic balance in the transmission state, and is fitted with the center hole of the base through a bearing.

[0007] The driving ring is provided with an epicycloid wheel and ball sockets distributed around a circle. The driving ring is sleeved with the first eccentric neck on the first shaft through a bearing.

[0008] A circle of ball sockets corresponding to the drive ring is also distributed on the second shaft, and a rolling ball is configured in each pair of ball sockets. The second shaft is fitted on the first shaft through a bearing sleeve.

[0009] Between the inner and outer cycloid wheels is a set of double-stage rolling elements. These double-stage rolling elements consist of two coaxial but unequally sized cones, one on the cycloid wheel end and the other on the bearing end. Each double-stage rolling element is equipped with a rolling element bearing at the bearing end. The rolling element bearing fits into the bearing sleeve on the slewing ring.

[0010] The surface of the slewing ring facing the double-stage rolling elements is provided with a bearing sleeve, and the surface corresponding to the third axis is provided with a slewing ring mortar.

[0011] The corresponding surfaces of the slewing ring and the third shaft are equipped with mortars of the same number, size and diameter, and each pair of mortars is equipped with a double roller. The third shaft is fitted on the second shaft through a bearing sleeve.

[0012] The end cover is sleeved with the third shaft through a bearing and is fixed on the screw hole of the base through a connecting hole and a fastener.

[0013] In the reducer mode, a second eccentric neck is added to the first shaft, becoming the reducer-mode first shaft. The drive ring removes the drive ball and mortise to become the reducer-mode drive ring. The rolling ball and second shaft are removed. The reducer-mode drive ring is fitted onto the first eccentric neck of the reducer-mode first shaft via a bearing. The slewing ring is fitted onto the second eccentric neck of the reducer-mode via a bearing, and the third shaft is fitted onto the first shaft via a bearing.

[0014] When the first shaft rotates clockwise with the driver, the first eccentric neck, through the bearing, pushes the drive ring in an eccentric counterclockwise rotation, where resistance is minimized. A circle of identically sized, numbered, and distributed diameter mortars are distributed around the surface of the drive ring corresponding to the second shaft. Each pair of mortars houses a rolling ball. As the drive ring rotates eccentrically under the action of the first eccentric neck, the drive ring mortars rotate eccentrically around the second shaft mortars. The corresponding drive ring mortars and second shaft mortars then rub the rolling balls within them, creating a rolling transmission that drives the second shaft, thus returning the drive ring's eccentric rotation to the second shaft's circular motion.

[0015] As the drive ring rotates, it compresses the cycloidal ends of the dual rolling elements, forcing them to roll in the direction of least resistance. Consequently, the dual rolling elements, driven by the outer and inner cycloidal wheels, simultaneously rotate along their surfaces and perform eccentric rotation. The cycloidal ends of the dual rolling elements simultaneously drive the rolling element bearings, which are combined with the bearing ends, to act on the bearing sleeves on the slewing ring. All the dual rolling elements perform eccentric rotation in turn, driving the slewing ring in its eccentric rotation.

[0016] On the surfaces corresponding to the slewing ring and the third axis, there are mortars of identical size, number, and diameter. Each pair of mortars is equipped with a double roller. When the slewing ring rotates eccentrically, the slewing ring mortars rotate eccentrically around the third axis mortars. At this time, the corresponding slewing ring mortars and the third axis mortars rub against the double rollers, forming a rolling transmission that drives the third axis, thus returning the eccentric rotation of the slewing ring to the circular motion of the third axis.

[0017] The dynamic balancing structure on the first shaft can smooth out the vibration caused by the centrifugal force generated by the eccentric moving parts.

[0018] The first shaft can be used as a drive shaft and can also directly output. Together with the second and third shafts, it forms three levels of output ends with different speeds and torques.

[0019] Remove the driving ring mortar, rolling ball and second shaft from the overall structure, add a second eccentric neck to the first shaft of the reducer, fit the rotating ring on it through the bearing, and fit the third shaft on the second shaft through the bearing, and it becomes a reducer in the conventional sense.

[0020] The cross-section of the roller structure composed of double rollers and rolling element bearings is hexagonal, and the connecting line of the opposite sides and the two ends forms a rectangle. When pushed by the combined force of the inner and outer cycloid wheels, the force will be transmitted to the opposite side along the direction of the combined force, and it has a large load capacity.

[0021] The ball-in-slot transmission structure, consisting of a driving ring mortar, rolling balls, and a secondary shaft mortar, features identical spherical grooves. The grooves have a spherical diameter that matches the diameter of the rolling balls within them, allowing the balls to roll freely and precisely along the grooves. This structure allows the eccentric rotational motion of the driving ring to be converted back into the circular motion of the secondary shaft, achieving rolling transmission with high reliability and stability. The rolling balls in the ball-in-slot transmission structure act like steel balls in a ball bearing. Force applied at any point on the balls is transferred to the corresponding point along their diameter, providing excellent adaptability.

[0022] The mortar transmission structure consists of a slewing ring mortar, double rollers, and a third-axis mortar. Both the slewing ring mortar and the third-axis mortar feature concave surfaces of equal size, with the concave surfaces tilted at the same angle as the circular surfaces of the double rollers, allowing the double rollers to roll freely within the mortars. This mortar transmission structure converts the eccentric rotational motion of the slewing ring back into circular motion along the third axis, achieving rolling transmission. The double rollers have a hexagonal cross-section, with the lines connecting opposite sides and the ends forming a rectangle. This allows for maximum force transfer from one side to the opposite side, resulting in a high load capacity.

[0023] The ball-and-socket drive and table-and-mortar drive structures are simple and can replace the common sleeve-and-pin or crankshaft-and-bearing drive structures. While the sleeve-and-pin system can convert eccentric rotational motion back to circular motion, it cannot achieve rolling motion. While the crankshaft-and-bearing system can achieve rolling motion, it carries a lower load capacity, a more complex structure, requires a large number of components, and occupies a large space.

[0024] While the first eccentric neck of the first shaft in the reducer state pushes the reducer state driving ring, the second eccentric neck also pushes the rotary ring to move, thus forming a dual-drive structure, which makes the operation reliability and stability higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is the appearance of the transmission. Figure 2is a three-dimensional cross-sectional view of the transmission. Figure 3 It is a longitudinal cross-sectional view of the transmission. Figure 4 is a cross-sectional view of the base. Figure 5 is the first axis section view, Figure 6 is a cross-sectional view of the drive ring. Figure 7 It's a rolling ball. Figure 8 is the second axis section view, Figure 9 This is a cross-sectional view of the double rolling elements. Figure 10 It is a rolling element bearing. Figure 11 is a cross-sectional view of the rotating ring. Figure 12 It is a double roller. Figure 13 It is the third axis section view. Figure 14 is a cross-sectional view of the end cap, Figure 15 This is the appearance of the reducer. Figure 16 3D cross-sectional view of the reducer, Figure 17 is the longitudinal section view of the reducer. Figure 18 is the state of the first axis reducer, Figure 19 It is the reducer state driving ring. DETAILED DESCRIPTION

[0026] The present invention will be described below with reference to the accompanying drawings.

[0027] The double pendulum roller transmission and reducer are composed of a base (1), a first shaft (2), a driving ring (3), a rolling ball (4), a second shaft (5), a double-stage rolling element (6), a rolling element bearing (7), a slewing ring (8), a double-stage roller (9), a third shaft (10) and an end cover (11).

[0028] The base (1) is provided with a center hole (1-1), an inner cycloid wheel (1-2) and screw holes (1-3) for fixing the end cover and the entire body to connect the driver.

[0029] The first shaft (2) has a first eccentric neck (2-1) and a dynamic balance (2-2) as main structures in the transmission state, and is fitted with the center hole (1-1) of the base (1) through a bearing.

[0030] The driving ring (3) is provided with an epicycloid wheel (3-1) and a driving ring mortar (3-2) distributed around a circle. The driving ring (3) is fitted with a first eccentric neck (2-1) on the first shaft (2) through a bearing.

[0031] A second shaft mortise (5-1) corresponding to the drive ring (3) is also distributed on the second shaft (5), and a rolling ball (4) is configured in each pair of mortise. The second shaft (5) is fitted on the first shaft (2) through a bearing sleeve.

[0032] Between the inner cycloid wheel (1-1) and the outer cycloid wheel (3-1) is a set of double-stage rolling elements (6). The double-stage rolling elements (6) are composed of two coaxial but unequal-sized circular cones at the cycloid wheel end (6-1) and the bearing end (6-2). Each double-stage rolling element (6) is equipped with a rolling element bearing (7) at the bearing end (6-2). The rolling element bearing (7) is fitted with a bearing sleeve (8-1) on the slewing ring (8).

[0033] A bearing sleeve (8-1) is provided on the surface of the slewing ring (8) facing the double-stage rolling element, and a slewing ring mortar (8-2) is provided on the surface corresponding to the third axis.

[0034] The corresponding surfaces of the slewing ring (8) and the third shaft (10) are provided with slewing ring mortars (8-2) and third shaft mortars (10-1) of the same number, size and distribution diameter, and each pair of mortars is provided with a double roller (9). The third shaft (10) is fitted on the second shaft (5) through a bearing sleeve.

[0035] The end cover (11) is fitted with the third shaft (10) via a bearing and is fixed to the base screw hole (1-3) via a connecting hole (11-1) and a fastener.

[0036] In the reducer state, a second eccentric neck (12-2) is added to the first shaft (2) to become the reducer state first shaft (12). The drive ring (3) removes the drive ring mortise (3-2) to become the reducer state drive ring (13). The rolling ball (4) and the second shaft (5) are removed. The reducer state drive ring (13) is fitted on the first eccentric neck (12-1) of the reducer state first shaft (12) through a bearing. The slewing ring (3) is fitted together with the reducer state second eccentric neck (12-2) through a bearing, and the third shaft (10) is fitted on the reducer state first shaft (12) through a bearing.

[0037] When the first shaft (2) rotates clockwise with the driver, the first eccentric neck (2-1) pushes the driving ring (3) to perform eccentric rotation in the counterclockwise direction with less resistance through the bearing. On the corresponding surfaces of the driving ring (3) and the second shaft (5), there are distributed a driving sphere mortar (3-2) and a second shaft mortar (5-1) of the same size, number and distribution diameter. Each pair of mortars is equipped with a rolling ball (4). When the driving ring (3) performs eccentric rotation under the action of the first eccentric neck, the driving sphere mortar (3-2) will perform eccentric rotation around the second shaft mortar (5-1). At this time, the corresponding driving sphere mortar (3-1) and the second shaft mortar (5-1) will rub the rolling ball (4) therein to form a rolling transmission, thereby driving the second shaft (5) to rotate, thereby returning the eccentric rotation of the driving ring (3) to the circular motion of the second shaft (5).

[0038] When the drive ring (3) rotates, it squeezes the cycloid wheel end (6-1) of the double rolling element (6), causing the double rolling element (6) to roll in the direction with less resistance. As a result, the double rolling element (6) rotates along the wheel surface under the rubbing of the outer cycloid wheel (3-1) and the inner cycloid wheel (1-2), while also performing eccentric rotation. While rotating, the cycloid wheel end (6-1) of the double rolling element (6) drives the rolling element bearing (7) combined with the bearing end (6-2) to act on the bearing sleeve (8-1) on the slewing ring (8). All the double rolling elements (6) perform eccentric rotation in turn, which drives the slewing ring (8) to perform eccentric rotation.

[0039] On the corresponding surfaces of the slewing ring (8) and the third shaft (10), there are distributed a slewing ring mortar (8-1) and a third shaft mortar (10-1) of the same size, number and distribution diameter. Each pair of mortars is equipped with a double roller (9). When the slewing ring (8) performs eccentric slewing motion, the slewing ring mortar (8-1) will perform eccentric slewing motion around the third shaft mortar (10-1). At this time, the corresponding slewing ring mortar (8-1) and the third shaft mortar (10-1) will rub the double roller (9) therein to form a rolling transmission, thereby driving the third shaft (10) to rotate, thereby returning the eccentric slewing motion of the slewing ring (8) to the circular motion of the third shaft (10).

[0040] The dynamic balance (2-2) structure on the first shaft (2) can smooth out the vibration caused by the centrifugal force generated by the eccentric moving parts.

[0041] The first shaft (2) can be used as a drive shaft and can also be used for direct output. Together with the second shaft (5) and the third shaft (10), it forms three levels of output ends with different speeds and torques.

[0042] The driving ring mortar (3-2), the rolling ball (4) and the second shaft (5) are removed from the overall structure, a second eccentric neck (12-1) is added to the first shaft (12) in the reducer state, and the slewing ring (8) is fitted thereon through a bearing, and the third shaft (10) is fitted on the second shaft (5) through a bearing, thereby becoming a reducer in the conventional sense.

[0043] The cross section of the roller structure composed of the double rollers (6) and the roller bearings (7) is hexagonal and the lines connecting the opposite sides and the two ends form a rectangle. When pushed by the combined force of the outer cycloid wheel (3-1) and the inner and outer cycloid wheels (1-2), the force is transmitted to the opposite side along the direction of the combined force, and has a large load capacity.

[0044] The ball-in-slot transmission structure is composed of a driving ring mortar (3-2), a rolling ball (4), and a second-axis mortar (5-1). The driving ring mortar (3-2) and the second-axis mortar (5-1) both have the same spherical ring groove. The spherical diameter of the spherical ring groove is the same as the diameter of the rolling ball (4) therein. The rolling ball (4) can roll freely and accurately along the ring groove. The ball-in-slot transmission structure can make the eccentric rotational motion of the driving ring (3) return to the circular motion of the second axis (5) and achieve rolling transmission with high reliability and good stability. The rolling ball (4) in the ball-in-slot transmission structure is like the steel ball in a ball bearing. When any point of the rolling ball (4) is subjected to force, it is transmitted to the corresponding point along the diameter, which has good adaptability.

[0045] The mortar transmission structure is composed of a slewing ring mortar (8-2), a double roller (9) and a third axis mortar (10-1). The slewing ring mortar (8-2) and the third axis mortar (10-1) are both concave mortars of equal size. The inclination angle of the concave mortar surface is the same as the inclination angle of the circular surface of the double roller (9). The double roller (9) can roll freely in the mortar. The mortar transmission structure can make the eccentric rotational motion of the slewing ring (8) return to the circular motion of the third axis (10) and achieve rolling transmission. The cross section of the double roller (9) is hexagonal and the connecting line of the opposite side and the two ends forms a rectangle. When a force is applied on one side, the force can be transferred to the opposite side to the maximum extent, and has a large load capacity.

[0046] The ball-and-socket drive and table-and-mortar drive structures are simple and can replace the common sleeve-and-pin or crankshaft-and-bearing drive structures. While the sleeve-and-pin system can convert eccentric rotational motion back to circular motion, it cannot achieve rolling motion. While the crankshaft-and-bearing system can achieve rolling motion, it carries a lower load capacity, a more complex structure, requires a large number of components, and occupies a large space.

[0047] While the first eccentric neck (12-1) of the first shaft (12) in the reducer state pushes the reducer state driving ring (13), the second eccentric neck (12-2) also pushes the slewing ring (8) to move, thereby forming a dual-drive structure, which makes the operation more reliable and stable.

Claims

1. A double pendulum roller transmission and reducer having the following main structures: a base (1), a first shaft (2), a drive ring (3), a rolling ball (4), a second shaft (5), a double-stage rolling element (6), a rolling element bearing (7), a slewing ring (8), a double-stage roller (9), a third shaft (10), an end cover (11), a reducer state first shaft (12) and a reducer state drive ring (13).

2. The hypocycloid wheel (1-1) on the base (1), the epicycloid wheel (3-1) on the drive ring (3), and the double-stage rolling element (4) according to claim 1, characterized in that: The inner cycloid wheel (1-2) and the outer cycloid wheel (3-1) form a double cycloid roller structure in which the double cycloid wheels jointly drive the double rolling bodies (6) to rotate.

3. The double-stage rolling element (6) according to claim 1, characterized in that: It consists of two cones of different sizes but coaxial, namely the cycloid wheel end (6-1) and the bearing end (6-2).

4. The double-stage rolling element (6) and rolling element bearing (7) according to claim 1, characterized in that: The cross section of the rolling element structure composed of the double rolling elements (6) and the rolling element bearings (7) is hexagonal and the opposite sides are parallel to each other. The parallel sides plus the connecting line of the two ends form a rectangle. This configuration can maximize the transmission of the resultant force to the opposite side in the direction of the resultant force.

5. The drive ring (3), rolling ball (4) and second shaft (5) according to claim 1, characterized in that: The driving ring mortar (3-2) on the driving ring (3), the rolling ball (3) and the second shaft mortar (5-1) on the second shaft (5) form a mortar transmission structure that can return the eccentric rotary motion to circular motion and also achieve rolling transmission.

6. The double-stage roller (9) according to claim 1, characterized in that: The longitudinal section of the double-stage roller (9) is hexagonal and the opposite sides are parallel to each other. The opposite sides plus the connecting line of the two ends of the opposite sides form a square, which can transfer the force on one side to the opposite side to the maximum extent.

7. The slewing ring (8), double roller (9) and third shaft (10) according to claim 1, characterized in that: The mortar transmission structure is formed by the slewing ring mortar (8-2) on the slewing ring (8), the double rollers (9) and the third shaft mortar (10-1) on the third shaft (10), which can not only return the eccentric rotary motion to circular motion but also achieve rolling transmission.

8. The slewing ring (8), the reducer state first shaft (12) and the reducer state driving ring (13) according to claim 1 are characterized by: The first eccentric neck (12-1) and the second eccentric neck (12-2) on the first shaft (12) of the reducer state simultaneously drive the reducer state drive ring (13) and the slewing ring (8), forming a dual-drive structure and enhancing the reliability and stability of operation.

9. The base (1), first shaft (2), drive ring (3), double-stage rolling element (4), bearing (5), third shaft (6), double-stage roller (7), second shaft (8) and end cover (9) according to claim 1 are characterized by: The transmission is composed of the above structure.

10. The base (1), first shaft (2), drive ring (3), double-stage rolling element (4), bearing (5), third shaft (6), double-stage roller (7), second shaft (8) and end cover (9) according to claim 1 are characterized by: The second shaft (8), the driving ring mortar (3-1) and the double rollers (7) are removed, and the third shaft (6) is fitted on the first shaft (2) through the bearing to form a reducer.

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