Rolling oscillating tooth speed reducer with quasi-symmetric structure

Abstract

The utility model discloses a rolling oscillating tooth speed reducer with a quasi-symmetric structure. The rolling oscillating tooth speed reducer comprises an eccentric shaft assembly, an oscillating tooth carrier assembly, an inner gear ring assembly, an oscillating tooth assembly and a planet assembly. An eccentric shaft in the eccentric shaft assembly and the speed reducer are eccentrically installed. The wave exciter is located on the periphery of the eccentric shaft. The inner gear ring assembly is rotationally connected with the movable tooth frame assembly; the oscillating tooth assembly is located in the oscillating tooth frame assembly, and the oscillating tooth assembly forms a two-row roller structure and performs accurate radial rolling motion in a radial groove of an oscillating tooth frame; the planet assembly is located at the end of the eccentric shaft, a sun wheel drives a planet wheel to achieve first-stage speed reduction, the eccentric shaft drives the wave exciter to do radial vibration motion, and the wave exciter pushes the lower core shaft to do radial motion through the outer circle of the wave exciter, pushes the upper core shaft to move along the inner tooth inclined face and meanwhile pushes the movable tooth frame assembly to rotate along the inner tooth ring assembly. Second-stage speed reduction of the speed reducer is realized; a traditional spigot positioning mode is replaced by a taper pin and positioning sleeve positioning structure, and the machining cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical transmission, in particular to a rolling movable tooth reducer with a quasi-symmetrical structure, which is mainly used as a robot joint reducer to achieve motor torque amplification. Background Art

[0002] In the modern industrial field, reducers, as an important transmission device, are widely used in various mechanical equipment to achieve power transmission and speed regulation. Although traditional reducer structures, such as planetary reducers and worm gear reducers, meet the transmission requirements to a certain extent, they still have certain limitations in terms of efficiency, load-bearing capacity, volume and weight.

[0003] The existing reducer adopts a combination of two or three rows of rollers to solve the sliding problem existing in the traditional movable tooth reducer. The secondary transmission efficiency is stable at more than 90%, and the transmission efficiency under double load can reach 96%, reaching or exceeding the indicator level of the planetary reducer. The surface temperature of the reducer can reach the range of 30-36 degrees when the load is doubled, showing high transmission accuracy and precision stability. However, the inner gear ring is originally composed of a three-layer structure, with the outer ring of the bearing in the middle and the inner gears on both sides, and the stopper is used for positioning. The movable tooth rack is also composed of a middle movable tooth rack, a front movable tooth rack, and a rear movable tooth rack. The three are connected by intermittent stoppers. The step surface grinding is extremely difficult, the grinding time is long, and the grinding processing cost is high. At the same time, the interchangeability with the RV reducer was excessively considered in the early stage. The front and rear inner gear rings and the front and rear movable tooth racks all adopted different structures. Different molds are required for forging, which further increases the processing cost. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model discloses a quasi-symmetrical structure rolling movable tooth reducer to solve the problems raised in the above background technology.

[0005] The utility model provides a quasi-symmetrical rolling movable tooth reducer, which comprises an eccentric shaft assembly, a movable tooth rack assembly, an inner gear ring assembly, a movable tooth assembly and a planetary assembly;

[0006] The eccentric shaft assembly includes an eccentric shaft, an eccentric shaft right bearing, an eccentric shaft left bearing and a shock wave generator; the eccentric shaft is located in the middle of the movable tooth reducer, and the eccentric shaft is eccentrically installed between the reducer, the eccentric shaft right bearing and the eccentric shaft left bearing are respectively located on the outer sides of the two ends of the eccentric shaft, the shock wave generator is located on the outer periphery of the eccentric shaft, and the shock wave generator and the eccentric shaft are connected through a shock wave generator bearing provided therein;

[0007] The movable gear rack assembly is located at the periphery of the eccentric shaft, and the movable gear rack assembly includes a front movable gear rack, a middle movable gear rack, a rear movable gear rack, a first positioning cone pin and a first connecting screw. The front movable gear rack and the rear movable gear rack adopt a basically identical structure, and can be forged with the same die and then cut to produce two parts with slightly different processing costs. The front movable gear rack, the middle movable gear rack and the rear movable gear rack are sequentially connected and connected to the first positioning cone pin through a first connecting screw. The first connecting screw is coaxially arranged with the first positioning cone pin on the opposite side. When the first positioning cone pin is to be removed, the first connecting screw coaxially installed on the opposite side can be removed first, and the first positioning cone pin can be removed from the screw hole using a tool with a smaller diameter, so as to facilitate the maintenance of the reducer;

[0008] The inner gear ring assembly is located at the periphery of the movable gear rack assembly, and the two are rotatably connected. The inner gear ring assembly includes a front inner gear ring, a second positioning cone pin, a second connecting screw and a rear inner gear ring. The front inner gear ring and the rear inner gear ring are respectively located at the periphery of the movable gear rack assembly, and the two are connected by alternately installing the second positioning cone pin and the second connecting screw.

[0009] The movable tooth assembly is located inside the movable tooth rack assembly, and the movable tooth assembly includes a lower mandrel, an upper mandrel and a roller. The lower mandrel is located outside the shock wave generator, and the upper mandrel is located outside the lower mandrel. Rollers are respectively arranged on both sides of the upper mandrel, and the rollers are connected to the upper mandrel through needle bearings. The upper mandrel is meshed with the front inner gear ring and the rear inner gear ring respectively. The movable tooth assembly forms a two-row roller structure, and performs precise radial rolling motion in the radial groove of the movable tooth rack.

[0010] The planetary assembly is located at the end of the eccentric shaft, and the planetary assembly includes a planetary wheel core shaft, a planetary wheel needle bearing, a sun wheel, a planetary wheel and an internal gear; the sun wheel is located inside the end of the eccentric shaft, and the sun wheel is connected to the motor through a flat key, and two groups of planetary wheels are symmetrically installed at the end of the eccentric shaft, the planetary wheel is connected to the end of the eccentric shaft through a planetary wheel core shaft, and the planetary wheel is connected to the planetary wheel core shaft through a planetary wheel needle bearing, and the internal gear is located on the rear movable gear rack, and the internal gear, the planetary wheel and the sun wheel are meshed with each other in sequence;

[0011] The sun gear drives the planetary gear to rotate at a low speed, thereby realizing the first stage deceleration of the eccentric shaft. The eccentric shaft drives the shock wave generator to perform radial vibration motion. The shock wave generator pushes the lower core shaft to perform radial motion through its outer circle. The upper core shaft moves along the inner tooth inclined surface and at the same time pushes the movable gear rack assembly to perform low speed rotation motion along the inner gear ring assembly, thereby realizing the second stage deceleration of the reducer.

[0012] Preferably, the shock wave generator bearing, the right eccentric shaft bearing, and the left eccentric shaft bearing use rolling elements of the same size, thereby reducing the types of rolling elements.

[0013] Preferably, a bearing baffle is provided at the other end of the eccentric shaft, and the left bearing of the eccentric shaft is limited by the bearing baffle.

[0014] Preferably, a spring retaining ring is provided on the outer side of the bearing baffle, one end of the spring retaining ring is connected to the inner wall surface of the front movable gear rack, and the other end of the spring retaining ring is connected to the bearing baffle.

[0015] Preferably, the outer circumferential surfaces of the stoppers on the front inner gear ring and the rear inner gear ring are interference fit with the positioning sleeves provided to ensure the stability of the inner gear ring assembly.

[0016] Preferably, a sealing ring is provided between the two ends of the front inner gear ring and the rear inner gear ring and the inner front movable gear frame and the rear movable gear frame respectively for sealing.

[0017] Preferably, the positioning effect of the second positioning cone pin ensures that the inner gear ring assembly is subjected to tangential force during operation, wherein the front inner gear ring and the rear inner gear ring have substantially the same structure.

[0018] Preferably, the movable gear rack assembly is connected to the inner gear ring assembly via a main bearing rolling body, the outer end of the main bearing rolling body is connected to the connection between the front inner gear ring and the rear inner gear ring, and the inner end of the main bearing rolling body is connected to the middle movable gear rack.

[0019] Preferably, the internal gear is connected to the rear movable gear rack via a third connecting screw.

[0020] In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions: a quasi-symmetrical rolling movable tooth reducer,

[0021] Compared with the prior art, the utility model has the following beneficial effects:

[0022] 1. In the utility model, the traditional stopper positioning mode is replaced by a positioning structure of a tapered pin and a positioning sleeve, and a substantially identical structure is adopted between the front and rear inner gear rings and the front and rear movable gear racks. The outer ring of the bearing between the inner gear rings is removed, and the number of forging dies can be reduced from the current 6 to 3.

[0023] 2. In the utility model, the inner gear ring and the outer movable gear carrier adopt a basically symmetrical structure, and can share a forging die to reduce the types of parts; and the rolling elements on the eccentric shaft adopt the same size, which can reduce the types of rolling elements.

[0024] 3. In the utility model, the pins and screws are arranged in pairs between the movable gear racks, which is convenient for disassembly of small-diameter taper pins.

[0025] 4. The connection between the two inner gear rings in the utility model adopts a positioning sleeve, which can improve the accuracy of the positioning of the two, avoid misalignment during operation, remove the stop structure in the original reducer, and greatly reduce the difficulty of end face grinding. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0027] In the attached picture:

[0028] Figure 1 This is a cross-sectional view of the shaft section of the reducer of the utility model;

[0029] Figure 2 It is a cross-sectional view of the reducer of the utility model;

[0030] Figure 3 This is a planetary-level diagram of the reducer of the utility model;

[0031] Figure 4 This is the appearance diagram of the reducer of the utility model;

[0032] Numbers in the figure: 101, right bearing of eccentric shaft; 102, shock wave device; 103, shock wave device bearing; 104, spring retaining ring; 105, bearing baffle; 106, left bearing of eccentric shaft; 107, eccentric shaft; 201, front movable gear rack; 202, first positioning cone pin; 203, middle movable gear rack; 204, rear movable gear rack; 205, first connecting screw; 301, front inner gear ring; 302, positioning sleeve; 303, second positioning cone pin; 304, second connecting screw; 305, sealing ring; 306, rear inner gear ring; 401, lower mandrel; 402, upper mandrel; 403, needle bearing; 404, roller; 501, third connecting screw; 502, planetary gear mandrel; 503, planetary gear needle bearing; 504, sun gear; 505, planetary gear; 506, internal gear; 6, main bearing rolling element. DETAILED DESCRIPTION

[0033] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0034] Embodiment 1: Figure 1-Figure 4 As shown, a quasi-symmetrical rolling movable tooth reducer comprises an eccentric shaft assembly, a movable tooth carrier assembly, an inner gear ring assembly, a movable tooth assembly and a planetary assembly;

[0035] The eccentric shaft assembly includes an eccentric shaft 107, an eccentric shaft right bearing 101, an eccentric shaft left bearing 106 and a shock wave generator 102; the eccentric shaft 107 is located in the middle of the movable tooth reducer, and the eccentric shaft 107 is eccentrically installed with the reducer, the eccentric shaft right bearing 101 and the eccentric shaft left bearing 106 are respectively located on the outer sides of the two ends of the eccentric shaft 107, the shock wave generator 102 is located on the outer periphery of the eccentric shaft 107, the shock wave generator 102 is one on the left and one on the right, a total of two pieces, and the shock wave generator 102 is connected to the eccentric shaft 107 through the provided shock wave generator bearing 103. There are two sets of shock wave bearings 103, one on each side, for a total of two sets. The shock wave bearing 103, the eccentric shaft right bearing 101, and the eccentric shaft left bearing 106 use rolling elements of the same size, thereby reducing the types of rolling elements. A bearing baffle 105 is provided at one end of the eccentric shaft 107, and the eccentric shaft left bearing 106 is limited by the bearing baffle 105. A spring retaining ring 104 is provided on the outer side of the bearing baffle 105, and one end of the spring retaining ring 104 is connected to the inner wall of the front movable gear frame 201, and the other end of the spring retaining ring 104 is connected to the bearing baffle 105;

[0036] The movable gear rack assembly is located at the periphery of the eccentric shaft 107, and the movable gear rack assembly includes a front movable gear rack 201, a middle movable gear rack 203, a rear movable gear rack 204, a first positioning cone pin 202 and a first connecting screw 205. The front movable gear rack 201 and the rear movable gear rack 204 adopt a basically identical structure, and can be forged with the same die and then cut to produce two parts with slightly different processing costs. The front movable gear rack 201, the middle movable gear rack 203 and the rear movable gear rack 204 are sequentially connected, and are connected to the first positioning cone pin 202 through the first connecting screw 205 provided. The first connecting screw 205 is coaxially arranged with the first positioning cone pin 202 on the opposite side. When the first positioning cone pin 202 is to be removed, the first connecting screw 205 coaxially installed on the opposite side can be removed first, and the first positioning cone pin 202 can be removed from the screw hole using a tool with a smaller diameter, so as to facilitate the maintenance of the reducer;

[0037] The inner gear ring assembly is located at the periphery of the movable gear rack assembly, and the two are rotatably connected. The movable gear rack assembly and the inner gear ring assembly are connected through the main bearing rolling body 6. The outer end of the main bearing rolling body 6 is connected to the connection between the front inner gear ring 301 and the rear inner gear ring 306. The inner end of the main bearing rolling body 6 is connected to the middle movable gear rack 203. The inner gear ring assembly includes a front inner gear ring 301, a second positioning cone pin 303, a second connecting screw 304 and a rear inner gear ring 306. The front inner gear ring 301 and the rear inner gear ring 306 are respectively located at the periphery of the movable gear rack assembly, and the two are connected through the second positioning cone pin 303 and the second connecting screw 304 are alternately installed and connected, and the positioning effect of the second positioning cone pin 303 is used to ensure that the inner gear ring assembly is subjected to tangential force during operation, wherein the front inner gear ring 301 and the rear inner gear ring 306 have basically the same structure, and the outer cylindrical surface of the stop on the front inner gear ring 301 and the rear inner gear ring 306 is interference fit with the provided positioning sleeve 302 to ensure the stability of the inner gear ring assembly, and a sealing ring 305 is respectively provided between the two ends of the front inner gear ring 301 and the rear inner gear ring 306 and the inner front movable gear frame 201 and the rear movable gear frame 204 for sealing;

[0038] The movable tooth assembly is located inside the movable tooth frame assembly, and the movable tooth assembly includes a lower mandrel 401, an upper mandrel 402 and a roller 404. The lower mandrel 401 is located outside the shock wave generator 102, and the upper mandrel 402 is located outside the lower mandrel 401. Rollers 404 are respectively provided on both sides of the upper mandrel 402. The rollers 404 and the upper mandrel 402 are connected by needle bearings 403. The upper mandrel 402 is meshed with the front inner gear ring 301 and the rear inner gear ring 306 respectively. The movable tooth assembly forms a two-row roller 404 structure, and performs precise radial rolling motion in the radial groove of the movable tooth frame.

[0039] The planetary assembly is located at the end of the eccentric shaft 107, and the planetary assembly includes a planetary wheel core shaft 502, a planetary wheel needle bearing 503, a sun wheel 504, a planetary wheel 505 and an internal gear 506; the sun wheel 504 is located inside the end of the eccentric shaft 107, and the sun wheel 504 is connected to the motor through a flat key, and two sets of planetary wheels 505 are symmetrically installed at the other end of the eccentric shaft 107, the planetary wheel 505 is connected to the end of the eccentric shaft 107 through the planetary wheel core shaft 502, and the planetary wheel 505 is connected to the planetary wheel core shaft 502 through the planetary wheel needle bearing 503, the internal gear 506 is located on the rear movable gear rack 204, and the internal gear 506 is connected to the rear movable gear rack 204 through the third connecting screw 501, and the internal gear 506, the planetary wheel 505 and the sun wheel 504 are meshed with each other in sequence;

[0040] The sun gear 504 drives the planetary gear 505 to rotate at a low speed, thereby realizing the first stage deceleration of the eccentric shaft 107. The eccentric shaft 107 drives the shock wave generator 102 to perform radial vibration motion. The shock wave generator 102 pushes the lower core shaft 401 to perform radial motion through its outer circle, and the upper core shaft 402 moves along the inner tooth inclined surface, while pushing the movable gear rack assembly to perform low-speed rotation motion along the inner gear ring assembly, thereby realizing the second stage deceleration of the reducer.

[0041] Specific working principle:

[0042] During operation, the sun gear 504 is connected to the motor through a flat key, driving the planetary gear 505 to rotate at a low speed, thereby realizing the first stage reducer; the planetary gear 505 is installed at the end of the eccentric shaft 107, and can drive the eccentric shaft 107 to rotate at a relatively low speed; the eccentric shaft 107 drives the shock wave generator 102 to perform radial vibration movement, and the shock wave generator 102 pushes the lower core shaft 401 in the movable tooth assembly to perform radial movement through its outer circle, and the upper core shaft 402 is meshed with the front inner gear ring 301 and the rear inner gear ring 306, and can only move along the inner tooth inclined surface, while pushing the front movable tooth frame 201 and the rear movable tooth frame 204 to rotate at a low speed, thereby realizing the second stage reduction of the reducer. Through the two-stage reducer, the speed of the motor can be reduced by about 100 times.

[0043] Embodiment 2: Remove the planetary assembly at one end of the eccentric shaft 107 of the reducer, install a large gear at the end of the eccentric shaft 107, and use an offset small gear to mesh with the large gear to achieve hollow transmission, which is beneficial for wires to pass through the center hole of the reducer, making the appearance of the robot neater. In principle, this reducer has one less layer than the RV reducer and can provide a larger center wire hole.

[0044] Finally, it should be noted that the above description is only a preferred example of the present utility model and is not intended to limit the present utility model. Although the present utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A quasi-symmetrical rolling movable tooth reducer, characterized in that: It includes an eccentric shaft assembly, a movable gear rack assembly, an inner gear ring assembly, a movable gear assembly and a planetary assembly; The eccentric shaft assembly includes an eccentric shaft, an eccentric shaft right bearing, an eccentric shaft left bearing and a shock wave generator; the eccentric shaft is located in the middle of the movable tooth reducer, and the eccentric shaft is eccentrically installed between the reducer, the eccentric shaft right bearing and the eccentric shaft left bearing are respectively located on the outer sides of the two ends of the eccentric shaft, the shock wave generator is located on the outer periphery of the eccentric shaft, and the shock wave generator and the eccentric shaft are connected through a shock wave generator bearing provided therein; The movable gear rack assembly is located at the periphery of the eccentric shaft, and the movable gear rack assembly includes a front movable gear rack, a middle movable gear rack, a rear movable gear rack, a first positioning cone pin and a first connecting screw. The front movable gear rack, the middle movable gear rack and the rear movable gear rack are connected in sequence and connected to the first positioning cone pin through a first connecting screw. The first connecting screw is coaxially arranged with the first positioning cone pin opposite to it. The inner gear ring assembly is located at the periphery of the movable gear rack assembly, and the two are rotatably connected. The inner gear ring assembly includes a front inner gear ring, a second positioning cone pin, a second connecting screw and a rear inner gear ring. The front inner gear ring and the rear inner gear ring are respectively located at the periphery of the movable gear rack assembly, and the two are connected by alternately installing the second positioning cone pin and the second connecting screw. The movable tooth assembly is located inside the movable tooth rack assembly, and the movable tooth assembly includes a lower mandrel, an upper mandrel and a roller. The lower mandrel is located outside the shock wave generator, and the upper mandrel is located outside the lower mandrel. Rollers are respectively arranged on both sides of the upper mandrel, and the rollers are connected to the upper mandrel through needle bearings. The upper mandrel is meshed with the front inner gear ring and the rear inner gear ring respectively. The movable tooth assembly forms a two-row roller structure, and performs precise radial rolling motion in the radial groove of the movable tooth rack. The planetary assembly is located at the end of the eccentric shaft, and the planetary assembly includes a planetary wheel core shaft, a planetary wheel needle bearing, a sun wheel, a planetary wheel and an internal gear; the sun wheel is located inside the end of the eccentric shaft, and the sun wheel is connected to the motor through a flat key, and two groups of planetary wheels are symmetrically installed at the end of the eccentric shaft, the planetary wheel is connected to the end of the eccentric shaft through a planetary wheel core shaft, and the planetary wheel is connected to the planetary wheel core shaft through a planetary wheel needle bearing, and the internal gear is located on the rear movable gear rack, and the internal gear, the planetary wheel and the sun wheel are meshed with each other in sequence; The sun gear drives the planetary gear to rotate at a low speed, thereby realizing the first stage deceleration of the eccentric shaft. The eccentric shaft drives the shock wave generator to perform radial vibration motion. The shock wave generator pushes the lower core shaft to perform radial motion through its outer circle. The upper core shaft moves along the inner tooth inclined surface and at the same time pushes the movable gear rack assembly to perform low speed rotation motion along the inner gear ring assembly, thereby realizing the second stage deceleration of the reducer.

2. According to the quasi-symmetrical structure rolling movable tooth reducer of claim 1, it is characterized by: The shock wave device bearing, the eccentric shaft right bearing and the eccentric shaft left bearing use rolling bodies of the same size, thereby reducing the types of rolling bodies.

3. The quasi-symmetrical rolling movable tooth reducer according to claim 1, characterized in that: A bearing baffle is provided at the other end of the eccentric shaft, and the left bearing of the eccentric shaft is limited by the bearing baffle.

4. The quasi-symmetrical rolling movable tooth reducer according to claim 3, characterized in that: A spring retaining ring is arranged on the outer side of the bearing baffle, one end of the spring retaining ring is connected to the inner wall surface of the front movable gear frame, and the other end of the spring retaining ring is connected to the bearing baffle.

5. The quasi-symmetrical rolling movable tooth reducer according to claim 1, characterized in that: The outer circumferential surfaces of the stoppers on the front inner gear ring and the rear inner gear ring are interference-fitted with the positioning sleeves.

6. The quasi-symmetrical rolling movable tooth reducer according to claim 1, characterized in that: A sealing ring is respectively arranged between the two ends of the front inner gear ring and the rear inner gear ring and the inner front movable gear frame and the rear movable gear frame.

7. The quasi-symmetrical rolling movable tooth reducer according to claim 1, characterized in that: The positioning effect of the second positioning cone pin ensures that the inner gear ring assembly is subjected to tangential force during operation.

8. The quasi-symmetrical rolling movable tooth reducer according to claim 1, characterized in that: The movable gear rack assembly is connected to the inner gear ring assembly via a main bearing rolling body, the outer end of the main bearing rolling body is connected to the connection between the front inner gear ring and the rear inner gear ring, and the inner end of the main bearing rolling body is connected to the middle movable gear rack.

9. The quasi-symmetrical rolling movable tooth reducer according to claim 1, characterized in that: The inner gear is connected to the rear movable gear rack via a third connecting screw.

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