Two-layer roller rolling oscillating tooth speed reducer adopting crossed roller bearing
By using a two-layer roller rolling movable gear reducer with cross-cross roller bearings, the problem of insufficient transmission accuracy and load-bearing capacity of the existing reducer in high-precision environments is solved, and a high-precision and low-cost transmission effect is achieved. It is suitable for precision working environments such as robot joints.
Patent Information
- Application Number
- CN202422503541.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-16
- Publication Date
- 2025-07-18
- Estimated Expiration
- 2034-10-16
AI Technical Summary
The existing reducers have insufficient transmission accuracy and load-bearing capacity in high-precision and complex environments, and are complex in processing and high in cost. The harmonic reducer is prone to fatigue and damage, the RV reducer has severe sliding friction, the transmission ratio range is limited, and the live gear reducer is large in size and complex in processing.
A two-layer roller rolling movable gear reducer using cross-cross roller bearings, uses the mid-lift gear as the inner ring of the cross-rod bearing, and combines the eccentric shaft and shock assembly to achieve first-stage planetary deceleration and second-stage movable gear reducer, reduce the bearing volume, and improve transmission accuracy and load-bearing capacity.
Improve transmission accuracy and load-bearing capacity in high-precision and complex environments, simplify the installation process, reduce processing difficulty, reduce volume, and improve economic benefits. It is suitable for precision working environments such as robot joints.
Smart Images
Figure CN223120524U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of speed reducers, in particular to a two-layer roller rolling movable tooth speed reducer adopting a crossed roller bearing. Background Technique
[0002] At present, the commonly used speed reducers mainly include RV speed reducers and harmonic speed reducers. The harmonic speed reducer is mainly composed of a rigid gear, a flexible gear and a wave generator, and uses a crossed roller bearing as the main support bearing. The harmonic speed reducer is mostly used in heavy machinery applications such as aviation, aerospace and hoisting machinery because of its advantages of large transmission ratio, high load-carrying capacity, high transmission efficiency and simple structure with few parts. However, due to the alternating stress generated by the periodic deformation of the flexible gear, the harmonic speed reducer is prone to fatigue failure. At the same time, the harmonic speed reducer is not suitable for small-power tracking transmission and occasions with a transmission ratio less than 35, and the heat dissipation condition is poor.
[0003] The main structure of the RV speed reducer includes a planetary reduction mechanism in the first stage and a differential gear reduction mechanism in the second stage, and uses angular contact ball bearings as the main support bearings. Compared with the harmonic speed reducer, the RV speed reducer has a large transmission ratio range and high torsional rigidity. However, most of the RV speed reducers adopt rolling transmission, and its actual performance is mainly sliding friction, and the force-bearing wear is similar to that of sliding bearings. Therefore, its load-carrying capacity is limited. At the same time, in order to ensure the accuracy, the RV speed reducer has quite high requirements for the machining accuracy, materials and processes of the pin teeth, the pin tooth housing and the pin tooth pins. Therefore, it is difficult to produce.
[0004] The movable tooth speed reducer has a stronger load-carrying capacity, higher rigidity and a larger transmission ratio range than the above two speed reducers, and has lower requirements for machining accuracy, materials and processes under the premise of the same accuracy. However, the traditional movable tooth speed reducer in the early stage has problems such as a large volume and many movable tooth structures, resulting in more complex processing. Content of the Utility Model
[0005] In view of the deficiencies of the prior art, the utility model discloses a two-layer roller rolling movable tooth speed reducer adopting a crossed roller bearing to solve the problems put forward in the above background technique.
[0006] To achieve the above object, the utility model provides the following technical solution: A two-layer roller rolling movable tooth speed reducer adopting a crossed roller bearing, comprising a planetary speed reducer assembly, a wave exciter assembly and a movable tooth speed reduction assembly; the wave exciter assembly is located between the planetary speed reducer assembly and the movable tooth speed reduction assembly; the planetary speed reducer assembly is used to connect the output shaft of the motor, and the movable tooth speed reduction assembly is used to output rotational movement;
[0007] The planetary reducer assembly includes a sun gear, a planetary internal gear, planetary gears, and an eccentric shaft. The sun gear is connected to the motor output shaft and receives the rotation input by the motor. The planetary internal gear is located outside the planetary gears. The eccentric shaft provides support for the planetary reducer and serves as a planet carrier to transmit rotation. Combining the planet carrier and the eccentric shaft into an integral whole reduces the volume of the reducer in both the axial and radial directions. The planetary gears are installed inside the hollow area of the planet carrier and are connected to the eccentric shaft through the provided planetary gear spindles, and the rotational motion of the motor input shaft is decelerated and then transmitted to the eccentric shaft;
[0008] The shaker assembly includes a shaker and shaker bearings. The inner ring of the shaker bearings is fitted with the eccentric shaft, and the outer ring of the shaker bearings is fitted with the outer shaker. The eccentric rotation of the eccentric shaft is transmitted to the shaker through the shaker bearings;
[0009] The oscillating tooth reducer assembly includes an oscillating tooth carrier assembly, an oscillating tooth assembly, a crossed roller bearing assembly, and an internal gear ring assembly. The eccentric shaft and the oscillating tooth carrier assembly are mutually supported by two journal bearings installed at both ends of the eccentric shaft. The oscillating tooth carrier assembly and the internal gear ring assembly are mutually supported by the crossed roller bearing assembly. Each group of the oscillating tooth assemblies includes multiple rows of roller assemblies. One group of roller assemblies contacts the shaker assembly, and the other group of roller assemblies contacts the internal gear teeth in the internal gear ring assembly; the oscillating tooth assembly drives the oscillating tooth carrier assembly to rotate and cooperates with the internal gear ring assembly to complete the deceleration motion.
[0010] Preferably, the oscillating tooth carrier assembly includes a front oscillating tooth carrier, a middle oscillating tooth carrier, and a rear oscillating tooth carrier. The front oscillating tooth carrier and the rear oscillating tooth carrier are fixed on both sides of the middle oscillating tooth carrier located in the middle position through positioning pins and 404 second screws; the planetary internal gear provided inside the middle oscillating tooth carrier is connected to the middle oscillating tooth carrier through socket head cap screws at the first screw connection.
[0011] Preferably, the crossed roller bearing assembly includes crossed rollers, a crossed roller bearing inner ring, and a crossed roller bearing outer ring. The crossed rollers are located between the crossed roller bearing inner ring and the crossed roller bearing outer ring.
[0012] Preferably, the internal gear ring assembly includes a front internal gear ring and a rear internal gear ring. The front internal gear ring and the rear internal gear ring are respectively connected to the outer ring of the crossed roller bearing through third screws and are positioned using internal thread taper pins at the same time, and the internal gear ring assembly meshes with the oscillating tooth assembly to complete the deceleration motion.
[0013] Preferably, the shaker assembly includes a front shaker assembly and a rear shaker assembly, and the front shaker assembly and the rear shaker assembly are located on the corresponding inner sides of the front internal gear ring and the rear internal gear ring.
[0014] Preferably, the roller assembly includes a moving tooth mandrel and a needle cage bearing, and the needle cage bearing is located on both sides of the moving tooth mandrel.
[0015] Preferably, the excitator cooperates with the moving tooth mandrel to push the moving tooth assembly to generate an offset in the radial direction.
[0016] Preferably, a seal is provided between the internal gear ring assembly and the moving tooth frame assembly for sealing.
[0017] Compared with the prior art, the beneficial effects of the present utility model are as follows:
[0018] 1. In the present utility model, the moving tooth frame is used as the inner ring of the crossed roller bearing. At the same time, the outer ring of the bearing is connected to the front and rear internal gear rings. The crossed roller bearing is used as the main load-bearing and rotating bearing, reducing the volume of the journal bearing. At the same time, it saves space in the axial and radial directions, ensuring the transmission accuracy while improving the economic benefits. The crossed roller bearing replaces the angular contact ball bearing, which can bear larger axial, radial and overturning moments, improving the transmission accuracy of the reducer in a high-precision and complex working environment. At the same time, its installation is relatively simple, and the requirements for ensuring accuracy are not complicated, reducing the operation difficulty of subsequent installation and calibration.
[0019] 2. In the present utility model, the eccentric shaft is used to achieve the first-stage transmission and is used as the input of the second-stage moving tooth reducer, compressing and utilizing the axial space. Without increasing the axial length, it adds a planetary reducer to optimize the reduction effect while avoiding limitations in size.
[0020] 3. In the present utility model, the moving tooth frame adopts a structure that is split on the side of the radial groove of the moving tooth frame, so that all the radial grooves can be machined on a moving tooth frame intermediate piece, and the grinding amount of the grooves can be greatly reduced and the difficulty of axis pairing of the grooves can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The drawings are used to provide a further understanding of the present utility model, and constitute a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model, and do not constitute a limitation to the present utility model.
[0022] In the drawings:
[0023] Figure 1 is a sectional view of the reducer shaft of the present utility model;
[0024] Figure 2 is a sectional view of the planetary reducer assembly of the present utility model;
[0025] Figure 3 is a sectional view of the excitator assembly of the reducer of the present utility model;
[0026] Figure 4 It is a sectional view of the movable tooth frame assembly of the present utility model;
[0027] Figure 5 It is a sectional view of the cross roller bearing assembly of the speed reducer of the present utility model;
[0028] Figure 6 It is a sectional view of the internal gear ring assembly of the speed reducer of the present utility model;
[0029] Figure 7 It is an assembly drawing of the movable tooth speed reducer of the speed reducer of the present utility model;
[0030] Figure 8 It is a structural schematic diagram of the two-layer movable tooth assembly of the present utility model;
[0031] Reference numerals in the figure: 1. Planetary speed reducer assembly; 101. Sun gear; 102. Eccentric shaft; 103. Planet gear; 104. Planet internal gear; 105. Planet gear core shaft; 106. First screw; 2. Excitator assembly; 201. Excitator bearing; 202. Excitator; 203. Rear excitator assembly; 204. Front excitator assembly; 3. Journal bearing; 4. Movable tooth frame assembly; 401. Front movable tooth frame; 402. Middle movable tooth frame; 403. Rear movable tooth frame; 404. Second screw; 5. Cross roller bearing assembly; 501. Inner ring of cross roller bearing; 502. Outer ring of cross roller bearing; 503. Cross roller; 504. Internal thread taper pin; 6. Internal gear ring assembly; 601. Rear internal gear ring; 602. Front internal gear ring; 603. Third screw; 7. Sealing member; 8. Movable tooth assembly; 801. Movable tooth core shaft; 802. Needle cage bearing. Detailed implementation manners
[0032] The following describes the preferred embodiments of the present utility model with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustration and explanation of the present utility model, and are not used to limit the present utility model.
[0033] Embodiment: As Figure 1 shown, a two-layer roller rolling movable tooth speed reducer using a cross roller bearing includes a planetary speed reducer assembly 1, an excitator assembly 2, a journal bearing 3, a movable tooth frame assembly 4, a cross roller bearing assembly 5, an internal gear ring assembly 6, a sealing member 7, and a movable tooth assembly 8; the excitator assembly 2 is located between the planetary speed reducer assembly 1 and the movable tooth assembly 8; the planetary speed reducer assembly 1 is used to connect the output shaft of the motor, and the movable tooth frame assembly 4 is used to output rotational movement;
[0034] As Figure 2As shown, the planetary reducer assembly 1 includes a sun gear 101, a planetary internal gear 104, planetary gears 103, and an eccentric shaft 102. The sun gear 101 is connected to the motor output shaft and receives the rotation input by the motor. The planetary internal gear 104 is located outside the planetary gears 103. The eccentric shaft 102 provides support for the planetary reducer and serves as a planet carrier to transmit rotation. Combining the planet carrier and the eccentric shaft 102 into an integral whole reduces the volume of the reducer both axially and radially. The planetary gears 103 are installed inside the hollow area of the planet carrier and are connected to the eccentric shaft 102 through the provided planetary gear spindles 105. The rotational motion of the motor input shaft is decelerated and then transmitted to the eccentric shaft 102, and the shaft neck bearings 3 and the vibrator bearings 201 provide support for the vibrator 202 and the internal gear ring assembly 6.
[0035] As Figure 3 As shown, the vibrator assembly 2 includes a vibrator 202 and a vibrator bearing 201. The inner ring of the vibrator bearing 201 cooperates with the eccentric shaft 102, and the outer ring of the vibrator bearing 201 cooperates with the outer vibrator 202. The eccentric rotation of the eccentric shaft 102 is transmitted to the vibrator 202 through the vibrator bearing 201.
[0036] As Figures 4 - 8 As shown, the oscillating tooth reduction assembly includes an oscillating tooth carrier assembly 4, an oscillating tooth assembly 8, a crossed roller bearing assembly 5, and an internal gear ring assembly 6. A seal 7 is provided between the internal gear ring assembly 6 and the oscillating tooth carrier assembly 4 for sealing. The eccentric shaft 102 and the oscillating tooth carrier assembly 4 are supported by two shaft neck bearings 3 installed at both ends of the eccentric shaft 102. The oscillating tooth carrier assembly 4 and the internal gear ring assembly 6 are supported by the crossed roller bearing assembly 5. Each group of the oscillating tooth assemblies 8 includes two rows of roller assemblies. One group of roller assemblies contacts the vibrator assembly 2, and the other group of roller assemblies contacts the internal gear teeth in the internal gear ring assembly 6. The oscillating tooth assembly 8 drives the oscillating tooth carrier assembly 4 to rotate and cooperates with the internal gear ring assembly 6 to complete the reduction motion. Among them, the oscillating tooth carrier assembly 4 is the last component to output the decelerated rotation. The oscillating tooth assembly 8 drives the oscillating tooth carrier to rotate. The middle oscillating tooth carrier 402, as the inner ring of the crossed roller bearing, rotates synchronously with the front and rear oscillating tooth carriers, while the outer ring of the bearing rotates synchronously with the front and rear internal gear rings 601. The transmission ratio between the internal gear ring assembly 6 and the oscillating tooth carrier assembly 4 differs by 1.
[0037] Further, as Figure 4As shown, the oscillating gear carrier assembly 4 includes a front oscillating gear carrier 401, a middle oscillating gear carrier 402, and a rear oscillating gear carrier 403. The front oscillating gear carrier 401 and the rear oscillating gear carrier 403 are fixed on both sides of the middle oscillating gear carrier 402 at the middle position through positioning pins and M6 second screws 404. The internal planetary gear 104 provided inside the middle oscillating gear carrier 402 is connected to the middle oscillating gear carrier 402 through an internal hexagon socket head screw at the connection of the first screw 106.
[0038] Further, as Figure 5 shown, the crossed roller bearing assembly 5 includes crossed rollers 503, an inner ring 501 of the crossed roller bearing, and an outer ring 502 of the crossed roller bearing. The crossed rollers 503 are located between the inner ring 501 of the crossed roller bearing and the outer ring 502 of the crossed roller bearing.
[0039] Further, as Figure 6 shown, the internal gear ring assembly 6 includes a front internal gear ring 602 and a rear internal gear ring 601. The front internal gear ring 602 and the rear internal gear ring 601 are respectively connected to the outer ring 502 of the crossed roller bearing through M5 third screws 603 and are positioned by internal thread taper pins 504 at the same time. And the internal gear ring assembly 6 meshes with the oscillating gear assembly 8 to complete the deceleration movement. The internal gear ring assembly 6 meshes with the oscillating gear assembly 8 to complete the deceleration movement.
[0040] Further, as Figure 7 shown, the excitator assembly 2 includes an excitator front assembly 204 and an excitator rear assembly 203, and the excitator front assembly 204 and the excitator rear assembly 203 are located on the corresponding inner sides of the front internal gear ring 602 and the rear internal gear ring 601.
[0041] Further, as Figure 8 shown, the roller assembly includes a live tooth core shaft 801 and a needle cage bearing 802. The needle cage bearing 802 is located on both sides of the live tooth core shaft 801. The excitator 202 cooperates with the live tooth core shaft 801 to push the oscillating gear assembly 8 to generate an offset in the radial direction.
[0042] Specific working principle: After the motor output shaft passes through the first-stage planetary reducer, the rotation is transmitted to the eccentric shaft 102. The eccentric shaft 102 rotates to cause the post-exciter assembly 203 and the pre-exciter assembly 204 to generate offset movement in the radial direction, thereby driving the movable tooth assembly 8 to mesh with the rear internal gear ring 601 and the front internal gear ring 602. After the movable tooth assembly 8 meshes, it drives the front movable tooth bracket 401 and the rear movable tooth bracket 403 to rotate and output the rotation after passing through the first-stage planetary reducer and the second-stage movable tooth reducer. And taking the middle movable tooth bracket 402 as the inner ring, it forms a crossed roller bearing with the crossed roller 503 and the inner and outer rings of the bearing, folding the installation space of the bearing and the movable tooth bracket in the radial direction. And the crossed roller bearing can provide high rotational accuracy and stiffness in a small space, further compressing the space while ensuring high transmission accuracy. At the same time, due to the included angle and conical geometry of the bearing, the effective span of the bearing is several times larger than the actual width of the bearing itself; compared with the commonly used deep groove ball bearing and angular contact ball bearing, the crossed roller bearing can bear larger radial and axial loads and can withstand larger overturning moments, but at the same time has the advantages of simple installation and high rotational accuracy. Therefore, it can be used in precision working environments such as robot joints.
[0043] The utility model adopts a two-layer roller rolling movable tooth reducer composed of a first-stage planetary reducer assembly 1 and a second-stage movable tooth reducer assembly, which can reuse the space for transmission, and has significant advantages in load-carrying capacity, rigidity and service life compared with the RV reducer and harmonic reducer used in the precision reducers of traditional industrial robots. At the same time, a crossed roller bearing is used instead of a traditional bearing for the movement transmission of the second-stage movable tooth bracket assembly 4. The rollers of this bearing are arranged in a cross pattern, so it can bear various-direction loads alone; moreover, its load-carrying capacity for axial, radial and overturning moments is also better than that of traditional bearings, and its transmission accuracy and transmission smoothness are also more excellent than those of traditional bearings; at the same time, under the same transmission effect, using the crossed roller 503 crossed bearing can further reduce the volume of the movable tooth reducer and can meet the requirements of high precision, high stability and high rigidity of precision instruments.
[0044] Finally, it should be noted that the above are only the preferred examples of the utility model and are not used to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.
Claims
1. A two-layer roller rolling movable tooth reducer using a crossed roller bearing, characterized in that: It includes a planetary reducer assembly, a wave exciter assembly, and a moving tooth reducer assembly; the wave exciter assembly is located between the planetary reducer assembly and the moving tooth reducer assembly; the planetary reducer assembly is used to connect to the motor output shaft, and the moving tooth reducer assembly is used to output rotational movement; The planetary reducer assembly includes a sun gear, a planetary internal gear, planetary gears, and an eccentric shaft. The sun gear is connected to the motor output shaft and receives the rotation input by the motor. The planetary internal gear is located outside the planetary gears and is connected to the moving tooth reducer assembly through the provided first screw. The planetary gears are installed inside the hollow area of the planet carrier and are connected to the eccentric shaft through the provided planetary gear spindles, reducing the rotational movement of the motor input shaft and transmitting it to the eccentric shaft. The eccentric shaft provides support for the planetary reducer and serves as the planet carrier to transmit rotation; The wave exciter assembly includes a wave exciter and a wave exciter bearing. The inner ring of the wave exciter bearing mates with the eccentric shaft, and the outer ring of the wave exciter bearing mates with the outer wave exciter. The eccentric rotation of the eccentric shaft is transmitted to the wave exciter through the wave exciter bearing; The moving tooth reducer assembly includes a moving tooth carrier assembly, a moving tooth assembly, a crossed roller bearing assembly, and an internal gear ring assembly. The eccentric shaft and the moving tooth carrier assembly are mutually supported by two journal bearings installed at both ends of the eccentric shaft. The moving tooth carrier assembly and the internal gear ring assembly are mutually supported by the crossed roller bearing assembly. Each group of the moving tooth assemblies includes multiple rows of roller assemblies. One group of roller assemblies contacts the wave exciter assembly, and the other group of roller assemblies contacts the internal gear teeth in the internal gear ring assembly; the moving tooth assembly drives the moving tooth carrier assembly to rotate and cooperates with the internal gear ring assembly to complete the deceleration movement.
2. The two-layer roller rolling movable tooth speed reducer using a crossed roller bearing according to claim 1, wherein: The moving tooth carrier assembly includes a front moving tooth carrier, a middle moving tooth carrier, and a rear moving tooth carrier. The front moving tooth carrier and the rear moving tooth carrier are fixed on both sides of the middle moving tooth carrier located in the middle position through positioning pins and 404 second screws; the planetary internal gear provided inside the middle moving tooth carrier is connected to the middle moving tooth carrier through an internal hexagon socket head screw at the first screw connection.
3. The two-layer roller rolling movable tooth speed reducer using a crossed roller bearing according to claim 2, wherein: The crossed roller bearing assembly includes crossed rollers, an inner ring of the crossed roller bearing, and an outer ring of the crossed roller bearing. The crossed rollers are located between the inner ring of the crossed roller bearing and the outer ring of the crossed roller bearing.
4. A two-layer roller rolling movable tooth speed reducer using a crossed roller bearing according to claim 3, characterized in that: The internal gear ring assembly includes a front internal gear ring and a rear internal gear ring. The front internal gear ring and the rear internal gear ring are respectively connected to the outer ring of the crossed roller bearing through third screws and are positioned using internal thread taper pins. Moreover, the internal gear ring assembly meshes with the moving tooth assembly to complete the deceleration movement.
5. The two-layer roller rolling movable tooth speed reducer using a crossed roller bearing according to claim 4, characterized in that: The wave exciter assembly includes a front wave exciter assembly and a rear wave exciter assembly, and the front wave exciter assembly and the rear wave exciter assembly are located on the corresponding inner sides of the front internal gear ring and the rear internal gear ring.
6. A two-layer roller rolling movable tooth speed reducer using a crossed roller bearing according to claim 1, characterized in that: The roller assembly includes a moving tooth spindle and a needle cage bearing. The needle cage bearing is located on both sides of the moving tooth spindle.
7. A two-layer roller rolling movable tooth speed reducer using a crossed roller bearing according to claim 6, characterized in that: The wave exciter cooperates with the moving tooth spindle to push the moving tooth assembly to generate an offset in the radial direction.
8. A two-layer roller rolling movable tooth speed reducer using a cross roller bearing according to claim 1, characterized in that: A seal is provided between the internal gear ring assembly and the movable tooth carrier assembly for sealing.