Floating axle reduction

Abstract

The utility model discloses a kind of floating axle reducers, it is related to the technical field of reducer, solve the problem that less tooth difference reducer and cycloidal pin wheel reducer are prone to vibration, noise and big back difference.This utility model is provided with eccentric sleeve on input shaft, and transmission gear is rotatably arranged on eccentric sleeve;Bearing structure and equal load ring are arranged on input shaft and are rotatably connected with input shaft, and bearing structure and equal load ring are located on the both sides of transmission gear;Transmission gear outside is provided with inner gear ring and is engaged;The outer ring of inner gear ring and bearing structure is connected;Pin shaft is arranged in the pin hole of transmission gear;One end of pin shaft is connected with the inner ring of bearing structure, and the other end is connected with equal load ring;Floating pin sleeve is arranged on pin shaft, and elastic ring is arranged between pin shaft and floating pin sleeve.The utility model sets up elastic ring between pin shaft and pin sleeve, uses elastic ring to absorb the impact brought by transmission gear, and offsets the machining error of pin hole on transmission gear, offsets the backlash of transmission gear, reduces back difference.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, specifically a floating shaft speed reducer. Background Technology

[0002] Low-tooth-difference reducers and cycloidal pinwheel reducers are speed reduction devices based on internal gear transmission, where the tooth difference between the external gear and the internal gear ring is typically 1 to 7 teeth. An eccentrically mounted eccentric shaft drives the external gear to perform planetary rolling within the internal gear ring, utilizing the tooth difference to convert high-speed, low-torque input into low-speed, high-torque output. Single-stage reduction ratios can reach 15 to 200. The structure consists of an eccentric shaft, a low-tooth external gear, an internal gear ring, an output mechanism, and a housing. It features small axial dimensions, few parts, a short transmission chain, and an efficiency of approximately 80% to 93%. Due to the simultaneous meshing of multiple teeth, it has a high load-bearing capacity, and backlash can be controlled within 1 arcminute. It is mainly used in applications with strict limitations on size, weight, and precision, such as robot joints, CNC machine tool rotary tables, and aerospace drive mechanisms. However, traditional low-tooth-difference reducers and cycloidal pinwheel reducers suffer from problems such as rigid meshing of multiple teeth and errors caused by machining or mounting misalignment between the planetary gears and the internal gear ring, leading to vibration and noise, large backlash, and poor high-speed gripping stability. The large backlash prevents it from being installed on robots and does not fully meet market needs. Utility Model Content

[0003] To address the problems of vibration, noise, and large backlash in traditional low-tooth-difference reducers and cycloidal pinwheel reducers, which are prone to vibration, noise, and large backlash due to multi-tooth rigid meshing and misalignment of planetary gears and internal gear rings during machining or installation, this invention proposes a floating shaft reducer. This invention utilizes an elastic ring between the pin shaft and the pin sleeve to absorb the impact from the planetary gears, while simultaneously offsetting machining errors in the pin holes on the planetary gears, reducing backlash, and thus minimizing backlash.

[0004] This utility model proposes a floating shaft reducer, which specifically includes a bearing structure, an internal gear ring, an eccentric shaft, several transmission gears, and several pins. The bearing structure and transmission gears are sleeved on the eccentric shaft and rotatably connected to it. An internal gear ring is provided on the outer side of the transmission gears, and the transmission gears mesh with the internal gear ring. The internal gear ring is connected to the outer ring of the bearing structure. Several pin holes are provided on the transmission gears, and pins are disposed in the pin holes. One end of the pin is connected to the inner ring of the bearing structure. A floating pin sleeve is provided on the pin, and an elastic ring is provided between the pin and the floating pin sleeve. The output flange is connected to the inner ring of the bearing structure through the pin.

[0005] Furthermore, the floating pin sleeve includes several pin sleeves, with the pin holes of the transmission gears corresponding one-to-one with the pin sleeves; the pin sleeves may or may not rotate in the circumferential direction of the pin shaft.

[0006] Furthermore, the pin and the floating pin are locked together, so that the floating pin can only move radially on the pin and not rotate circumferentially.

[0007] Furthermore, a flange structure is provided at the shoulder of the pin, and one or more flange structures are flattened; a protrusion structure is provided at one end of the floating pin sleeve along the axial direction, and the protrusion structure cooperates with the flange structure to prevent the floating pin sleeve from rotating on the pin.

[0008] Furthermore, the main body of the pin is provided with one or more platform structures, and the inner wall of the floating pin sleeve is provided with one or more planar structures that cooperate with the platform structures.

[0009] Furthermore, it also includes a load-equalizing ring, which is coaxially sleeved on the eccentric shaft and rotatably connected to the eccentric shaft. The load-equalizing ring and the bearing structure are placed on different sides of the transmission gear. The end of the pin passes through the through hole on the load-equalizing ring and is provided with a nut. The load-equalizing ring is provided with an annular groove, and the end of the floating pin sleeve is provided with a second protrusion along the axial direction. The second protrusion is inserted into the annular groove.

[0010] Furthermore, the pin sleeve is provided with one or more locking teeth, and the locking teeth of two adjacent pin sleeves are connected to each other.

[0011] Furthermore, the transmission gear is an involute gear.

[0012] Furthermore, the transmission gear is an epicycloid gear, and the internal gear ring includes a housing and several rolling pins, with the transmission gear meshing with the housing through the rolling pins.

[0013] The beneficial effects of the floating shaft reducer described in this utility model are as follows: (1) The floating shaft reducer described in this utility model absorbs the impact generated when the transmission gear is running by setting an elastic ring between the pin and the floating pin sleeve, while offsetting the machining error of the pin hole on the transmission gear, offsetting the backlash of the transmission gear, and reducing the backlash.

[0014] (2) The floating shaft reducer described in this utility model divides the floating pin sleeve into multiple pin sleeves. The pin sleeves and the pin holes of the transmission gear correspond one-to-one, ensuring that the surfaces of the transmission gear and the pin sleeves are effectively fitted and the contact is stable, thus avoiding the problem of vibration and noise caused by uneven force on a single pin sleeve.

[0015] (3) The floating shaft reducer described in this utility model locks the floating pin sleeve in a circumferential position on the pin shaft, so that the floating pin sleeve will not rotate on the pin shaft, thus avoiding the situation of increased wear of the elastic ring at high speed. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0017] In the attached diagram: Figure 1 This is a schematic diagram of the structure of a floating shaft reducer according to the present invention; Figure 2 This is a schematic diagram of the meshing structure of the transmission gear, pin, elastic ring and floating pin sleeve of a floating shaft reducer according to this utility model; Figure 3 This is a schematic diagram of the structure of the pin and pin sleeve in the prior art; Figure 4 This is a schematic diagram of the structure of the pin, elastic ring and floating pin sleeve in a specific embodiment of the floating shaft reducer described in this utility model; Figure 5 This is a side view of the pin, elastic ring, and floating pin sleeve in a specific embodiment of the floating shaft reducer described in this utility model. Figure 6 This is a schematic diagram of the structure of the pin, elastic ring and floating pin sleeve with one side of the flange structure flattened in the second specific embodiment of the floating shaft reducer described in this utility model. Figure 7 This is a left view of the pin shaft and floating pin sleeve with one side of the flange structure flattened in the second specific embodiment of the floating shaft reducer described in this utility model. Figure 8 This is a right view of the pin shaft and floating pin sleeve with one side of the flange structure flattened in the second specific embodiment of the floating shaft reducer described in this utility model. Figure 9 This is a schematic diagram of the three-dimensional structure of the pin shaft with one side of the flange structure flattened in the second specific embodiment of the floating shaft reducer described in this utility model. Figure 10 This is a three-dimensional structural diagram of a floating pin sleeve with a protruding structure on one side in a specific embodiment two of the floating shaft reducer described in this utility model. Figure 11 This is a schematic diagram of the structure of the pin, elastic ring and floating pin sleeve in a specific embodiment two of the floating shaft reducer described in this utility model; Figure 12 This is a left view of the pin shaft and floating pin sleeve with flattened sides on both sides of the flange structure in a specific embodiment two of the floating shaft reducer described in this utility model. Figure 13 This is a right view of the pin shaft and floating pin sleeve with flattened sides on both sides of the flange structure in a specific embodiment two of the floating shaft reducer described in this utility model. Figure 14 This is a three-dimensional structural diagram of a floating pin sleeve with two symmetrical protrusions in a specific embodiment two of the floating shaft reducer described in this utility model. Figure 15 This is a schematic diagram of the structure of the floating pin sleeve and the pin shaft in a specific embodiment three of the floating shaft reducer described in this utility model; Figure 16 This is a side view of the pin shaft in the third specific embodiment of the floating shaft reducer described in this utility model; Figure 17 This is a side view of the floating pin sleeve in a specific embodiment three of the floating shaft reducer described in this utility model; Figure 18 This is a schematic diagram of the structure of the floating pin sleeve and the load-equalizing ring in the fourth specific embodiment of the floating shaft reducer described in this utility model; Figure 19 This is a schematic diagram of the annular groove in the fourth specific embodiment of the floating shaft reducer described in this utility model; Figure 20 This is a schematic diagram of the state of the elastic ring of a floating shaft reducer under no-load conditions, as described in this utility model. Figure 21 This is a schematic diagram of the state of the elastic ring under load in a floating shaft reducer according to this utility model; Wherein: 1-Output flange, 2-Bearing structure, 3-Internal gear ring, 4-Elastic ring, 5-Nut, 6-Load-shaping ring, 7-Eccentric shaft, 8-Eccentric structure, 9-Roller arm bearing, 10-Floating pin sleeve, 11-Transmission gear, 12-Pin shaft, 13-Flange structure, 14-Protrusion structure one, 15-Mounting groove, 16-Locking tooth, 17-Platform structure, 18-Plane structure, 19-Annular groove, 20-Protrusion structure two. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present utility model can be combined with each other. The described embodiments are only a part of the embodiments of the present utility model, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0019] Specific implementation method one: See Figures 1-5 , Figure 20 and Figure 21This embodiment is described in detail. The floating shaft reducer described in this embodiment specifically includes an output flange 1, a bearing structure 2, an internal gear ring 3, a load-sharing ring 6, an eccentric shaft 7, several transmission gears 11, and several pins 12. An eccentric structure 8 is provided on the eccentric shaft 7; the transmission gears 11 are sleeved on the eccentric structure 8 and rotatably connected to the eccentric structure 8 via a swing arm bearing 9; a spacer ring is provided on the eccentric structure 8 to separate two transmission gears 11, leaving a certain gap between them; the bearing structure 2 and the load-sharing ring 6 are sleeved on the eccentric shaft 7 and rotatably connected to the eccentric shaft 7 via bearings, and are respectively located on different sides of the transmission gears 11; an internal gear ring 3 is provided on the outer side of the transmission gears 11, and the transmission gears 11 and the internal gear ring 3 mesh to achieve transmission; the internal gear ring 3 is connected to the outer ring of the bearing structure 2; the output flange 1 is located on the left side of the bearing structure 2 and connected to the inner ring of the bearing structure 2.

[0020] The transmission gear 11 has several pin holes, and the pin shaft 12 is disposed in the pin holes, enabling synchronous rotation of multiple transmission gears 11 through the pin shaft 12. One end of the pin shaft 12 passes through a through hole on the inner ring of the bearing structure 2 and is threadedly connected to the output flange 1, so that the output flange 1 fits against the left side surface of the bearing structure 2, and the shoulder on the left side of the pin shaft 12 abuts against the right side surface of the bearing structure 2. The other end of the pin shaft 12 passes through a through hole on the load-sharing ring 6 and is provided with a nut 5 at the end, which presses the load-sharing ring 6 against the shoulder on the right side of the pin shaft 12. A floating pin sleeve 1 is provided on the pin shaft 12. 0. The diameter of the pin hole is larger than the outer diameter of the floating pin sleeve 10; a flange structure 13 is provided on one side shoulder of the pin shaft 12, and the floating pin sleeve 10 rests on the flange structure 13; an elastic ring 4 is provided between the pin shaft 12 and the floating pin sleeve 10; an installation groove 15 is provided on the inner side of the floating pin sleeve 10, and the elastic ring 4 is placed in the installation groove 15. The elastic ring 4 absorbs the impact brought by the transmission gear 11 to the pin shaft 12 and the floating pin sleeve 10, and at the same time offsets the pin hole machining error of the transmission gear 11, offsets the tooth backlash of the transmission gear 11, and reduces backlash; the elastic ring 4 is a rubber ring or a spring.

[0021] At low speeds, the floating pin sleeve 10 includes several pin sleeves with identical structures. The pin holes on the transmission gear 11 correspond one-to-one with the pin sleeves, ensuring that the inner surface of the pin holes on the transmission gear 11 and the pin sleeves are effectively fitted together.

[0022] The transmission gear 11 is an involute gear or an epicycloid equidistant curve gear; when the transmission gear 11 is an involute gear, the internal gear ring 3 is an involute gear ring, and the transmission gear 11 and the internal gear ring 3 constitute a small tooth difference reducer; when the transmission gear 11 is an epicycloid gear, the internal gear ring 3 includes a housing and several rolling pins, and the inner ring of the housing meshes with the transmission gear 11 through several rolling pins to form a cycloid pinwheel reducer.

[0023] The diameter (dw) of the pin hole of the transmission gear 11 is equal to the diameter (d) of the pin shaft plus twice the thickness (t) of the floating pin sleeve 10 plus twice the eccentricity (e) of the eccentric structure 8 plus the thickness t' after compression by the elastic ring (which can be 0), i.e., dw = d + 2t + 2e + 2t'. In this embodiment, the outer diameter (ds') of the floating pin sleeve 10 is larger than the outer diameter (ds) of the traditional pin sleeve, ensuring that the inner hole of the floating pin sleeve 10 contacts the pin shaft 12 under overload, increasing rigidity. Under normal load, the inner hole of the floating pin sleeve 10 is pressed against the pin shaft 12 by the elastic ring 4, increasing the contact area between the floating pin sleeve 10 and the pin hole of the transmission gear 11, reducing vibration, resisting impact, and eliminating part gaps. In this embodiment, the thickness (t) of the floating pin sleeve 10 is less than or equal to the thickness (ta) of the traditional pin sleeve, ta - t = working thickness of the elastic ring 4 - installation groove depth, which is the machining error compensation amount; Figure 4 In the middle, b represents the clearance width between the pin sleeve and the pin shaft 12.

[0024] Specific Implementation Method Two: See Figures 1-3 , Figures 6-14 , Figure 20 and Figure 21 This embodiment describes a floating shaft reducer. A flange structure 13 is provided on one shoulder of the pin 12. One side or both symmetrical sides of the flange structure 13 are flattened. One end of the floating pin sleeve 10 is provided with a protruding structure 14. After the floating pin sleeve 10 is installed on the pin 12, the protruding structure 14 and the flange structure 13 cooperate, preventing the floating pin sleeve 10 from rotating on the pin 12 and allowing it to move only radially. This prevents excessive wear of the elastic ring 4 at high speeds.

[0025] The floating pin sleeve 10 includes a plurality of pin sleeves, with each pin hole of the transmission gear 11 corresponding to a pin sleeve, ensuring effective contact between the inner surface of the pin hole on the transmission gear 11 and the pin sleeve; the plurality of pin sleeves are provided with one or more locking teeth 16 on their connecting end faces; when there is one locking tooth 16, the locking teeth 16 of two adjacent pin sleeves overlap to achieve mutual locking between the pin sleeves; when there are multiple locking teeth 16, the locking teeth 16 of two adjacent pin sleeves insert into each other to achieve mutual locking between the pin sleeves; such as Figure 1 , Figure 6 and Figure 9 As shown, a protruding structure 14 is provided on the left end of the first pin sleeve on the left side. The protruding structure 14 and the flange structure 13 cooperate to lock the circumferential position of all pin sleeves on the pin shaft 12. The other components and connection relationships of this embodiment are the same as those in specific embodiment one.

[0026] Specific implementation method three: See Figures 1-3 , Figures 15-17 , Figure 20 and Figure 21This embodiment describes a floating shaft reducer in which one or more platform structures 17 are provided on the main body of the pin 12, and one or more planar structures 18 that mate with the platform structures 17 are provided on the inner wall of the floating pin sleeve 10. The floating pin sleeve 10 is fitted onto the pin 12, and the planar structures 18 and platform structures 17 mate so that the floating pin sleeve 10 can only move radially on the pin 12 and cannot rotate circumferentially on the pin 12, thereby preventing excessive wear of the elastic ring 4 at high speeds. The other components and connections in this embodiment are the same as in Specific Embodiment One.

[0027] Detailed Implementation Method Four: See [link] Figures 1-3 , Figures 18-21 This embodiment describes a floating shaft reducer. The load-equalizing ring 6 has an annular groove 19, which is coaxial with the load-equalizing ring 6. One end of the floating pin sleeve 10 has a second protrusion 20 along the axial direction, and the other end rests on the flange structure 13 of the pin shaft 12. The second protrusion 20 is inserted into the annular groove 19, allowing the floating pin sleeve 10 to move radially on the pin shaft 12 but not rotate circumferentially, thus preventing excessive wear of the elastic ring 4 at high speeds.

[0028] The floating pin sleeve 10 includes a plurality of pin sleeves, with the pin holes of the transmission gear 11 corresponding one-to-one with the pin sleeves, ensuring effective contact between the inner surface of the pin holes on the transmission gear 11 and the pin sleeves; the plurality of pin sleeves are provided with locking teeth 16 on their connecting end faces, and the locking teeth of two adjacent pin sleeves interlock to achieve mutual locking between the pin sleeves; such as Figure 18 As shown, a second protrusion 20 is provided on the right end of the first pin sleeve on the right side. The second protrusion 20 is inserted into the annular groove 19, thereby achieving circumferential position locking of all pin sleeves on the pin shaft 12. The other components and connection relationships of this embodiment are the same as those of the first specific embodiment.

[0029] In summary, the floating shaft reducer of this invention absorbs the impact generated during the operation of the transmission gear by setting an elastic ring 4 between the pin 12 and the floating pin sleeve 10. Simultaneously, it offsets the machining error of the pin hole on the transmission gear 11, eliminates the backlash of the transmission gear 11, and reduces hysteresis. The floating shaft reducer of this invention divides the floating pin sleeve 10 into multiple pin sleeves, with each pin sleeve corresponding to a different transmission gear 11. This ensures effective surface contact and stable contact between the transmission gear 11 and the pin sleeves, avoiding vibration and noise problems caused by uneven force on a single pin sleeve. Furthermore, the floating shaft reducer of this invention locks the entire floating pin sleeve 10 circumferentially on the pin 12, preventing the entire floating pin sleeve 10 from rotating on the pin 12 and avoiding accelerated wear of the elastic ring 4 at high speeds.

[0030] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above descriptions are merely specific embodiments of this utility model and are not intended to limit the utility model. They can also be reasonable combinations of the features described in the above embodiments. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A floating axle reduction gear characterised in that: The assembly includes an output flange (1), a bearing structure (2), an internal gear ring (3), an eccentric shaft (7), several transmission gears (11), and several pins (12). The bearing structure (2) and the transmission gears (11) are mounted on the eccentric shaft (7) and are rotatably connected to the eccentric shaft (7). An internal gear ring (3) is provided on the outside of the transmission gear (11), and the transmission gear (11) and the internal gear ring (3) mesh. The internal gear ring (3) is connected to the outer ring of the bearing structure (2). Several pin holes are provided on the transmission gear (11), and the pins (12) are provided in the pin holes. One end of the pins (12) is connected to the inner ring of the bearing structure (2). A floating pin sleeve (10) is provided on the pins (12), and an elastic ring (4) is provided between the pins (12) and the floating pin sleeve (10). The output flange (1) is connected to the inner ring of the bearing structure (2) through the pins (12). The floating pin sleeve (10) includes several pin sleeves, and the pin holes of the transmission gear (11) correspond one-to-one with the pin sleeves. The pin sleeves may or may not rotate around the pin shaft (12). The pin (12) and the floating pin sleeve (10) are locked together, so that the floating pin sleeve (10) only moves radially on the pin (12) and does not rotate circumferentially.

2. The floating shaft speed reducer of claim 1, wherein: The pin (12) is provided with a flange structure (13) at the shoulder, and the flange structure (13) is flattened in one or more places; a protrusion structure (14) is provided at one end of the floating pin sleeve (10) along the axial direction, and the protrusion structure (14) and the flange structure (13) cooperate to prevent the floating pin sleeve (10) from rotating on the pin (12).

3. The floating shaft speed reducer of claim 1, wherein: The main body of the pin (12) is provided with one or more platform structures (17), and the inner wall of the floating pin sleeve (10) is provided with one or more planar structures (18) that cooperate with the platform structures (17).

4. The floating shaft speed reducer of claim 1, wherein: It also includes a load-equalizing ring (6), which is coaxially sleeved on the eccentric shaft (7) and rotatably connected to the eccentric shaft (7). The load-equalizing ring (6) and the bearing structure (2) are respectively placed on different sides of the transmission gear (11). The end of the pin (12) passes through the through hole on the load-equalizing ring (6) and is provided with a nut (5). The load-equalizing ring (6) is provided with an annular groove (19). The end of the floating pin sleeve (10) is provided with a second protrusion structure (20) along the axial direction. The second protrusion structure (20) is inserted into the annular groove (19).

5. The floating shaft reducer according to claim 1, 2 or 4, characterized in that: The pin sleeve is provided with one or more locking teeth (16), and the locking teeth (16) of two adjacent pin sleeves are connected to each other.

6. The floating shaft speed reducer of any one of claims 1-4, wherein: The transmission gear (11) is an involute gear.

7. The floating shaft speed reducer of any one of claims 1-4, wherein: The transmission gear (11) is an epicycloid gear, and the internal gear ring (3) includes a housing and several rolling pins. The transmission gear (11) meshes with the housing through the rolling pins.

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