阅读说明：本技术 差动摆线齿轮变速装置 (Differential cycloidal gear speed change device ) 是由 马建生 张晓航 杨培云 袁毅 马武坤 于 2019-11-01 设计创作，主要内容包括：本发明涉及机械传动技术领域,特别是公开了一种差动摆线齿轮变速装置,包括摆线盘,供摆线盘安装的安装腔设置在变速装置的机体上,摆线盘的A面和安装腔上与A面相对的相对面之间设置有第一摆线槽和第一滚珠固定孔,摆线盘的B面与变速装置的输出轴之间设置有第二摆线槽和第二滚珠固定孔,摆线盘的外周面上设置有第一摆线齿轮,安装腔上与第一摆线齿轮对应的内壁上设置有第二摆线齿轮,第二摆线齿轮的齿廓数大于第一摆线齿轮的齿廓数,当第一摆线槽为外摆线槽,第二摆线槽为内摆线槽时,第二摆线齿轮的齿廓数与第一滚珠的数量一致,第二摆线齿轮的齿廓数大于或小于第二摆线槽的齿廓数使摆线盘做摆线变速运动。(The invention relates to the technical field of mechanical transmission, in particular to a differential cycloid gear speed change device which comprises a cycloid disc, wherein an installation cavity for installing the cycloid disc is arranged on a machine body of the speed change device, a first cycloid groove and a first ball fixing hole are arranged between the surface A of the cycloid disc and the opposite surface of the installation cavity opposite to the surface A, a second cycloid groove and a second ball fixing hole are arranged between the surface B of the cycloid disc and an output shaft of the speed change device, a first cycloid gear is arranged on the outer peripheral surface of the cycloid disc, a second cycloid gear is arranged on the inner wall of the installation cavity corresponding to the first cycloid gear, the number of tooth profiles of the second cycloid gear is larger than that of the first cycloid gear, when the first cycloid groove is an outer cycloid groove and the second cycloid groove is an inner cycloid groove, the number of tooth profiles of the second cycloid gear is consistent with the number of the first balls, and the number of tooth profiles of the second cycloid gear is larger than or smaller than that of the second cycloid groove, so that the cycloid disc performs cycloid speed change movement.)

1. The utility model provides a differential cycloid gear speed change device, includes the cycloid dish, the axial both ends face of cycloid dish is A face and B face respectively, is provided with the first ball of a plurality of and the second ball that distribute around circumference on the A face and the B face of cycloid dish respectively, its characterized in that: the installation cavity for installing the cycloid disc is arranged on a machine body of the speed change device, wherein the cycloid disc is eccentrically driven by an input shaft in the speed change device, a first cycloid groove and a plurality of first ball fixing holes distributed in the circumferential direction are arranged between the surface A of the cycloid disc and the opposite surface, opposite to the surface A, on the installation cavity, a second cycloid groove and a plurality of second ball fixing holes distributed in the circumferential direction are arranged between the surface B of the cycloid disc and an output shaft of the speed change device, one of the first cycloid groove and the second cycloid groove is an epicycloid groove, the other one of the first cycloid groove and the second cycloid groove is an inner cycloid groove, first balls are arranged between the first cycloid groove and the first ball fixing holes, second balls are arranged between the second cycloid groove and the second ball fixing holes, a first cycloid gear is arranged on the outer peripheral surface of the cycloid disc, a second cycloid gear is arranged on the inner wall, corresponding to the first cycloid gear, the tooth profile number of the second cycloid gear is larger than that of the first cycloid gear to form meshed tooth profile motion, when the first cycloid groove is an outer cycloid groove and the second cycloid groove is an inner cycloid groove, the number of tooth profiles of the second cycloid gear is consistent with the number of the first balls, the number of tooth profiles of the first cycloid gear is consistent with the number of tooth profiles of the first cycloid groove, the number of tooth profiles of the second cycloid gear is larger than or smaller than the number of tooth profiles of the second cycloid groove, so that the cycloid disc performs cycloid speed change movement, when the first cycloid groove is an inner cycloid groove and the second cycloid groove is an outer cycloid groove, the number of tooth profiles of the second cycloid gear is consistent with the number of tooth profiles of the first cycloid groove, the number of tooth profiles of the first cycloid gear is consistent with the number of the first balls, the number of tooth profiles of the second cycloid gear is larger than or smaller than the number of the second balls, so that the cycloid disc performs cycloid speed change movement, and the output shaft is driven by the cycloid disc.

2. The differential cycloidal gear change of claim 1, wherein: the number of the tooth profiles of the second cycloid gear is 1 more than that of the first cycloid gear, the number of the first balls is 1 more or less than that of the first cycloid groove, and the number of the second balls is 1 or more than that of the second cycloid groove.

3. The differential cycloidal gear transmission according to claim 1 or 2, wherein: the first cycloid groove is an outer cycloid groove, the second cycloid groove is an inner cycloid groove, the first cycloid groove is arranged on the surface A of the cycloid disc, the first ball fixing hole is arranged on the opposite surface of the installation cavity opposite to the surface A of the cycloid disc, the second cycloid groove is arranged on the opposite surface of the output shaft opposite to the surface B of the cycloid disc, and the second ball fixing hole is arranged on the surface B of the cycloid disc.

4. The differential cycloidal gear transmission according to claim 1 or 2, wherein: the first cycloid groove is an outer cycloid groove, the second cycloid groove is an inner cycloid groove, the first cycloid groove is arranged on the surface A of the cycloid disc, the first ball fixing hole is arranged on the opposite surface of the installation cavity opposite to the surface A of the cycloid disc, the second cycloid groove is arranged on the surface B of the cycloid disc, and the second ball fixing hole is arranged on the opposite surface of the output shaft opposite to the surface B of the cycloid disc.

5. The differential cycloidal gear transmission according to claim 1 or 2, wherein: the first cycloid groove is an inner cycloid groove, the second cycloid groove is an outer cycloid groove, the first ball fixing hole is formed in the surface A of the cycloid disc, the first cycloid groove is formed in the opposite surface, opposite to the surface A, of the cycloid disc in the installation cavity, the second cycloid groove is formed in the opposite surface, opposite to the surface B, of the output shaft and the cycloid disc, and the second ball fixing hole is formed in the surface B of the cycloid disc.

6. The differential cycloidal gear transmission according to claim 1 or 2, wherein: the first cycloid groove is an inner cycloid groove, the second cycloid groove is an outer cycloid groove, the first ball fixing hole is formed in the surface A of the cycloid disc, the first cycloid groove is formed in the opposite surface, opposite to the surface A, of the installation cavity, the second cycloid groove is formed in the surface B of the cycloid disc, and the second ball fixing hole is formed in the opposite surface, opposite to the surface B, of the output shaft and the cycloid disc.

Technical Field

The invention relates to the technical field of mechanical transmission, in particular to a differential cycloidal gear speed change device which improves a differential cycloidal gear speed change device applied in the prior art.

Background

At present, a transmission device applied to a precision servo mechanism of a robot, a precision machine tool, aerospace and the like is required to have the characteristics of high transmission precision, high transmission rigidity, large transmission ratio, high transmission efficiency, small volume, light weight, small transmission return difference, small rotational inertia of a rotating part and the like. The applicant has previously filed a prior application with the name of 'differential cycloid speed change device' with the application number of 201910549808.8, and the speed change function is realized by adopting two cycloid grooves with different tooth profile numbers arranged on the same cycloid disc, the cycloid disc is clamped in a machine body through a cover plate and an output shaft and swings in the air, the peripheral surface of the cycloid disc cannot collide with the inner wall of an installation cavity, and the technical scheme has the following defects that firstly, if the parts are pressed too tightly, the friction force of the swinging of the cycloid disc can be increased, and secondly, if gaps are generated among the parts, the swinging of the cycloid disc is unstable.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a differential cycloidal gear speed change device which is provided with a speed change structure consisting of a cycloidal groove and a cycloidal gear and has a high transmission ratio or a low transmission ratio.

In order to achieve the purpose, the invention adopts the technical scheme that: a differential cycloid gear speed change device comprises a cycloid disc, wherein the axial two end faces of the cycloid disc are respectively an A face and a B face, the A face and the B face of the cycloid disc are respectively provided with a plurality of first balls and second balls which are distributed along the circumferential direction, an installation cavity for installing the cycloid disc is arranged on a machine body of the speed change device, the cycloid disc is eccentrically driven by an input shaft in the speed change device, a first cycloid groove and a plurality of first ball fixing holes which are distributed along the circumferential direction are arranged between the A face of the cycloid disc and the opposite face of the installation cavity opposite to the A face, a second cycloid groove and a plurality of second ball fixing holes which are distributed along the circumferential direction are arranged between the B face of the cycloid disc and an output shaft of the speed change device, one of the first cycloid groove and the second cycloid groove is an outer cycloid groove and is an inner cycloid groove, the first balls are arranged between the first cycloid groove and the first ball fixing holes, and the second balls are arranged between the second cycloid groove and the second ball fixing holes, the outer peripheral surface of the cycloid disc is provided with a first cycloid gear, the inner wall of the installation cavity corresponding to the first cycloid gear is provided with a second cycloid gear, the number of tooth profiles of the second cycloid gear is larger than that of the first cycloid gear to form meshed cycloid motion, when the first cycloid groove is an outer cycloid groove and the second cycloid groove is an inner cycloid groove, the number of tooth profiles of the second cycloid gear is consistent with that of the first ball balls, the number of tooth profiles of the first cycloid gear is consistent with that of the first cycloid groove, the number of tooth profiles of the second cycloid gear is larger than or smaller than that of the second cycloid groove to enable the cycloid disc to do cycloid variable speed motion, when the first cycloid groove is an inner cycloid groove and the second cycloid groove is an outer cycloid groove, the number of tooth profiles of the second cycloid gear is consistent with that of the first cycloid groove, the number of tooth profiles of the first cycloid gear is consistent with that of the first ball balls, and the number of tooth profiles of the second cycloid gear is larger than or smaller than that of the second ball to enable the cycloid disc to do variable speed tooth profiles, the output shaft is driven by a cycloid disc.

In the above technical solution, the first cycloid groove, the first ball and the first ball fixing hole are arranged to prevent the a surface of the cycloid disc from abutting against the inner wall of the machine body, so as to reduce friction and facilitate assembly and compression, because the first cycloid groove is an outer cycloid groove or an inner cycloid groove, the number of the first ball is greater than or less than the number of tooth profiles of the first cycloid groove, and because one of the first cycloid groove and the first ball fixing hole is arranged on the machine body and one of the first cycloid groove and the first ball fixing hole is arranged on the cycloid disc, and the number of tooth profiles of the second cycloid gear is required to be greater than the number of tooth profiles of the first cycloid gear, and the second cycloid gear is also arranged on the machine body, when the number of tooth profiles of the second cycloid gear is not consistent with the number of the first ball or the number of tooth profiles of the first cycloid groove, the cycloid gear cannot rotate, and the second cycloid gear, the first cycloid gear, the second cycloid gear, the first cycloid gear, the second cycloid gear and, when the ratio of the number of the tooth profiles of the second cycloid gear to the number of the tooth profiles of the second cycloid groove or the number of the second balls is different, the transmission ratio of speed change is different, and when the positions of the second cycloid groove and the second ball fixing hole are different, the high transmission ratio and the low transmission ratio correspond to each other respectively.

As a further arrangement of the present invention, the number of tooth profiles of the second cycloid gear is 1 more than the number of tooth profiles of the first cycloid gear, the number of first balls is 1 or less more than the number of tooth profiles of the first cycloid groove, and the number of second balls is 1 or more less than the number of tooth profiles of the second cycloid groove.

In the above technical solution, preferably, a difference between the number of tooth profiles of the second cycloid gear and the number of tooth profiles of the first cycloid gear is 1, a difference between the number of first balls and the number of tooth profiles of the first cycloid groove is 1, and a difference between the number of second balls and the number of tooth profiles of the second cycloid groove is 1, where the diameters of the first balls and the second balls are not limited, and the diameters of the first balls and the second balls may be the same or different.

As a further arrangement of the invention, the first cycloid groove is an outer cycloid groove, the second cycloid groove is an inner cycloid groove, the first cycloid groove is arranged on the surface a of the cycloid disc, the first ball fixing hole is arranged on the opposite surface of the installation cavity opposite to the surface a of the cycloid disc, the second cycloid groove is arranged on the opposite surface of the output shaft opposite to the surface B of the cycloid disc, and the second ball fixing hole is arranged on the surface B of the cycloid disc.

In the above technical solution, the number of tooth profiles of the second cycloid gear may be smaller than or larger than that of the second cycloid grooveThe "-" input and output directions are reversed, which is a high ratio.

As a further arrangement of the invention, the first cycloid groove is an outer cycloid groove, the second cycloid groove is an inner cycloid groove, the first cycloid groove is arranged on the surface a of the cycloid disc, the first ball fixing hole is arranged on the opposite surface of the installation cavity opposite to the surface a of the cycloid disc, the second cycloid groove is arranged on the surface B of the cycloid disc, and the second ball fixing hole is arranged on the opposite surface of the output shaft opposite to the surface B of the cycloid disc.

In the above technical solution, the number of tooth profiles of the second cycloid gear may be smaller than or larger than that of the second cycloid groove

The "-" input and output directions are reversed, which is a low ratio.

As a further arrangement of the present invention, the first cycloid groove is an inner cycloid groove, the second cycloid groove is an outer cycloid groove, the first ball fixing hole is disposed on the a surface of the cycloid disc, the first cycloid groove is disposed on the opposite surface of the mounting cavity opposite to the a surface of the cycloid disc, the second cycloid groove is disposed on the opposite surface of the output shaft opposite to the B surface of the cycloid disc, and the second ball fixing hole is disposed on the B surface of the cycloid disc.

In the above technical solution, the number of tooth profiles of the second cycloid gear may be smaller than or larger than the number of second balls,

the "-" input and output directions are reversed, which is a low ratio.

As a further arrangement of the invention, the first cycloid groove is an inner cycloid groove, the second cycloid groove is an outer cycloid groove, the first ball fixing hole is arranged on the surface a of the cycloid disc, the first cycloid groove is arranged on the opposite surface of the installation cavity opposite to the surface a of the cycloid disc, the second cycloid groove is arranged on the surface B of the cycloid disc, and the second ball fixing hole is arranged on the opposite surface of the output shaft opposite to the surface B of the cycloid disc.

In the above technical solution, the number of tooth profiles of the second cycloid gear may be smaller than or larger than the number of second balls,

the "-" input and output directions are reversed, which is a high ratio.

By adopting the scheme, the high transmission ratio or the low transmission ratio can be realized by changing the position relation of the second ball fixing hole and the second cycloid groove or the conversion between the inner cycloid groove and the outer cycloid groove, the high transmission ratio or the low transmission ratio can be realized, the problem that the transmission ratio of the existing transmission structure is low is solved, the structure is stable, and the transmission structure is suitable for more occasions.

The invention is further described below with reference to the accompanying drawings.

Drawings

FIG. 1 is an axial structural sectional view of embodiment 1 of the present invention;

FIG. 2 is an exploded view of the structure of embodiment 1 of the present invention;

FIG. 3 is an exploded view of the structure of embodiment 1 of the present invention;

FIG. 4 is a side view of embodiment 1 of the present invention;

fig. 5 is an axial structural sectional view of embodiment 1 of the present invention.

Detailed Description

The specific embodiment of the invention is shown in fig. 1-5, a differential cycloid gear speed change device comprises a cycloid disc 1, wherein two axial end surfaces of the cycloid disc 1 are respectively an a surface and a B surface, the a surface and the B surface of the cycloid disc 1 are respectively provided with a plurality of first balls A1 and second balls B1 which are distributed around the circumferential direction, the differential cycloid gear speed change device further comprises a machine body 2, an input shaft 3 and an output shaft 4, the machine body 2 is provided with an installation cavity 21 for installing the cycloid disc 1, the cycloid disc 1 is eccentrically driven by the input shaft 3, a first cycloid groove 01 and a plurality of first ball fixing holes 02 which are distributed around the circumferential direction are arranged between the a surface of the cycloid disc 1 and the opposite surface of the installation cavity 21 which is opposite to the a surface, a second cycloid groove 03 and a plurality of second ball fixing holes 04 which are distributed around the circumferential direction are arranged between the B surface of the cycloid disc 1 and the output shaft 4 of the speed change device, one of the first cycloid groove 01 and the second cycloid groove 03 is an inner cycloid groove, the first ball A1 is arranged between the first cycloid groove 01 and the first ball fixing hole 02 and the second ball B1 is arranged between the second cycloid groove 03 and the second ball fixing hole 04, the outer peripheral surface of the cycloid disc 1 is provided with a first cycloid gear 11, the inner wall of the mounting cavity 21 corresponding to the first cycloid gear 11 is provided with a second cycloid gear 211, the number of tooth profiles of the second cycloid gear 211 is larger than that of the first cycloid gear 11 to form meshed cycloid movement, when the first cycloid groove 01 is an outer cycloid groove and the second cycloid groove 03 is an inner cycloid groove, the number of tooth profiles of the second cycloid gear 211 is consistent with that of the first ball A1, the number of tooth profiles of the first cycloid gear 11 is consistent with that of the first cycloid groove 01, the number of tooth profiles of the second cycloid gear 211 is larger than or smaller than that of the second cycloid groove 03 to enable the cycloid movement, when the first cycloid groove 01 is an inner cycloid groove, when the second cycloid groove 03 is an outer cycloid groove, the number of tooth profiles of the second cycloid gear 211 is the same as that of the first cycloid groove 01, the number of tooth profiles of the first cycloid gear 11 is the same as that of the first ball A1, the number of tooth profiles of the second cycloid gear 211 is larger than or smaller than that of the second ball B1, so that the cycloid disc 1 performs cycloid speed change movement, and the output shaft 4 is driven by the cycloid disc 1.

Hypocycloid: a moving circle is inscribed in a fixed circle to roll without sliding, and the track of a fixed point on the circumference of the moving circle is called hypocycloid.

Epicycloid: when a moving circle having a radius b rolls along the outer side of a fixed circle having a radius a without sliding, the locus of a point described by a point p on the circumference of the moving circle is called an epicycloid. The tooth profile on the cycloid groove can also be considered as an epicycloid outwards and a hypocycloid inwards.

The tooth profile of the cycloid gear is a disc-shaped or circular gear with the shape of a cycloid and an equidistant curve.

The crossed ball bearing 22 is arranged between the output shaft 4 and the machine body 2, and in addition, a plurality of necessary bearings or rollers, roller holders, oil seals, sealing rings, connecting screws and the like are required to be arranged among the components, which are not described in detail herein, the first cycloid groove 01, the first ball A1 and the first ball fixing hole 02 are arranged to prevent the A surface of the cycloid disc 1 from abutting against the inner wall of the machine body 2, so as to reduce friction and facilitate assembly and compression, because the first cycloid groove 01 is an outer cycloid groove or an inner cycloid groove, the number of the first ball A1 is larger or smaller than that of the first cycloid groove 01, and because one of the first cycloid groove 01 and the first ball fixing hole 02 is arranged on the machine body 2 and is arranged on the cycloid disc 1, while the number of the tooth profiles of the second cycloid gear 211 is required to be larger than that of the first cycloid gear 11, and the second cycloid gear 211 is also arranged on the machine body 2, therefore, when the number of tooth profiles of the second cycloid gear 211 is not consistent with the number of the first balls a1 or the number of tooth profiles of the first cycloid groove 01, the cycloid disc 1 cannot rotate, and the second cycloid gear 211, the first cycloid gear 11, the second cycloid groove 03 and the second balls B1 form a speed change structure, and when the ratio of the number of tooth profiles of the second cycloid gear 211 to the number of tooth profiles of the second cycloid groove 03 or the number of second balls B1 is not the same, the transmission ratio of speed change is not the same, and when the positions where the second cycloid groove 03 and the second ball fixing hole 04 are arranged are not the same, the high transmission ratio and the low transmission ratio are respectively corresponded.

The number of tooth profiles of the second cycloid gear 211 is 1 more than that of the first cycloid gear 11, the number of the first balls a1 is 1 or less than that of the first cycloid groove 01, and the number of the second balls B1 is 1 or more than that of the second cycloid groove 03. Preferably, the difference between the number of tooth profiles of the second cycloid gear 211 and the number of tooth profiles of the first cycloid gear 11 is 1, the difference between the number of the first balls a1 and the number of tooth profiles of the first cycloid groove 01 is 1, and the difference between the number of the second balls B1 and the number of tooth profiles of the second cycloid groove 03 is 1, where the diameters of the first ball a1 and the second ball B1 are not limited, and the diameters of the first ball a1 and the second ball B1 may be the same or different.