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 陈飞龙 黄志� 李林锋 欧日燊 张晓航 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供第一滚珠做摆线运动的摆动结构,摆线盘的B面与变速装置的输出轴之间设置有摆线槽和第二滚珠固定孔,所述第二滚珠置于摆线槽和第二滚珠固定孔之间,所述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,所述第二摆线齿轮的齿廓数大于第一摆线齿轮的齿廓数,当摆线槽为外摆线槽时,第二摆线齿轮的齿廓数大于或小于第二滚珠的数量,当摆线槽为内摆线槽时,第二摆线齿轮的齿廓数大于或小于摆线槽的齿廓数。(The invention relates to the technical field of mechanical transmission, and particularly discloses 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 swing structure for enabling first balls to do cycloid motion is arranged between an A surface of the cycloid disc and an opposite surface, opposite to the A surface, of the installation cavity, a cycloid groove and a second ball fixing hole are arranged between a B surface of the cycloid disc and an output shaft of the speed change device, second balls are arranged between the cycloid groove and the second ball fixing hole, a first cycloid gear is arranged on the outer circumferential surface of the cycloid disc, a second cycloid gear is arranged on the inner wall, corresponding to the first cycloid gear, of the installation cavity, the number of tooth profiles of the second cycloid gear is larger than that of the first cycloid gear, and when the cycloid groove is an outer cycloid groove, the number of tooth profiles of the second cycloid gear is larger than or smaller than that of the second balls, when the cycloid groove is an inner cycloid groove, the number of tooth profiles of the second cycloid gear is larger than or smaller than that of the cycloid groove.)

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 swing structure for enabling first balls to do cycloid motion is arranged between an A surface of the cycloid disc and an opposite surface, opposite to the A surface, on the installation cavity, a cycloid groove and a plurality of second ball fixing holes distributed circumferentially are arranged between a B surface of the cycloid disc and an output shaft of the speed change device, the cycloid groove is an outer cycloid groove or an inner cycloid groove, the second balls are arranged between the cycloid groove and the second ball fixing holes, a first cycloid gear is arranged on the outer circumferential surface of the cycloid disc, a second cycloid gear is arranged on the inner wall, corresponding to the first cycloid gear, on the installation cavity, the number of tooth profiles of the second cycloid gear is larger than that of the first cycloid gear to form meshed cycloid motion, and when the cycloid groove is the outer cycloid groove, the number of tooth profiles of the second cycloid gear is larger than or smaller than that of the second balls to enable the cycloid disc to do speed change motion, when the cycloid groove is an inner cycloid groove, the number of tooth profiles of the second cycloid gear is larger than or smaller than that of the cycloid groove, so that the cycloid disc performs cycloid variable speed motion, 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 gears is 1 more than that of the first cycloid gears, and the number of the second balls is 1 more or less than that of the cycloid grooves.

3. The differential cycloidal gear change of claim 2, wherein: the swing structure comprises a first ball fixing hole and a butting plane which are arranged on the surface A of the swing wire disc and the mounting cavity and between the opposite surfaces opposite to the surface A, and the first ball is arranged between the first ball fixing hole and the butting plane to perform cycloidal motion.

4. The differential cycloidal gear change of claim 2, wherein: the swing structure comprises an annular groove and a butting plane which are arranged on the surface A of the swing wire disc and the opposite surface of the installation cavity opposite to the surface A, and the first ball is arranged between the annular groove and the butting plane to perform swing motion.

5. The differential cycloidal gear change of claim 2, wherein: the swing structure comprises an annular groove and a first ball fixing hole which are arranged on the A surface of the swing wire disc and the mounting cavity and between opposite surfaces opposite to the A surface, the first ball is arranged between the annular groove and the first ball fixing hole to move in a cycloid mode, and the radial swing distance of the first ball in the annular groove is equal to the eccentric amount.

6. The differential cycloidal gear transmission according to any one of claims 1-5, wherein: the swing groove is an outer swing groove, the swing groove is arranged on the opposite surface of the output shaft opposite to the surface B of the swing disc, and the second ball fixing hole is formed in the surface B of the swing disc.

7. The differential cycloidal gear transmission according to any one of claims 1-5, wherein: the swing groove is an outer swing groove, the swing groove is formed in the surface B of the swing disc, and the second ball fixing hole is formed in the opposite surface, opposite to the surface B of the swing disc, of the output shaft.

8. The differential cycloidal gear transmission according to any one of claims 1-5, wherein: the swing groove is an inner swing groove, the swing groove is arranged on the opposite surface of the output shaft opposite to the surface B of the swing disc, and the second ball fixing hole is formed in the surface B of the swing disc.

9. The differential cycloidal gear transmission according to any one of claims 1-5, wherein: the swing groove is an inner swing groove, the swing groove is formed in the surface B of the swing disc, and the second ball fixing hole is formed in the opposite surface, opposite to the surface B of the swing disc, of the output shaft.

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 swing structure for the first balls to do cycloid motion is arranged between the A face of the cycloid disc and an opposite face, opposite to the A face, on the installation cavity, a 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, the cycloid groove is an outer cycloid groove or an inner cycloid groove, the second balls are arranged between the cycloid groove and the second ball fixing holes, a first cycloid gear is arranged on the outer peripheral face of the cycloid disc, and a second cycloid gear is arranged on an inner wall, corresponding to the first cycloid gear, on the installation cavity, the number of tooth profiles of the second cycloid gear is larger than that of the first cycloid gear to form meshed cycloid movement, when the cycloid groove is an outer cycloid groove, the number of tooth profiles of the second cycloid gear is larger than or smaller than the number of the second balls to enable the cycloid disc to do cycloid variable speed movement, when the cycloid groove is an inner cycloid groove, the number of tooth profiles of the second cycloid gear is larger than or smaller than that of the cycloid groove to enable the cycloid disc to do cycloid variable speed movement, and the output shaft is driven by the cycloid disc.

Among the above-mentioned technical scheme, swing structure's setting is the A face butt of avoiding the cycloid dish on the inner wall of organism, play and reduce the friction, make things convenient for the effect that the assembly compresses tightly, the second cycloid gear, first cycloid gear, second cycloid groove and second ball constitute speed change structure, when the tooth profile number of second cycloid gear is different with the great that's of cycloid groove and second ball value ratio, the drive ratio of variable speed is also different, and when the position that cycloid groove and second ball fixed orifices set up was different, correspond high drive ratio and low drive ratio 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, and the number of second balls is 1 or less than the number of tooth profiles of the cycloid grooves.

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, and a difference between the number of the second balls and the number of tooth profiles of the cycloid grooves is also 1, where the diameters of the first ball and the second ball are not limited, and the diameters of the first ball and the second ball may be the same or different.

As a further arrangement of the present invention, the swing structure includes a first ball fixing hole and an abutting plane which are provided between the a-surface of the swing disc and the opposite surface of the mounting cavity opposite to the a-surface, and the first ball is disposed between the first ball fixing hole and the abutting plane to perform a swing motion.

Among the above-mentioned technical scheme, some inlays of first ball and establishes in first ball fixed orifices, and another part exposes outside first ball fixed orifices and the butt is the cycloid rolling motion on the butt plane, and first ball fixed orifices carries on spacingly to first ball, avoids first ball to run indiscriminately, can reduce frictional force, makes things convenient for the assembly again to compress tightly.

As a further arrangement of the invention, the swing structure comprises an annular groove and an abutting plane which are arranged between the surface A of the swing wire disc and the opposite surface of the installation cavity opposite to the surface A, and the first ball is arranged between the annular groove and the abutting plane to perform the cycloid movement.

Among the above-mentioned technical scheme, some of first ball inlays to be established in the ring channel, and another part exposes outside the ring channel and the butt is the cycloid rolling motion on the butt plane, and the ring channel carries on spacingly to first ball, avoids first ball to run indiscriminately, can reduce frictional force, and convenient assembly compresses tightly again, and the width of this ring channel can also be greater than the maximum width that first ball fell into the ring channel with the big or small adaptation of first ball.

As a further arrangement of the invention, the swing structure comprises an annular groove and a first ball fixing hole which are arranged between the surface A of the swing wire disc and the opposite surface of the installation cavity opposite to the surface A, the first ball is arranged between the annular groove and the first ball fixing hole to perform cycloidal motion, and the radial swing distance of the first ball in the annular groove is equal to the eccentric amount.

Among the above-mentioned technical scheme, a part of first ball falls into first ball fixed orifices, and another part falls into the ring channel and is cycloid rolling motion, and first ball fixed orifices is to first ball limiting displacement, avoids first ball mutual collision in the ring channel, can reduce frictional force, and convenient assembly compresses tightly again, and the width of this place ring channel is greater than the maximum width that first ball fell into the ring channel, just differs at least one eccentric value.

As a further arrangement of the invention, the cycloid groove is an outer cycloid groove, the 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 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 cycloid groove is an outer cycloid groove, the 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.

As a further arrangement of the invention, the cycloid groove is an inner cycloid groove, the 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 scheme, the number of tooth profiles of the second cycloid gear can be smaller than or larger than that of the cycloid groove,

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

As a further arrangement of the invention, the cycloid groove is an inner cycloid groove, the 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 scheme, the number of tooth profiles of the second cycloid gear can be smaller than or larger than that of the cycloid groove,

the "-" input and output directions are reversed, which is a low 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 cycloid groove or the conversion of the inner cycloid groove and the outer cycloid groove, so that the problem that the transmission ratio of the conventional 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 a structural cross-sectional view of an embodiment of the present invention;

FIG. 2 is a structural cross-sectional view of an embodiment of the present invention;

FIG. 3 is a cross-sectional view of a structure of an embodiment of the present invention;

FIG. 4 is an exploded view of the structure of an embodiment of the present invention;

FIG. 5 is an exploded view of the structure of an embodiment of the present invention;

FIG. 6 is an exploded view of the structure of an embodiment of the present invention;

FIG. 7 is an exploded view of the structure of an embodiment of the present invention;

FIG. 8 is a side view of a structure of an embodiment of the present invention;

FIG. 9 is a cross-sectional view A-A of FIG. 8;

fig. 10 is a cross-sectional view a-a of fig. 8.

Detailed Description

The specific embodiment of the invention is shown in fig. 1-10, a differential cycloid gear speed change device comprises a cycloid disc 1, 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 swing structure for the first balls A1 to do cycloid motion is 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 cycloid groove 01 and a plurality of second ball fixing holes 02 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, the cycloid groove 01 is an outer cycloid groove or an inner cycloid groove, the second ball B1 is arranged between the cycloid groove 01 and the second ball fixing, the cycloidal disc comprises a cycloidal disc 1 and an output shaft 4, wherein a first cycloidal gear 11 is arranged on the outer peripheral surface of the cycloidal disc 1, a second cycloidal gear 211 is arranged on the inner wall of a mounting cavity 21 corresponding to the first cycloidal gear 11, the number of tooth profiles of the second cycloidal gear 211 is larger than that of the first cycloidal gear 11 to form meshed cycloidal motion, when a cycloidal groove 01 is an outer cycloidal groove, the number of tooth profiles of the second cycloidal gear 211 is larger than or smaller than that of second balls B1 to enable the cycloidal disc 1 to do cycloidal variable speed motion, when the cycloidal groove 01 is an inner cycloidal groove, the number of tooth profiles of the second cycloidal gear 211 is larger than or smaller than that of the cycloidal groove 01 to enable the cycloidal disc 1 to do cycloidal variable speed motion.

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 between the parts, which are not detailed herein, the arrangement of the swing structure is to prevent the surface A of the cycloid disc 1 from abutting on the inner wall of the machine body 2 to play the roles of reducing friction and facilitating assembly and pressing, the second cycloid gear 211, the first cycloid gear 11, the second cycloid groove 01 and the second ball B1 form a speed change structure, when the ratio of the tooth profile number of the second cycloid gear 211 to the larger one of the cycloid groove 01 and the second ball B1 is different, the transmission ratio of speed change is different, and when the positions of the cycloid groove 01 and the second ball fixing hole 02 are different, the tooth profile number of the first cycloid gear 11 can be smaller than the tooth profile number of the second cycloid groove 01, or the number of the tooth profiles can be larger than that of the second cycloid groove 01.

The number of tooth profiles of the second cycloid gear 211 is 1 more than that of the first cycloid gear 11, and the number of the second balls B1 is 1 more or less than that of the cycloid grooves 01. 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, and the difference between the number of the second balls B1 and the number of tooth profiles of the cycloid grooves 01 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.

Embodiment 1 of the swing structure, as shown in fig. 3, 5, 7, and 10, the swing structure includes a first ball fixing hole 03 and an abutting plane 04 provided between an a surface of the swing disc 1 and an opposing surface of the installation cavity 21 opposing the a surface, and a first ball a1 is interposed between the first ball fixing hole 03 and the abutting plane 04 to perform a cycloid movement. One part of first ball A1 inlays and establishes in first ball fixed orifices 03, another part exposes outside first ball fixed orifices 03 and the butt is the cycloid rolling motion on butt plane 04, first ball fixed orifices 03 carries on spacingly to first ball A1, avoid first ball A1 to run in disorder, can reduce frictional force, make things convenient for the assembly to compress tightly again, first ball fixed orifices 03 can set up on the A face of cycloid dish 1, also can set up on the opposite face relative with the A face on installation cavity 21, butt plane 04 is smooth plane, butt plane 04 can set up on the opposite face relative with the A face on installation cavity 21, also can set up on the A face of cycloid dish 1.

Embodiment 2 of the oscillating structure, as shown in fig. 2, 4, 7 and 9, the oscillating structure includes an annular groove 05 and an abutting plane 04 provided between the a surface of the cycloid disc 1 and the opposite surface of the installation cavity 21 opposite to the a surface, and the first ball a1 is interposed between the annular groove 05 and the abutting plane 04 to perform cycloid movement. One part of first ball A1 inlays and establishes in ring channel 05, and another part exposes outside ring channel 05 and the butt is the cycloid rolling motion on butt plane 04, and ring channel 05 carries on spacingly to first ball A1, avoids first ball A1 to run in disorder, can reduce frictional force, and convenient assembly compresses tightly again, and the width of this ring channel 05 can also be greater than the maximum width that first ball A1 fell into ring channel 05 with the big or small adaptation of first ball A1. The annular groove 05 can be arranged on the surface A of the cycloid disc 1, can also be arranged on the opposite surface opposite to the surface A on the installation cavity 21, the abutting plane 04 is a smooth plane, and the abutting plane 04 can be arranged on the opposite surface opposite to the surface A on the installation cavity 21 and can also be arranged on the surface A of the cycloid disc 1.

Embodiment 3 of the oscillating structure, as shown in fig. 1, 4, 6 and 9, the oscillating structure includes an annular groove 05 and a first ball fixing hole 03 provided between the a surface of the cycloid disc 1 and the opposite surface of the installation cavity 21 opposite to the a surface, the first ball a1 is placed between the annular groove 05 and the first ball fixing hole 03 to make cycloid movement, and the radial oscillating distance of the first ball a1 in the annular groove 05 is equal to the eccentricity. The eccentric value here is the eccentric value of input shaft 3, a part of first ball A1 falls into first ball fixed orifices 03, another part falls into ring channel 05 and is cycloid rolling motion, first ball fixed orifices 03 has a limiting effect to first ball A1, avoid first ball A1 to collide each other in ring channel 05, can reduce frictional force, make things convenient for the assembly again to compress tightly, the width of ring channel 05 here is greater than the maximum width that first ball A1 fell into ring channel 05, and differ at least one eccentric value. The annular groove 05 can be arranged on the surface A of the cycloid disc 1, can also be arranged on the opposite surface opposite to the surface A on the installation cavity 21, and the first ball fixing hole 03 can be arranged on the opposite surface opposite to the surface A on the installation cavity 21 and can also be arranged on the surface A of the cycloid disc 1.