阅读说明：本技术 一种具备零齿隙性能的刚柔耦合rv减速器 (Rigid-flexible coupling RV reducer with zero backlash performance ) 是由 张弛 谷甲甲 程中甫 钟成堡 李少彬 唐江枫 于 2021-08-03 设计创作，主要内容包括：本发明公开了一种具备零齿隙性能的刚柔耦合RV减速器,其包括曲轴偏心块、设于该曲轴偏心块上的刚性摆线轮、与该刚性摆线轮啮合传动的针齿。曲轴偏心块上与刚性摆线轮同轴设有柔性摆线轮,柔性摆线轮与刚性摆线轮的齿形相同,柔性摆线轮的直径大于刚性摆线轮的直径；当摆线轮与针齿处于啮合传动的位置时,柔性摆线轮与针齿始终保持弹性接触。传动中,刚性摆线轮起承载作用,柔性摆线轮起到消除间隙的作用,从而消除RV减速器的空转效应。如此降低啮合冲击及振动,提升了RV减速器的动力响应及时性。通过无线变形感应装置记录的柔性摆线轮的应变值的变化,来反映RV减速器内部的间隙状态变化,为减速器的载荷谱规划提供数据,以延长减速器的使用寿命。(The invention discloses a rigid-flexible coupling RV reducer with zero backlash performance, which comprises a crankshaft eccentric block, a rigid cycloidal gear arranged on the crankshaft eccentric block and needle teeth in meshing transmission with the rigid cycloidal gear. A flexible cycloid wheel is coaxially arranged on the crankshaft eccentric block and the rigid cycloid wheel, the tooth form of the flexible cycloid wheel is the same as that of the rigid cycloid wheel, and the diameter of the flexible cycloid wheel is larger than that of the rigid cycloid wheel; when the cycloid wheel and the needle tooth are in the position of meshing transmission, the flexible cycloid wheel and the needle tooth are always kept in elastic contact. In the transmission, the rigid cycloid wheel plays a bearing role, and the flexible cycloid wheel plays a role in eliminating the clearance, so that the idling effect of the RV reducer is eliminated. Therefore, meshing impact and vibration are reduced, and the dynamic response timeliness of the RV reducer is improved. The change of the strain value of the flexible cycloidal gear recorded by the wireless deformation sensing device reflects the change of the clearance state in the RV reducer, and provides data for the load spectrum planning of the reducer so as to prolong the service life of the reducer.)

1. An RV reducer comprises a crankshaft eccentric block, a rigid cycloidal gear arranged on the crankshaft eccentric block and needle teeth in meshing transmission with the rigid cycloidal gear, and is characterized in that a flexible cycloidal gear is coaxially arranged on the crankshaft eccentric block and the rigid cycloidal gear, the tooth form of the flexible cycloidal gear is the same as that of the rigid cycloidal gear, and the diameter of the flexible cycloidal gear is larger than that of the rigid cycloidal gear; when the cycloid wheel and the needle teeth are in the position of meshing transmission, the flexible cycloid wheel and the needle teeth are in elastic contact.

2. The RV reducer according to claim 1, characterized in that said flexible cycloidal wheel is of thin-walled construction.

3. The RV reducer of claim 1, wherein said flexible cycloidal wheel has a ratio of thickness h to diameter d of 0.005< h/d < 0.01.

4. The RV reducer according to claim 1, characterized in that the difference between said flexible cycloidal wheel radius and said rigid cycloidal wheel radius is the clearance between said rigid cycloidal wheel and said pin teeth when in the meshing transmission position.

5. The RV reducer according to claim 1, characterized in that said flexible cycloidal wheel is made of heat-treated alloy steel with high fatigue strength.

6. The RV reducer of claim 5, wherein said flexible cycloidal wheel is made of normalized 40CrNiMoA steel.

7. The RV reducer according to claim 1, characterized in that wireless deformation sensing devices are circumferentially and evenly distributed on the edge of said flexible cycloidal gear.

8. The RV reducer according to claim 7, wherein said wireless deformation sensing means are eight sets.

Technical Field

The invention relates to a speed change device for mechanical transmission, in particular to a planetary cycloidal speed reducer.

Background

The RV reducer is a precise two-stage planetary cycloidal reducer widely applied to the field of industrial robots, and has the advantages of high transmission precision, large transmission ratio, high efficiency, high rigidity and strong bearing capacity. In order to enable bearing contact pairs such as tooth flank contact pairs and bearing contact pairs in the RV reducer in the meshing transmission process to form an effective lubricating oil film and reduce the risk of blocking caused by thermal expansion between steel structural members, a certain gap must be reserved between the steel structural members. Due to the existence of the gap, when the RV reducer is started, stopped and reversed, the gear teeth of the driving gear idle run for a certain distance between the tooth grooves formed by the two gear tooth flanks of the driven gear until the gear teeth of the driven gear contact with the gear tooth flanks of the driven gear, and then load is transferred. The idling effect of the speed reducer during start-stop or reversing due to the clearances among the parts is often referred to as the backlash characteristic of the speed reducer. The existence of the backlash not only causes the impact of gear teeth when the motion state of the speed reducer is changed, which causes the vibration of the speed reducer to be intensified, but also influences the response timeliness of the power output of the speed reducer. Therefore, there is a need to develop a zero backlash RV reducer that addresses the adverse effects of backlash on the operating performance of the RV reducer. Chinese patent No. 201910130910.4 discloses a hydraulic double-drive gear transmission device with a backlash eliminating function, but the hydraulic backlash eliminating device is bulky, and can only be used for a large cylindrical gear transmission device but cannot meet the requirement of a precise RV reducer with compact size.

Therefore, how to overcome the defect that the conventional RV reducer causes gear tooth meshing impact due to the idle effect, which causes vibration aggravation and affects the response timeliness of the reducer power output is an urgent problem to be solved in the industry.

Disclosure of Invention

The invention provides a rigid-flexible coupling RV reducer without idle effect and with zero backlash performance, aiming at solving the technical problem that the response timeliness of the power output of the reducer is influenced due to the fact that the vibration is aggravated because the gear tooth meshing impact is generated by the conventional RV reducer. The clearance change trend of parts of the RV reducer in the running process can be automatically recorded, and the service life data of the reducer can be fully accumulated.

The invention provides an RV reducer which comprises a crankshaft eccentric block, a rigid cycloidal gear arranged on the crankshaft eccentric block and needle teeth in meshing transmission with the rigid cycloidal gear. The crankshaft eccentric block and the rigid cycloid gear are coaxially provided with a flexible cycloid gear, the tooth form of the flexible cycloid gear is the same as that of the rigid cycloid gear, and the diameter of the flexible cycloid gear is larger than that of the rigid cycloid gear; when the cycloid wheel and the needle teeth are in the position of meshing transmission, the flexible cycloid wheel and the needle teeth are in elastic contact.

Preferably, the flexible cycloid wheel is a flexible cycloid wheel with a thin-wall structure.

Preferably, the ratio of the thickness h to the diameter d of the flexible cycloid wheel is 0.005< h/d < 0.01.

Preferably, the difference between the radius of the flexible cycloid wheel and the radius of the rigid cycloid wheel is the clearance between the rigid cycloid wheel and the needle teeth when the flexible cycloid wheel and the rigid cycloid wheel are in the meshing transmission position.

Preferably, the flexible cycloid wheel is made of heat-treated alloy steel with high fatigue strength.

Preferably, the flexible cycloidal gear is made of normalized 40CrNiMoA steel.

Preferably, the wireless deformation induction devices are uniformly distributed on the edge of the flexible cycloid wheel in the circumferential direction.

Preferably, the wireless deformation sensing device is eight sets.

The thin-wall flexible cycloidal gear is coaxially arranged on the crankshaft eccentric block and the rigid cycloidal gear with high rigidity and high bearing capacity, so that the flexible cycloidal gear and the rigid cycloidal gear have the same tooth form but the diameter is larger than that of the rigid cycloidal gear. When the RV reducer is in a starting, stopping or reversing state, namely the rigid cycloidal gear is in an idle rotation position relative to the driven gear, namely the needle teeth, the flexible cycloidal gear can always keep the meshing with the needle teeth in an elastic contact state. Although the teeth of the rigid cycloid gear and the teeth surfaces of the driven gear are in a disengaged state, the teeth of the gapless flexible cycloid gear are in elastic contact with the teeth surfaces on two sides of the teeth of the driven gear at any time after entering a meshing transmission position, namely, the idle rotation effect between the driving gear and the driven gear is inhibited by the flexible cycloid gear. With the increase of the rotation angle of the rigid cycloidal gear, the gear teeth of the rigid cycloidal gear gradually contact with the other tooth surface of the driven gear and transmit load, the load on the flexible cycloidal gear is not increased any more, and the RV reducer enters a stable reverse rotation stage. The rigid cycloid wheel of the invention plays a bearing role, while the flexible cycloid wheel plays a role in eliminating the gap, thereby eliminating the idling effect. Therefore, the gear tooth meshing impact effect of the RV reducer in the starting, stopping and reversing processes is effectively overcome, the vibration of the RV reducer is reduced, and the power response timeliness of the RV reducer is improved. The clearance variation trend of the parts of the RV reducer can be judged according to the strain data of the flexible cycloid gear detected by the deformation sensing device on the flexible cycloid gear, the running state of the RV reducer is judged according to the variation trend, the load spectrum of the RV reducer is optimized in real time, and the residual service life of the RV reducer is prolonged. The clearance change trend of parts of the RV reducer in the operation process can be automatically recorded, and the service life data of the reducer is fully accumulated.

Drawings

FIG. 1 is a schematic cross-sectional view of an embodiment of the present invention;

FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1;

3a, 3b and 3c are schematic diagrams of contact conditions of the flexible cycloidal gear and the rigid cycloidal gear at different positions and the needle teeth in the process of reversing the eccentric block from the clockwise rotation state to the anticlockwise rotation state;

fig. 4 is a schematic layout diagram of the deformation sensing device on the flexible cycloid wheel according to the embodiment of the invention.

In the figure: 1, a pin gear shell; 1a needle teeth; 2 angular contact ball bearings; 3 rigid cycloid wheel; 4a crankshaft assembly; 4a crankshaft eccentric block; 4b needle roller bearings; 5 a planet carrier assembly member; 6, a flexible cycloid wheel; 7 an input shaft; 8 input pinion gear; 9 wireless deformation sensing means; 10 conical thrust bearing.

Detailed Description

The invention is further illustrated by the following examples and figures.

As shown in fig. 1 and 2, in order to provide an embodiment of a rigid-flexible coupling RV reducer with zero backlash performance according to the present invention, the reducer includes a pin gear housing 1, a pin gear 1a disposed in an inner circle of the pin gear housing 1, an angular contact ball bearing 2, and a carrier assembly 5, a crankshaft assembly 4 disposed in the carrier assembly 5 through a conical thrust bearing 10, and a rigid cycloidal gear 3 mounted on a crankshaft eccentric block 4a through a needle bearing 4b, wherein a crankshaft input end of the crankshaft assembly is in transmission connection with an input shaft 7 through an input pinion 8. When the input shaft 7 rotates, the crankshaft assembly 4 can be driven to rotate, so that the rigid cycloidal gear 3 and the needle teeth 1a realize meshing transmission, and then the transmission is output by the needle gear shell 1.

As shown in figures 1 and 2, because the prior RV reducer has the problems of impact, vibration and the like due to the idle running effect, in order to eliminate the problems, the invention arranges a flexible cycloidal gear 6 on a crankshaft eccentric block 4a in parallel with a rigid cycloidal gear coaxially, the tooth form of the flexible cycloidal gear 6 is the same as that of the rigid cycloidal gear 3, and the diameter of the flexible cycloidal gear 6 is larger than that of the rigid cycloidal gear 3, so that when the cycloidal gear and a needle tooth are in a meshing transmission position, the flexible cycloidal gear 6 can always keep elastic contact with the needle tooth 1a, thereby eliminating the idle running effect. In order to ensure stable and reliable rotation, the flexible cycloid wheel 6 can be set to be of a thin-wall structure. In this embodiment, the ratio of the thickness h to the diameter d of the flexible cycloid wheel is preferably 0.005< h/d <0.01 in order to maintain reasonable elasticity and stiffness. In addition, the flexible cycloid wheel 6 can also be made of a suitable material, for example, a heat-treated alloy steel with high fatigue strength, preferably a normalized 40CrNiMoA steel material, so as to maintain high fatigue strength of the flexible cycloid wheel 6 and ensure long service life. It is also possible to make the clearance between the rigid cycloid wheel 3 and the needle teeth 1a substantially at the meshing transmission position, when the difference between the radius of the flexible cycloid wheel 6 and the radius of the rigid cycloid wheel 3 is made. During installation, the clearance between the crankshaft eccentric mass 4a, the needle bearing 4b and the bearing hole of the flexible cycloid wheel 6 is generally eliminated by interference fit. Through the measures, the flexible cycloid wheel 6 is ensured to achieve the purpose of eliminating the idling effect, and stable transmission and long service life can be ensured.

When the input shaft 7 rotates, the crankshaft assembly 4 is driven to rotate through the input pinion 8, and a power source is transmitted to the cycloidal gear from two crankshaft eccentric blocks 4a of the crankshaft assembly 4, so that the flexible cycloidal gear 6 and the rigid cycloidal gear 3 which are of thin-wall structures are driven to be in meshing transmission with the plurality of needle teeth 1a on the needle gear shell 1. A backlash is left between the rigid cycloid wheel 3 and the needle teeth 1a, while the backlash between the flexible cycloid wheel 6 and the needle teeth 1a is eliminated. Namely, the flexible cycloid wheel 6 has no clearance with the crankshaft eccentric block 4a and the needle teeth 1a all the time, the tooth clearance of the flexible cycloid wheel is zero all the time, and the gear teeth of the flexible cycloid wheel 6 which is engaged and contacted only generates elastic deformation. In the transmission process, the rigid cycloidal gear 3 can enter a bearing state only after the clearance between the crankshaft eccentric block 4a and the needle teeth 1a is eliminated. Meanwhile, the rigid cycloid wheel 3 is not deformed after bearing, and the flexible cycloid wheel 6 is coaxially arranged with the rigid cycloid wheel 3 in parallel, so that after the rigid cycloid wheel 3 plays a bearing role, the deformation of the flexible cycloid wheel 6 is not increased any more, the flexible cycloid wheel 6 is only slightly deformed, and the deformation is determined only by the gap of the rigid cycloid wheel 3.

As shown in fig. 3a, when the RV reducer is loaded and the crankshaft eccentric mass 4a is rotated in a clockwise direction with stability, the rigid cycloid wheel 3 and the flexible cycloid wheel 6 are both completely in contact with the left side surface of the needle teeth 1a, and at this time, the rigid cycloid wheel 3 and the flexible cycloid wheel 6 are both out of contact with the right side surface of the needle teeth 1 a. When the direction of the RV reducer is reversed and the eccentric mass 4a of the crankshaft rotates counterclockwise to reach the neutral position, as shown in fig. 3b, the rigid cycloid gear 3 is out of contact with the left side face of the needle teeth 1a, while the rigid cycloid gear 3 has not yet established contact with the right side face of the needle teeth 1 a. At this time, the flexible cycloid wheel 6 is not out of contact with the left side of the needle teeth 1a on the one hand, and the flexible cycloid wheel 6 has established contact with the right side of the needle teeth 1a on the other hand, due to the deformation recovery effect. As shown in fig. 3c, when the RV reducer is reversed, the rigid cycloid wheel 3 and the flexible cycloid wheel 6 are both completely in contact with the right side of the needle teeth 1a, and at this time, the rigid cycloid wheel 3 and the flexible cycloid wheel 6 are both out of contact with the left side of the needle teeth 1 a. From this, it is understood that the maximum radial deformation of the flexible cycloid gear is determined by the amount of radial clearance between the rigid cycloid gear and the pin gear. In the reversing process of the RV reducer, although the rigid cycloidal gear 3 playing a bearing role still has an idle running effect, the flexible cycloidal gear 6 playing a role of eliminating the backlash is always in a contact state with the needle teeth 1 a. Therefore, the zero backlash RV reducer will not produce commutation shocks during commutation.

When the RV reducer is started, stopped and reversed, the flexible cycloid wheel 6 and the needle tooth 1a are in independent contact, and the flexible cycloid wheel 6 does not bear large load due to elastic deformation, so that the friction temperature between the flexible cycloid wheel 6 and the contact surface of the needle tooth 1a is not high, and the risk of clamping due to thermal expansion between parts is avoided. The rigid cycloid wheel unit plays a bearing role, and the flexible cycloid wheel plays a role in eliminating a gap, so that the idling effect of the RV reducer is eliminated. The gear tooth meshing impact effect of the RV reducer in the processes of starting, stopping and reversing is effectively overcome, the vibration of the RV reducer is reduced, and the power response timeliness of the RV reducer is improved.

As shown in figure 4, a plurality of sets of wireless deformation induction devices 9 are uniformly distributed on the edge of the flexible cycloidal gear 6 in the circumferential direction. Preferably, the wireless deformation sensing devices 9 are eight sets, and each set is arranged at an interval of 45 degrees, so that the strain data of the flexible cycloidal gear 6 can be accurately detected in real time. The number of the wireless deformation sensing devices 9 can be selected according to the requirement, and the wireless deformation sensing devices are uniformly distributed along the circumferential direction, so that the wireless deformation sensing devices can be accurately detected in real time. The maximum deformation amount of the flexible cycloid wheel 6 recorded by the wireless deformation sensing device 9 is a numerical value of the clearance between the rigid cycloid wheel 3 and the needle teeth 1a in the positive and negative rotation processes. With the increase of the service time of the RV reducer, the numerical value recorded by the wireless deformation sensing device 9 changes, so that the change of the clearance state inside the RV reducer is indirectly reflected, and data are provided for the load spectrum planning of the RV reducer, so that the residual service life of the RV reducer is prolonged.

The above description is only to be construed as an illustrative example of the present invention, but not to limit the present invention, and all other embodiments that can be easily conceived based on the above example are also within the scope of the present invention. For example, the structure of the flexible gear is changed, and a flexible gear deformation sensing device and a deformation sensing principle are changed; or changing the mounting position of the flexible gear.