CN120819621A

CN120819621A - A differential precision bearing cycloid reducer

Info

Publication number: CN120819621A
Application number: CN202511324666.7A
Authority: CN
Inventors: 杨命海; 王明杰; 王新莹; 焦晶明
Original assignee: Luoyang Lyc Automobile Bearing Technology Co ltd
Current assignee: Luoyang Lyc Automobile Bearing Technology Co ltd
Priority date: 2025-09-17
Filing date: 2025-09-17
Publication date: 2025-10-21
Anticipated expiration: 2045-09-17
Also published as: CN120819621B

Abstract

The invention relates to the technical field of speed reduction equipment, in particular to a differential precision bearing cycloidal speed reducer which comprises an input shaft, a rear cover, a shell, an output end and a driving gear, wherein a cam structure is fixedly sleeved on the input shaft, the rear cover is sleeved on the input shaft and is in rotary sealing connection with the input shaft, the shell is sleeved on the input shaft and can be detachably connected with the rear cover, a plurality of first needle teeth are arranged on the inner peripheral wall of the shell, the output end is sleeved on the input shaft and is in rotary sealing connection with the input shaft and the shell, a sealing cavity is formed by surrounding the output end, the rear cover and the shell together, lubricating oil is filled in the sealing cavity, a plurality of second needle teeth are arranged on the inner peripheral wall of the output end, the driving gear is sleeved on the cam structure and is positioned in the sealing cavity, and is in rotary connection with the input shaft, and the driving gear is meshed with the first needle teeth and the second needle teeth. Thereby not only simplifying the structure, but also improving the load capacity.

Description

Cycloidal reducer with differential precision bearing

Technical Field

The invention relates to the technical field of speed reduction equipment, in particular to a cycloidal speed reducer with a differential precision bearing.

Background

In a modern industrial system, the position of a precision speed reducer serving as a core transmission component of mechanical equipment is very important, and the precision speed reducer is like a power transmission center of equipment, and plays a core role in adjusting the power transmission speed and changing the torque in the key fields of precise operation of industrial automatic production lines, efficient coordination of intelligent manufacturing equipment, flexible operation of various robots and the like. The performance of the device directly determines the action precision of the device in the running process, the stability of long-term running and the reliability of coping with complex working conditions.

From the category of classification, common precision speed reducers mainly comprise a turbine worm speed reducer, a planetary gear speed reducer, a common gear speed reducer, a harmonic speed reducer, a bearing cycloidal speed reducer and the like. The precise speed reducers of different types are applicable to different application scenes based on respective unique transmission principles. The bearing cycloidal reducer has been widely used in many industrial fields by virtue of its remarkable advantages in terms of transmission efficiency, bearing capacity, structural adaptability and the like, and is the preferred transmission component of many devices with high requirements on transmission precision and stability.

The core principle of the bearing cycloidal reducer is that the cycloidal pin gear is matched with the eccentric bearing to realize high reduction ratio and high-efficiency transmission. In the related art, as disclosed in chinese patent application CN118564609a, a cycloidal speed reducer with high bearing capacity of full needle is disclosed, and by adopting the design of the cycloidal speed reducer with high bearing capacity of full needle in the speed reducer, the problem of contradiction between the speed reducer body and rigidity of the cooperative robot is solved by utilizing the eccentric wheel part with increased diameter and the cylindrical roller and combining the crossed roller bearing, and higher bearing capacity and smaller space occupation are realized.

However, the existing bearing cycloidal reducer has some problems in the practical use process that firstly, the transmission structure of the existing bearing cycloidal reducer comprises cycloidal gears, pin gears, eccentric bearings and other parts, and the fit clearance and the movement space are reserved, so that the size is limited to be further reduced from the structural design principle, and the equipment miniaturization requirement is difficult to meet. And secondly, the transmission structure has a plurality of meshing and rotating parts, and the transmission structure is easy to generate elastic deformation when bearing load. Furthermore, the multiple components cooperate to form a complex size chain, the longer the size chain is, the more factors influencing the transmission precision are, the link size deviation is amplified by the accumulation effect, and the whole transmission precision is reduced. Finally, various standard components are used in production and manufacture, the manufacturing precision is different, assembly errors are easily generated due to factors such as technology, tools and personnel skills in the assembly process, the manufacturing and assembly errors are overlapped, the whole precision is difficult to guarantee, and the operation precision of precision equipment and the product quality are affected.

Disclosure of Invention

Accordingly, it is necessary to provide a differential precision bearing cycloid speed reducer in order to solve the problem of poor reliability in use of the conventional bearing cycloid speed reducer.

The above purpose is achieved by the following technical scheme:

a differential precision bearing cycloidal reducer, the differential precision bearing cycloidal reducer comprising:

The input shaft can rotate around the axis of the input shaft, and is fixedly sleeved with a cam structure;

The rear cover is sleeved on the input shaft and forms rotary sealing connection with the input shaft;

The shell is sleeved on the input shaft and detachably connected with the rear cover, and a plurality of first needle teeth are fixedly arranged on the inner peripheral wall of the shell;

The output end is sleeved on the input shaft, forms rotary sealing connection with the input shaft and the shell, and can rotate around the axis of the output end; the output end, the input shaft, the rear cover and the shell jointly enclose to form a sealed cavity, and the sealed cavity is filled with lubricating oil;

The driving gear is movably sleeved on the cam structure, is positioned in the sealing cavity, is in rotary connection with the input shaft, and is simultaneously meshed with the first needle teeth and the second needle teeth.

Further, a plurality of cylindrical rollers are arranged between the input shaft and the rear cover, between the input shaft and the driving gear and between the input shaft and the output end, the input shaft, the cylindrical rollers and the rear cover, the input shaft, the cylindrical rollers and the driving gear, the input shaft, the cylindrical rollers and the output end form cylindrical roller bearings, a plurality of crossed rollers are arranged between the output end and the shell, and the output end, the crossed rollers and the shell form crossed roller bearings.

Further, a dynamic balance part is provided on the input shaft, and the dynamic balance part and the small end of the cam structure are arranged opposite to each other and configured to be capable of maintaining dynamic balance of the input shaft.

Further, a dynamic balance total channel is formed in the cam structure, and the dynamic balance total channel is configured to enable the input shaft to keep dynamic balance.

Further, the dynamic balance total channel comprises a plurality of first channels, the first channels are circumferentially distributed and extend along a direction parallel to the axis of the input shaft, two ends of each first channel are respectively communicated with a second channel and a third channel, the second channels and the third channels communicated with the first channels extend along the radial direction of the input shaft and are communicated with the sealing chamber, and the lengths of the second channels and the third channels are different.

Further, a first filtering structure is arranged between the input shaft and the rear cover, the first filtering structure is configured to filter the lubricating oil moving through the second channel, and a second filtering structure is arranged between the input shaft and the output end, and the second filtering structure is configured to filter the lubricating oil moving through the third channel.

Further, the input shaft is of a hollow structure, and the circumferential side wall of the input shaft is provided with a vent hole which is communicated with the inside of the input shaft.

Further, a plurality of radiating fins are fixedly arranged on the inner peripheral wall of the input shaft, and the radiating fins are circumferentially distributed.

Further, the heat dissipation fins are of a strip-shaped structure and extend in a direction parallel to the axis of the input shaft.

Further, the differential precision bearing cycloidal reducer further comprises a cold air source, wherein the cold air source is configured to enable air with a preset temperature to be introduced into the input shaft through the vent hole, and the air with the preset temperature is configured to enable the air with the preset temperature to absorb heat of the input shaft.

The beneficial effects of the invention are as follows:

The invention relates to a cycloidal reducer with a differential precision bearing, which is characterized in that an input shaft, a rear cover, an input shaft, a driving gear, an input shaft and an output end are arranged to form a cylindrical roller bearing, an inner ring and an outer ring of the cylindrical roller bearing are replaced by adopting the structure, the output end and a shell are arranged to form a crossed roller bearing, the inner ring of the crossed roller bearing is replaced by the output end, and the outer ring is replaced by the shell, so that the number of parts can be reduced, the length of a dimension chain and the assembly difficulty can be reduced, the assembly precision can be improved, the weight of the reducer can be reduced, the overall dimension of the reducer can be reduced, and the load capacity can be improved. Meanwhile, by setting the processing of the bearing roller path and the pin gear common reference surface, the high-precision standard of coaxiality in a preset range is realized, and the assembly error is eliminated from the source. In addition, through optimizing the matching relation between the bearing support rigidity and the needle tooth deformation, the rigidity gradient difference is ensured to be smaller than a preset percentage, and the rigidity and the stability of the whole structure are improved.

Further, by arranging the dynamic balance part and utilizing the weight and the position characteristics of the dynamic balance part, the gravity center offset brought by the cam structure to the input shaft can be counteracted, so that the dynamic balance of the input shaft can be realized, and the stability of the input shaft during rotation can be improved.

Furthermore, the first channel, the second channel and the third channel are formed in the small end of the cam structure, so that dynamic balance of the input shaft can be achieved, compared with an existing cycloidal pin gear structure, additional torque can be prevented from being introduced, and lubricating oil in the sealing cavity can flow due to the fact that the lengths of the second channel and the third channel are unequal, and the lubricating effect on all parts in the speed reducer is improved.

Further, through setting up first filtration and second filtration, can realize the filtration to lubricating oil, do benefit to the influence that impurity in the lubricating oil operated to each spare part in the speed reducer.

Further, through setting up the input shaft to hollow structure to set up the air vent on the circumference lateral wall of input shaft, when the input shaft rotates, make the inside air of input shaft accessible air vent and external air exchange, thereby can realize the heat dissipation to the input shaft, and then both do benefit to the temperature that reduces each spare part in the speed reducer, do benefit to each spare part operating stability in the improvement speed reducer again.

Furthermore, by arranging the radiating fins, the contact area between the air and the input shaft is increased, and the radiating efficiency of the input shaft is further improved.

Further, by arranging the cold air source, the temperature of the air which is introduced into the input shaft is lower, and the temperature difference between the air and the input shaft is larger, so that the heat dissipation efficiency of the input shaft is improved.

Drawings

Fig. 1 is a schematic perspective view of a cycloidal reducer with differential precision bearings according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of a three-dimensional cross-sectional structure of a cycloidal reducer with differential precision bearings according to an embodiment of the present invention;

FIG. 3 is a schematic view of a partial enlarged structure at Y in FIG. 2;

FIG. 4 is a schematic view of the structure of FIG. 3 in enlarged detail at Z;

Fig. 5 is a schematic diagram of a three-dimensional structure of an input shaft of a cycloidal reducer with differential precision bearings according to an embodiment of the present invention;

Fig. 6 is a schematic perspective view of a rear cover of a cycloidal reducer with differential precision bearings according to an embodiment of the present invention;

fig. 7 is a schematic diagram of a three-dimensional cross-sectional structure of a housing of a differential precision bearing cycloidal reducer according to an embodiment of the present invention;

fig. 8 is a schematic diagram of a three-dimensional cross-sectional structure of an output end of a cycloidal reducer with a differential precision bearing according to an embodiment of the present invention;

Fig. 9 is a schematic perspective view of a driving gear of a cycloidal reducer with differential precision bearings according to an embodiment of the present invention;

Fig. 10 is a schematic diagram of a three-dimensional structure of an input shaft of a cycloidal reducer with differential precision bearings according to an embodiment of the present invention.

Wherein:

1. The device comprises an input shaft, 101, a cam structure, 1011, a first channel, 1012, a second channel, 1013, a third channel, 102, a vent hole, 103, heat radiation fins, 104, a first annular table, 105, a third annular table, 106 and a balancing weight;

2. Rear cover, second ring table, first flange, 2021, sealing ring, 2022 and communication hole;

3. A housing; 301, a first needle tooth, 302, a second flange, 303, a mounting hole, 304 and a plug;

4. the output end, 401, second needle teeth, 402, fourth ring table;

5. Sealing the chamber;

6. a drive gear;

7. a cylindrical roller;

8. a cross roller;

9. a first filter ring;

10. a second filter ring;

11. A first seal ring;

12. A second seal ring;

13. a third annular space;

14. A third seal ring;

15. And (5) plugging the rod.

Detailed Description

The present invention will be further described in detail below with reference to examples, which are provided to illustrate the objects, technical solutions and advantages of the present invention. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

The numbering of components herein, such as "first," "second," etc., is used merely to distinguish between the described objects and does not have any sequential or technical meaning. The terms "connected," "coupled," and "connected," as used herein, unless otherwise indicated, are defined as connected and coupled directly or indirectly. In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

The existing bearing cycloidal reducer still has some problems to be solved in practical industrial application, firstly, in terms of volume, as the transmission structure of the existing bearing cycloidal reducer needs to comprise a plurality of key components such as cycloidal gears, pin gears and eccentric bearings, and certain fit clearances and movement spaces are reserved among the components, the overall volume of the existing bearing cycloidal reducer is difficult to be further and greatly reduced from the structural design principle, and certain limitation is formed in application scenes with high requirements on equipment miniaturization.

Secondly, in terms of rigidity and strength, there are many meshing parts and rotating parts in the transmission structure of the bearing cycloid speed reducer, and when the parts bear a large load, elastic deformation is easily generated. In the mechanical principle, the rigidity of the whole structure is comprehensively influenced by the rigidity of each part due to the serial transmission of a plurality of parts, the rigidity of any part is possibly reduced due to the insufficient rigidity, and meanwhile, fatigue damage is easy to occur to the key parts due to long-term load action and alternating stress, so that the strength of the whole structure is influenced, and the service life and the running stability of the speed reducer are further reduced.

Furthermore, in terms of the dimensional chain, the transmission process of the bearing cycloidal reducer involves the cooperative work of a plurality of components, and the dimensional precision and the mounting position precision of each component jointly form a complex dimensional chain. From the principle analysis of the size chain, the longer the size chain, the more factors influencing the final transmission precision, the size deviation of any one link can be amplified by the cumulative effect of the size chain, and the overall transmission precision is reduced.

Finally, in terms of precision assurance, in the production and manufacturing process of the existing bearing cycloid speed reducer, various standard components are required to be used, and the manufacturing precision of different standard components has certain difference. Meanwhile, in the assembly process, assembly errors are inevitably generated due to the influence of factors such as an assembly process, an assembly tool, and an operator skill level. The manufacturing errors and the assembly errors of the standard components are overlapped with each other, so that the overall precision of the speed reducer is difficult to be effectively ensured in principle, and the operation precision and the product quality of equipment can be influenced in the application of precision equipment with extremely high requirements on the transmission precision.

Based on the above, the embodiment of the invention provides a differential precision bearing cycloidal reducer which is particularly suitable for the fields of industrial automation, intelligent manufacturing, robots and the like.

Specifically, referring to fig. 1 to 10, in the differential precision bearing cycloid reducer provided by the embodiment of the invention, the differential precision bearing cycloid reducer is provided with an input shaft 1, wherein the input shaft 1 can rotate around an axis of the input shaft 1 and is configured to receive power input into the differential precision bearing cycloid reducer, a cam structure 101 is fixedly sleeved on the input shaft 1, the cam structure 101 is provided with a large end and a small end, and the large end of the cam structure 101 and the input shaft 1 are coaxially arranged. The input shaft 1 is also sleeved with a rear cover 2, and the rear cover 2 is of an annular structure, is coaxial with the input shaft 1 and is arranged at intervals. The input shaft 1 is fixedly sleeved with a first annular table 104, the first annular table 104 is positioned above the cam structure 101, the inner peripheral wall of the rear cover 2 is coaxially and fixedly provided with a second annular table 201, and the second annular table 201 is positioned above the first annular table 104.

The first annular table 104, the second annular table 201, the input shaft 1 and the rear cover 2 are jointly surrounded to form a first annular space, a plurality of cylindrical rollers 7 are inserted in the first annular space, the cylindrical rollers 7 are uniformly distributed along the circumferential direction and are parallel to the input shaft 1, two ends of each cylindrical roller 7 are respectively clamped by the first annular table 104 and the second annular table 201 to avoid axial runout, the circumferential side wall of each cylindrical roller 7 simultaneously forms rolling friction contact with the outer circumferential wall of the input shaft 1 and the inner circumferential wall of the rear cover 2, so that the cylindrical rollers 7 can rotate around the axis of the cylindrical roller 7 and also can rotate around the axis of the input shaft 1, the inner ring of each cylindrical roller bearing is replaced by the input shaft 1, the outer ring of each cylindrical roller bearing is replaced by the rear cover 2, a first sealing ring 11 is sleeved on the input shaft 1, the first sealing ring 11 is simultaneously positioned on the inner side of the rear cover 2 and forms circumferential surface contact with the inner circumferential wall of the rear cover 2, the circumferential surface contact is placed on the top of the second annular table 201, and accordingly the cylindrical rollers 7 can rotate around the axis of the input shaft 1, the second annular table and the rear cover 2 are connected with the cylindrical rollers 7 and the rear cover 2 in a sealing mode, and the first sealing ring 11 and the second sealing ring 2 are jointly connected with the input shaft 2 and the rear cover 2 in a rotating mode.

The rear cover 2 is also coaxially and fixedly sleeved with a first flange 202, and a sealing ring 2021 is coaxially and fixedly arranged at the outer edge of the bottom of the first flange 202. The input shaft 1 is further sleeved with a shell 3, the shell 3 is of an annular structure, is coaxial with the input shaft 1 and is arranged at intervals, the shell 3 is located below the rear cover 2, the top end of the shell 3 is located on the inner side of the sealing ring 2021, the top end face of the shell 3 is abutted to the bottom of the first flange 202, circumferential surface contact is formed, detachable connection is formed through bolts, the outer peripheral wall of the shell 3, which is close to the top, is abutted to the inner peripheral wall of the sealing ring 2021, circumferential surface contact is formed, tightness is guaranteed, the position of the shell 3, which is close to the middle, is fixedly sleeved with a second flange 302, and the second flange 302 is used for being connected with an external structure through bolts so as to fix the position of the speed reducer.

The input shaft 1 is also sleeved with an output end 4, the output end 4 is of an annular structure, is coaxial with the input shaft 1 and is arranged at intervals, the output end 4 is positioned below the rear cover 2 and inside the shell 3 and can rotate around the axis of the shell, and the output end 4 is configured to be capable of outputting the decelerated power outwards; a third annular table 105 is fixedly sleeved on the input shaft 1, and the third annular table 105 is positioned below the cam structure 101; a fourth annular table 402 is coaxially and fixedly arranged on the inner peripheral wall of the output end 4, and the fourth annular table 402 is positioned below the third annular table 105; the third annular table 105, the fourth annular table 402, the input shaft 1 and the output end 4 are jointly surrounded to form a second annular space, a plurality of cylindrical rollers 7 are inserted in the second annular space, the cylindrical rollers 7 are uniformly distributed along the circumferential direction and are parallel to the input shaft 1, two ends of each cylindrical roller 7 are respectively clamped by the third annular table 105 and the fourth annular table 402 to avoid axial runout, the circumferential side wall of each cylindrical roller 7 forms rolling friction contact with the outer circumferential wall of the input shaft 1 and the inner circumferential wall of the output end 4 at the same time, the cylindrical rollers 7 can rotate around the axis of the cylindrical roller 7 and the axis of the input shaft 1, the inner ring of each cylindrical roller bearing is replaced by the input shaft 1, the outer ring of each cylindrical roller bearing is replaced by the output end 4, a second sealing ring 12 is sleeved on the input shaft 1, the second sealing ring 12 is simultaneously positioned at the inner side of the output end 4 and forms circumferential surface contact with the inner circumferential wall of the output end 4, the cylindrical rollers are placed at the bottom of the fourth annular table 402, accordingly, the cylindrical rollers 7 can rotate around the axis of the input shaft 1, the fourth annular table and the output end 4 are jointly acted by the cylindrical rollers 7 and the second sealing ring 12, the input shaft 1 and the output 4 form a rotary sealing connection.

A third annular space 13 is formed between the outer peripheral wall of the output end 4 and the inner peripheral wall of the shell 3, the third annular space 13 is of a conical annular structure, a small opening is arranged on the upper half part of the third annular space 13 and is embedded into the outer peripheral wall of the output end 4, the lower half part of the third annular space 13 is embedded into the inner peripheral wall of the shell 3, a plurality of crossed rollers 8 are inserted into the third annular space 13, the crossed rollers 8 are uniformly distributed along the circumferential direction, adjacent crossed rollers 8 are arranged in a crossed mode, a separation seat is arranged between the crossed rollers, the separation seat is wrapped on part of the circumferential side walls of the crossed rollers 8, the inclination direction of one crossed roller 8 in the adjacent crossed rollers 8 is the same as that of the third annular space 13, and the crossed rollers 8 form rolling friction contact with the outer peripheral wall of the output end 4 and the inner peripheral wall of the shell 3 at the same time, so that the crossed rollers 8 can rotate around the axis of the input shaft 1, the crossed rollers 8, the separation seat and the output end 4 jointly form a crossed bearing, and the inner ring of the crossed roller bearing is replaced by the output end 4, and the outer ring of the shell 3. A third sealing ring 14 is sleeved on the output end 4, and the third sealing ring 14 is positioned at the inner side of the shell 3 and below the crossed roller 8, so that the shell 3 and the output end 4 are sealed. Under the combined action of the first sealing ring 11, the second sealing ring 12 and the third sealing ring 14, the input shaft 1, the rear cover 2, the shell 3 and the output end 4 jointly enclose a sealing chamber 5, and the sealing chamber 5 is filled with lubricating oil, and the lubricating oil is used for lubricating all moving parts in the sealing chamber 5, such as the input shaft 1, the output end 4, the cylindrical rollers 7, the crossed rollers 8 and the like.

In order to install the cross roller 8 and the partition seat, the circumferential side wall of the housing 3 is perforated with an installation hole 303, and a plug 304 is plugged at the installation hole 303, when the cross roller 8 and the partition seat are installed, the plug 304 is firstly detached, then the cross roller 8 and the partition seat are plugged into the third annular space 13 through the installation hole 303, and then the plug 304 is plugged at the installation hole 303, so that lubricating oil is prevented from leaking from the installation hole 303.

A driving gear 6 is movably inserted in a sealing cavity 5, the driving gear 6 is located between a rear cover 2 and an output end 4 along the up-down direction, is located between an input shaft 1 and a shell 3 along the inner-outer direction, is coaxial with the input shaft 1 and is distributed at intervals, the driving gear 6 is sleeved on a cam structure 101 at the same time, the upper end face is in circumferential surface contact with the bottom of a first flange 202, the lower end face is in circumferential surface contact with the top of the output end 4, a plurality of cylindrical rollers 7 are inserted between the driving gear 6 and the cam structure 101, the cylindrical rollers 7 are uniformly distributed along the outer edge of the cam structure 101 and are parallel to the input shaft 1, two end parts of each cylindrical roller 7 are respectively clamped by a first annular table 104 and a third annular table 105, axial runout is avoided, the circumferential side wall of each cylindrical roller 7 is simultaneously in rolling friction contact with the outer circumferential wall of the cam structure 101 and the inner circumferential wall of the driving gear 6, the cylindrical rollers 7 can rotate around the axis of the input shaft 1, the cylindrical rollers 7 and the driving gear 6 can rotate around the axis of the input shaft 1, the cylindrical rollers 1 and the cylindrical rollers 6 form cylindrical bearings together, the cylindrical rollers 6 are replaced by the inner ring 6 of the driving gear 6, and the driving gear 1 is replaced by the driving roller 6.

A plurality of first needle teeth 301 are fixedly arranged on the inner peripheral wall, close to the top, of the shell 3, the first needle teeth 301 are of columnar structures and are arranged in parallel with the shell 3, and the plurality of first needle teeth 301 are uniformly distributed along the circumferential direction and are partially embedded into the inner peripheral wall of the shell 3. A plurality of second needle teeth 401 are fixedly arranged on the inner peripheral wall of the output end 4 close to the top, the second needle teeth 401 are of columnar structures and are arranged in parallel with the output end 4, the plurality of second needle teeth 401 are uniformly distributed along the circumferential direction and are partially embedded into the inner peripheral wall of the output end 4, the second needle teeth 401 are arranged inwards and downwards than the first needle teeth 301, and the driving gear 6 is meshed with the first needle teeth 301 and the second needle teeth 401 simultaneously.

In use, power is input to the input shaft 1 to drive the input shaft 1 to rotate about its own axis. When the input shaft 1 rotates, on one hand, the cylindrical roller 7 between the side drive input shaft 1 and the rear cover 2 rotates around the axis of the cylindrical roller 7 synchronously rotates around the axis of the input shaft 1, and on the other hand, the cylindrical roller 7 synchronously drives the cam structure 101 to rotate. When the cam structure 101 rotates, on the one hand, the cylindrical roller 7 between the side-drive cam structure 101 and the drive gear 6 rotates around the own axis, and the cylindrical roller 7 rotates around the axis of the input shaft 1 synchronously, and on the other hand, the side-drive gear 6 rotates around the own axis, and the side-drive gear 6 rotates around the axis of the input shaft 1. When the driving gear 6 rotates, the output end 4 is synchronously driven to rotate around the axis of the driving gear under the meshing action of the first needle gear 301 and the second needle gear 401, and the output end 4 synchronously outputs the power after deceleration. When the output end 4 rotates, on one hand, the cylindrical roller 7 between the output end 4 and the input shaft 1 is driven to rotate around the axis of the input shaft 1, on the other hand, the crossed roller 8 with the same inclination direction as that of the third annular space 13 in the adjacent crossed roller 8 is driven to rotate around the axis of the input shaft 1, the crossed roller 8 synchronously rotates around the axis of the input shaft 1, the other crossed roller 8 synchronously rotates around the axis of the input shaft 1, and the separating seat synchronously rotates around the axis of the input shaft 1.

Therefore, the inner ring and the outer ring of the cylindrical roller bearing are not additionally arranged at the matching position of the input shaft 1 and the rear cover 2, the input shaft 1 and the driving gear 6, and the matching position of the input shaft 1 and the output end 4, the input shaft 1 is directly used as a substitute structure of the inner ring of the cylindrical roller bearing, and the rear cover 2, the driving gear 6 and the output end 4 are respectively used as substitute structures of the outer ring of the cylindrical roller bearing at corresponding positions. By embedding the cylindrical rollers 7 in the respective fit-up gaps, the transmission member is made to simultaneously assume the supporting function of the cylindrical roller bearing. The number of the cylindrical roller bearings is reduced, the length of a dimension chain is shortened, the supporting and transmission functions which are originally realized through the serial connection matching of a plurality of groups of cylindrical roller bearings and transmission parts are finished through a single matching structure, the error superposition during the assembly of the plurality of parts is avoided, and meanwhile, the reserved gaps and the installation space between the parts are reduced, so that the overall dimension is reduced while the overall weight is lightened.

At the matching position of the output end 4 and the shell 3, the design of the traditional independent crossed roller bearing is abandoned, the output end 4 is used as the inner ring of the crossed roller bearing, the shell 3 is used as the outer ring of the crossed roller bearing, and the crossed roller 8 and the separation seat are directly embedded in a conical annular gap formed by the two. The structure not only reserves the advantages of the crossed roller bearing in bearing capacity, but also reduces the installation steps of the crossed roller bearing through component replacement, so that the transmission of the output end 4 and the fixed support of the shell 3 form close coordination, the space layout is further optimized, and the compactness of the whole structure is improved.

Meanwhile, during the machining of the housing 3 and the output end 4, the inner peripheral raceway of the housing 3 (for mounting the cross roller 8) and the mounting groove of the first pin 301, and the outer peripheral raceway of the output end 4 (for mounting the cross roller 8) and the mounting groove of the second pin 401 are synchronously machined on the same reference plane. The machining mode ensures the high consistency of the geometric positions of the bearing roller path and the needle teeth, so that the axes of the bearing roller path and the needle teeth are completely overlapped, and coaxiality errors caused by reference difference are avoided from the source.

In addition, when a load acts on the output end 4 and the drive gear 6, the supporting deformation of the bearing and the meshing deformation of the needle teeth can compensate each other, and local stress concentration is avoided. For example, when the driving gear 6 is engaged with the needle teeth to bear force, the tiny deformation generated by the needle teeth can be buffered through moderate deformation of the bearing, otherwise, the supporting deformation of the bearing can be balanced through rigidity adjustment of the needle teeth, so that structural damage caused by local excessive deformation is reduced, and the rigidity and the running stability of the whole structure are obviously improved.

In a further embodiment, the presence of the cam structure 101 causes the center of gravity of the input shaft 1 and the cam structure 101 as a whole to be biased to the small end side of the cam structure 101, affecting the dynamic balance when the input shaft 1 rotates.

Based on this, in the differential precision bearing cycloid reducer provided in the embodiment of the present invention, a dynamic balance portion is further provided on the input shaft 1, the dynamic balance portion may be provided as a balancing weight 106, and the balancing weight 106 is in a circular arc structure, is disposed opposite to the small end of the cam structure 101, and is disposed coaxially with the input shaft 1. In this way, the center of gravity of the whole input shaft 1, the cam structure 101 and the balancing weight 106 are overlapped with the axis of the input shaft 1, so that the dynamic balance of the input shaft 1 can be realized, and the stability of the input shaft 1 during rotation can be improved.

In other embodiments, in order to realize dynamic balance of the input shaft 1, a dynamic balance total channel may be set in the cam structure 101, and the dynamic balance total channel may be set as a single cavity structure or a combination of multiple cavity structures, so as to adjust the mass distribution of the input shaft 1 and the cam structure 101, so that the gravity centers of the input shaft 1 and the cam structure are overlapped with the axis of the input shaft 1, and thus unbalanced centrifugal force generated by gravity center offset is fundamentally eliminated, and further dynamic balance of the input shaft 1 can be realized, and stability of the input shaft 1 during rotation is improved.

Meanwhile, in the conventional cycloidal pin gear structure, in order to realize dynamic balance of the input shaft 1, two eccentric parts, such as an eccentric sleeve/bearing scheme, are generally arranged, wherein the two eccentric sleeves/bearings are fixedly sleeved on the input shaft 1 and are eccentric to the input shaft 1, and the eccentric ends are arranged oppositely, so that the overall gravity centers of the input shaft 1 and the two eccentric sleeves/bearings are overlapped with the axis of the input shaft 1, and the dynamic balance of the input shaft 1 is realized. However, this structure causes a new stability problem during the rotation of the input shaft 1 due to the fact that the two eccentric sleeves/bearings need to be axially arranged along the input shaft 1, namely, the centrifugal forces generated by the two eccentric sleeves/bearings are opposite in direction, but a pair of opposite and non-collinear forces are formed due to the spacing along the axial direction, and according to the mechanics principle, the non-collinear opposite forces generate additional torque (i.e. couple moment) on the input shaft 1. The additional torque can cause periodic torsional vibration of the input shaft 1 in the rotation process, damage the rotation stability of the input shaft 1, and especially when the input shaft rotates at a high speed or bears load, the vibration can be further amplified, so that the fit clearance between the input shaft 1 and peripheral components can be fluctuated, even abnormal abrasion among the components is caused, and the overall transmission precision and the service life are influenced.

Compared with the traditional structure, the dynamic balance total channel is provided with the double eccentric parts which are axially distributed in the traditional structure, so that extra torque formed by non-collinear reverse centrifugal force is not generated, additional load brought by the extra torque is not needed to bear, stability and reliability of the input shaft 1 during rotation can be effectively improved, and the precision and the service life of the whole transmission system can be guaranteed.

In a further embodiment, the dynamic balance total channel is configured to include a plurality of first channels 1011, the plurality of first channels 1011 are arranged at equal intervals along the circumferential direction of the input shaft 1 and all extend along the direction parallel to the axis of the input shaft 1, the plurality of first channels 1011 form an arc structure, the first channels 1011 extend upwards to the first annular table 104 and penetrate downwards through the lower end face of the input shaft 1, a blocking rod 15 is blocked at the bottom of each first channel 1011, the blocking rod 15 is arranged, so that the lubricating oil is conveniently added into the sealing chamber 5 from the first channels 1011, the sealing chamber 5 is conveniently isolated from the outside after the lubricating oil fills the sealing chamber 5, the lubricating oil in the sealing chamber 5 is prevented from leaking from the bottom of the first channels 1011, the upper end of each first channel 1011 is communicated with a second channel 1012, the second channel 1012 extends along the radial direction of the input shaft 1 and penetrates outwards through the first annular table 104 and is communicated with the sealing chamber 5, the lower end of each first channel 1011 is communicated with a third channel 1013, the third channel 1013 extends along the radial direction of the input shaft 1 and penetrates outwards through the third annular table 105 and is communicated with the sealing chamber 5, and the length of the third channel 1013 is communicated with the sealing chamber 5.

During the rotation of the input shaft 1, the lubricating oil in the second channel 1012 and the third channel 1013 has the same angular velocity as the input shaft 1, and is influenced by centrifugal force, the lubricating oil in the second channel 1012 and the third channel 1013 all have outward flow and have a tendency to flow into the sealing chamber 5, and since the length of the second channel 1012 is longer than that of the third channel 1013, the linear velocity of the lubricating oil flowing out of the outer end part of the second channel 1012 is larger than that of the lubricating oil flowing out of the outer end part of the third channel 1013, and the kinetic energy of the lubricating oil is larger, so that the lubricating oil can be forced to form a circulation flow path of the second channel 1012, the sealing chamber 5, the third channel 1013, the first channel 1011 and the second channel 1012, thereby being beneficial to improving the lubricating effect on each part in the speed reducer.

It can be appreciated that, in order to improve the circulation efficiency of the lubricating oil on the inner side and the outer side of the driving gear 6, a plurality of communication holes 2022 are formed on the bottom side wall of the first flange 202, the plurality of communication holes 2022 are circumferentially arranged, and the communication holes 2022 communicate with the inner side and the outer side of the driving gear 6, so that the lubricating oil forms a circulation flow path of the second channel 1012, the sealing chamber 5, the communication holes 2022, the third channel 1013, the first channel 1011 and the second channel 1012.

It should be noted that, in order to ensure dynamic balance of the input shaft 1, before the lubricating oil fills the seal chamber 5, the cam structure 101 provided with the dynamic balance total channel cannot keep dynamic balance of the input shaft 1, and at this time, the overall center of gravity of the cam structure 101 and the input shaft 1 is still deviated from the axis of the input shaft 1, so that after the lubricating oil fills the seal chamber 5, the center of gravity of the cam structure 101, the lubricating oil in the dynamic balance total channel and the overall center of gravity of the input shaft 1 can coincide with the axis of the input shaft 1, thereby realizing dynamic balance of the input shaft 1.

It should be further noted that, since the dynamic balance total channel is mainly formed on one side of the small end of the cam structure 101, and the small end of the cam structure 101 is a main position for driving the driving gear 6 to mesh with the first pin gear 301 and the second pin gear 401, so as to ensure that lubricating oil can lubricate the meshing position between the driving gear 6 and the first pin gear 301 and between the driving gear 6 and the second pin gear 401 in time, dry friction between the driving gear 6 and meshing positions with the first pin gear 301 and the second pin gear 401 is effectively reduced, tooth surface abrasion degree is reduced, service life of parts is prolonged, and meanwhile, problems of meshing noise and transmission efficiency reduction caused by insufficient lubrication are avoided.

In a further embodiment, in order to improve the lubrication effect on each component in the speed reducer, a first filtering structure is arranged between the input shaft 1 and the rear cover 2, the first filtering structure can be arranged as a first filtering ring 9, the first filtering ring 9 is coaxially and fixedly inserted on the inner peripheral wall of the first flange 202 and is positioned below the second channel 1012, a plurality of first filtering holes are arranged on the end face of the first filtering ring 9, the first filtering holes are used for filtering lubricating oil flowing out of the second channel 1012 into the sealing chamber 5, so that the influence of impurities in the lubricating oil on the operation of each component in the speed reducer is reduced, the inner edge of the first filtering ring 9 and the cam structure 101 are arranged at intervals, the rotation abrasion is avoided, a second filtering structure is arranged between the input shaft 1 and the output end 4, the second filtering structure can be arranged as a second filtering ring 10, the second filtering ring 10 is in a conical structure, the small opening is arranged at the upper end of the second filtering ring 10 is sleeved on the outer periphery of the third ring 105, the first filtering ring 1013 is positioned above the second channel 1012, the impurities in the lubricating oil flow out of the sealing chamber 5 are beneficial to reduce the influence of the impurities in the lubricating oil on the operation of each component in the speed reducer, the speed reducer is arranged at intervals, the inner edge of the cam structure 101 is arranged between the inner edge of the first filtering ring 9 and the input shaft 1 and the output end 4, the second filtering structure is arranged at the small opening is arranged at the lower end of the same, the second filtering hole is in the second filtering hole, the second filtering structure is arranged at the upper end of the speed reducer, and is beneficial to be arranged at the lower than the end, and is in the sealing hole, and is convenient to have the lower end, and is arranged.

In other embodiments, in order to improve the heat dissipation effect on each component in the speed reducer, the input shaft 1 is provided with a hollow structure, and the circumferential side wall of the input shaft 1 near the top is provided with a vent hole 102, wherein the vent hole 102 is communicated with the interior of the input shaft 1. Thus, when the input shaft 1 rotates, the air in the input shaft 1 can be exchanged with the external air through the vent hole 102, so that the heat dissipation of the input shaft 1 can be realized, the temperature of each part in the speed reducer can be reduced, and the running stability of each part in the speed reducer can be improved.

It will be appreciated that, to improve the exchange efficiency between the air inside the input shaft 1 and the air in the external environment, and further improve the heat dissipation efficiency of the input shaft 1, a plurality of ventilation holes 102 may be provided and arranged circumferentially.

In a further embodiment, to further improve the heat dissipation effect on each component in the speed reducer, a plurality of heat dissipation fins 103 may be fixedly disposed on the inner peripheral wall of the input shaft 1, and the plurality of heat dissipation fins 103 are arranged along the circumferential direction. In this way, the contact area between the air and the input shaft 1 can be increased by the heat dissipation fins 103, so that the heat dissipation efficiency of the input shaft 1 can be improved, and the heat dissipation effect of each part in the speed reducer can be further improved.

It will be appreciated that the heat sink fins 103 may be provided in a bar-like configuration and extend in a direction parallel to the axis of the input shaft 1.

In other embodiments, in order to further improve the heat dissipation effect on each part in the speed reducer, the cycloid speed reducer with the differential precision bearing may also include a cold air source, where the cold air source may be an air conditioner, a refrigerating unit, etc., and the cold air source may be configured to enable air with a preset temperature to be introduced into the input shaft 1 through the air hole 102, so that the temperature of the air introduced into the input shaft 1 is lower, and the temperature difference between the air and the input shaft 1 is further greater, thereby improving the heat dissipation efficiency of the input shaft 1, and further improving the heat dissipation effect on each part in the speed reducer.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the present invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.

Claims

1. A differential precision bearing cycloid reducer, characterized in that the differential precision bearing cycloid reducer comprises:

An input shaft is capable of rotating around its own axis; a cam structure is fixedly sleeved on the input shaft;

a rear cover, sleeved on the input shaft and forming a rotationally sealed connection with the input shaft;

a housing, sleeved on the input shaft and detachably connected to the rear cover, wherein a plurality of first needle teeth are fixedly provided on the inner peripheral wall of the housing;

The output end is sleeved on the input shaft and simultaneously forms a rotationally sealed connection with the input shaft and the housing, and is capable of rotating around its own axis; the output end, the input shaft, the rear cover, and the housing together surround a sealed chamber, and the sealed chamber is filled with lubricating oil; a plurality of second needle teeth are fixedly provided on the inner peripheral wall of the output end;

A driving gear is movably sleeved on the cam structure, is located in the sealed chamber, and is rotationally connected to the input shaft. The driving gear is simultaneously engaged with the first needle teeth and the second needle teeth.

2. The differential precision bearing cycloid reducer according to claim 1 is characterized in that a plurality of cylindrical rollers are arranged between the input shaft and the rear cover, between the input shaft and the drive gear, and between the input shaft and the output end, and the input shaft, the cylindrical rollers and the rear cover, the input shaft, the cylindrical rollers and the drive gear, the input shaft, the cylindrical rollers and the output end all form cylindrical roller bearings; a plurality of cross rollers are arranged between the output end and the housing, and the output end, the cross rollers and the housing form a cross roller bearing.

3. The differential precision bearing cycloid reducer according to claim 1, characterized in that a dynamic balancing part is provided on the input shaft, the dynamic balancing part and the small end of the cam structure are arranged relative to each other, and are configured to enable the input shaft to maintain dynamic balance.

4. The differential precision bearing cycloid reducer according to claim 1, wherein a dynamic balancing main channel is opened in the cam structure, and the dynamic balancing main channel is configured to enable the input shaft to maintain dynamic balance.

5. The differential precision bearing cycloid reducer according to claim 4 is characterized in that the dynamic balancing main channel includes a plurality of first channels, the plurality of first channels are arranged along the circumferential direction, and all extend in a direction parallel to the axis of the input shaft; the two ends of each first channel are respectively connected to a second channel and a third channel, the second channel and the third channel connected to the same first channel both extend in the radial direction of the input shaft and are both connected to the sealed chamber; the lengths of the second channel and the third channel are different.

6. The differential precision bearing cycloid reducer according to claim 5, characterized in that a first filter structure is provided between the input shaft and the rear cover, and the first filter structure is configured to filter the lubricating oil moving through the second channel; a second filter structure is provided between the input shaft and the output end, and the second filter structure is configured to filter the lubricating oil moving through the third channel.

7. The differential precision bearing cycloid reducer according to claim 1, wherein the input shaft is a hollow structure; a vent hole is opened on the circumferential side wall of the input shaft, and the vent hole is connected to the interior of the input shaft.

8 . The differential precision bearing cycloid reducer according to claim 7 , wherein a plurality of heat dissipation fins are fixedly provided on the inner peripheral wall of the input shaft, and the plurality of heat dissipation fins are arranged along the circumferential direction.

9 . The differential precision bearing cycloid reducer according to claim 8 , wherein the heat dissipation fins are strip-shaped structures and extend in a direction parallel to the axis of the input shaft.

10. The differential precision bearing cycloid reducer according to claim 7 is characterized in that the differential precision bearing cycloid reducer also includes a cold air source, which is configured to pass gas with a preset temperature into the interior of the input shaft through the vent hole; the gas with a preset temperature is configured to absorb heat from the input shaft.