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CN-121993573-A - Double-layer roller rolling movable tooth speed reducer with double-row homodromous eccentric shock wave device

CN121993573ACN 121993573 ACN121993573 ACN 121993573ACN-121993573-A

Abstract

The invention relates to the field of mechanical transmission, and particularly discloses a double-layer roller rolling movable tooth speed reducer with a double-row homodromous eccentric shock wave device. The speed reducer realizes ‌ triple uniform load ‌ mechanism through a set of systematic structure, wherein the first weight average load is realized by the structural layout of a ‌ double-row homodromous eccentric shock absorber and a centrally-mounted main support bearing ‌, so that the periodic subversion moment caused by the traditional reverse eccentric structure is fundamentally eliminated, and the loads of transmission chains on two sides are balanced. The second, triple load balancing is achieved by ‌ rollers with radially elastically deformed mandrels ‌ and ‌ having convexity profiles and their mandrels ‌. Wherein, the oscillating tooth assembly is configured to compensate for uneven circumferential load through elastic deformation of the mandrel, and the convexity design of the rollers or the mandrel enables contact pressure of the rollers at two ends to be even when the mandrel is bent. The structure remarkably reduces the requirement on the processing precision of parts through multiple load balancing synergistic effect, improves the operation stability and reduces the manufacturing cost while keeping high bearing and high efficiency.

Inventors

  • CHEN QIAN
  • ZHANG LIMING

Assignees

  • 苏州冷石传动科技有限公司

Dates

Publication Date
20260508
Application Date
20260316

Claims (9)

  1. 1. The double-layer roller rolling movable tooth speed reducer with the double-row homodromous eccentric shock wave device is characterized by comprising an eccentric shaft assembly (1), a movable tooth frame assembly (2), an inner gear ring assembly (3) and at least one ring of movable tooth assembly (4); The eccentric shaft assembly (1) comprises an eccentric shaft, a main support bearing (107) and a plurality of eccentric shock wave devices, wherein two rows of shock wave devices (108) which are eccentric in the same direction are arranged on the eccentric shaft; The movable tooth assembly (4) is circumferentially arranged in a radial mounting structure of the movable tooth frame assembly (2), and the movable tooth assembly (4) is constructed into a mandrel structure with elastic deformation capacity and is used for compensating uneven load among the movable tooth assemblies (4) and realizing second weight average load; And at least one row of rollers in the movable tooth assembly (4) which are contacted with the shock wave device (108) and the annular gear and/or a supporting mandrel thereof are/is configured to have a preset convexity profile, so that the contact pressure of the rollers at the two ends of the movable tooth assembly (4) is uniformly distributed when the mandrel is subjected to stress bending deformation, and third heavy load is realized.
  2. 2. The double-layer roller rolling oscillating tooth reducer with double-row homodromous eccentric shock wave device according to claim 1, characterized in that the oscillating tooth assembly (4) comprises: a movable tooth collar (401); An upper core shaft (402) and a lower core shaft (404) supported by the oscillating tooth ring (401); Rollers mounted on the upper core shaft (402) and the lower core shaft (404); wherein, upper core shaft (402) and lower core shaft (404) constitute the dabber structure.
  3. 3. A double-layer roller rolling oscillating tooth reducer with double-row homodromous shock absorber according to claim 2, characterized in that the upper core shaft (402) and/or the lower core shaft (404) have a preset elastic deformation amount, so that the upper core shaft and/or the lower core shaft can generate elastic bending deformation for realizing the second weight average load under the working load.
  4. 4. A double-layer roller rolling oscillating tooth reduction gear with double-row co-rotating eccentric shock wave device according to claim 2, wherein said parts with predetermined convexity profile are the outer cylindrical surfaces of the supporting rollers of said upper core shaft (402) and said lower core shaft (404).
  5. 5. The double-layer roller rolling oscillating tooth reducer with the double-row homodromous shock absorber is characterized in that the supporting rollers arranged on the upper core shaft (402) and the lower core shaft (404) are in rolling support through a K-shaped roller pin assembly (403); Wherein, K type bearing pin subassembly (403) is full dress bearing pin structure.
  6. 6. The double-layer roller rolling oscillating tooth reducer with the double-row homodromous shock absorber according to claim 1, wherein the inner gear ring of the inner gear ring assembly (3) is formed by splicing a plurality of circumferentially divided sector sections, and each sector section is fixed on an inner gear ring spacer (306) through a locating pin (304) and a connecting screw (305).
  7. 7. The double-layer roller rolling movable tooth reducer with the double-row homodromous eccentric shock wave device according to claim 1, wherein the movable tooth frame assembly (2) comprises an annular movable tooth frame main body (203) provided with a plurality of radial through grooves distributed along the circumference; The movable rack left end cover (202) and the movable rack right end cover (204) are respectively connected with the two axial ends of the movable rack main body (203) and form a complete radial rectangular groove, and the radial mounting structure is composed of the radial rectangular grooves.
  8. 8.‌ The double-layer roller rolling oscillating tooth reducer with double-row homodromous eccentric shock wave device according to claim 1, further comprising a shock wave device rolling body (102) which is arranged on the shock wave device outline of the eccentric shaft, wherein the shock wave device rolling body (102) is of a full-complement needle roller structure.
  9. 9. A reducer according to claim 1, further comprising a planetary reduction assembly (5) arranged at one axial end of both rows of said eccentric shaft assemblies (1).

Description

Double-layer roller rolling movable tooth speed reducer with double-row homodromous eccentric shock wave device Technical Field The invention relates to the technical field of mechanical transmission, in particular to a double-layer roller rolling movable tooth speed reducer with a double-row homodromous eccentric shock wave device. Background The speed reducer with high precision, high rigidity and high bearing capacity is a key core component of industrial robots and high-end equipment. Currently, RV reducers and cycloidal pin gear reducers dominate in the field of high-load robotic joints. However, the speed reducer has some inherent technical problems that firstly, the transmission principle determines that the pressure angle between the cycloidal gear and the needle teeth is difficult to reduce, so that the eccentric shaft bearing is large in load and easy to damage, sliding friction exists between the needle teeth and the needle tooth shell, abrasion is caused, and the precision life of the speed reducer is limited. Secondly, in order to realize dynamic balance and symmetrical force transmission, the traditional RV reducer and the cycloidal pin gear reducer both adopt two eccentric shafts with 180-degree phase difference to respectively drive two cycloidal gears (or cycloidal gears). However, in operation, due to small manufacturing errors, the two cycloid gears are difficult to ensure complete uniform load, and the overturning moment, vibration and end jump can be periodically generated on the support bearing, so that the movement precision and the overall stability of the robot are not improved. Meanwhile, in order to cope with the subversion moment and ensure the bearing uniformity, the speed reducer has very strict requirements on the machining precision (such as the consistency of the eccentric distance, the shape precision of cycloid gear teeth and the like) of parts, and high manufacturing cost is caused. In order to pursue higher transmission efficiency and longer service life, rolling oscillating tooth reducers have been proposed and developed. The friction loss of the speed reducer can be reduced greatly theoretically by changing sliding contact between the movable teeth and the shock wave device, the movable tooth rack and the sliding contact between the movable teeth and the inner gear ring into rolling contact. However, in the existing rolling movable tooth reducer design, most of the rolling movable tooth reducer designs still use a double eccentric structure with 180 degrees of phase difference of the traditional RV reducer so as to maintain balance of inertia force. This design also gives rise to problems of overturning moment and uneven loading of the two rows of drive chains, and the combined requirements for high load carrying capacity, low manufacturing costs and high running stability remain significantly inadequate in the face of demanding application environments. Disclosure of Invention The invention aims to provide a double-layer roller rolling movable tooth speed reducer with a double-row homodromous eccentric shock wave device, which radically eliminates the subversion moment through structural innovation, realizes multi-stage uniform load, remarkably reduces the requirements on the machining precision of parts while keeping high bearing and high efficiency, achieves the purposes of improving stability, prolonging service life and reducing manufacturing cost, and further solves the problems of subversion moment and uneven double-row load caused by adopting a reverse eccentric structure, high requirements on the machining precision and cost and the like of the rolling movable tooth speed reducer in the prior art. The double-layer roller rolling movable tooth speed reducer with the double-row homodromous eccentric shock wave device comprises an eccentric shaft assembly, a movable tooth rack assembly, an inner gear ring assembly and at least one circle of movable tooth assembly; The eccentric shaft assembly comprises an eccentric shaft, a main support bearing, a first weight-average load and a second weight-average load, wherein the eccentric shaft is provided with two rows of shock wave devices which are eccentric in the same direction; The movable tooth assembly is arranged in a radial mounting structure of the movable tooth frame assembly along the circumferential direction, is constructed into a mandrel structure with elastic deformation capacity and is used for compensating uneven load among the movable tooth assemblies and realizing second weight average load; And at least one row of rollers and/or supporting mandrels thereof in the movable tooth assembly, which are in contact with the shock wave device and the inner gear ring, are configured to have a preset convexity profile, so that the contact pressure of the rollers at the two ends of the movable tooth assembly is uniformly distributed when the mandrels are subjected to stress bending deformation, and third reloading