CN103291846B - Small tooth difference planetary transmission device adopting pin hole output and provided with adjustable clearance - Google Patents
Small tooth difference planetary transmission device adopting pin hole output and provided with adjustable clearance Download PDFInfo
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- CN103291846B CN103291846B CN201210039701.7A CN201210039701A CN103291846B CN 103291846 B CN103291846 B CN 103291846B CN 201210039701 A CN201210039701 A CN 201210039701A CN 103291846 B CN103291846 B CN 103291846B
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Abstract
The invention discloses a small tooth difference planetary transmission device adopting pin hole output and provided with adjustable clearance. Small tooth difference planetary transmission includes hypocycloid pin wheel planetary transmission, cycloid pin wheel planetary transmission and involute small tooth difference planetary gear transmission. The adoption of the pin hole type output refers to that power transmission pins mounted on planet wheels are inserted into holes corresponding to power transmission discs on power transmission rods of output shafts, and then angular velocities of the planet wheels are output in a constant speed ratio. During precision transmission, phase positions of center wheels of two meshed pairs with 180-degree phase difference or phase positions of the power transmission pins on the planet wheels are relatively rotated for a small angle; and when two groups of phase differences of the meshed pair are symmetric, a group of center wheels relative to another group of center wheels are rotated for a small angle so as to reduce or eliminate transmission clearance. The transmission device can increase bearing capacity greatly, reduce the size and weight and improve impact resistance and transmission efficiency, and can be used for various types of transmission such as high speed, heavy load, high power, high accuracy, small return difference and the like.
Description
Technical field
The present invention relates to mechanical Gear Planet Transmission field
Background technology
Involute planetary gear gear in the wide variety of small Tooth Number Difference Planetary Transmission in mechanical Gear Planet Transmission field at present
Transmission and cycloid pinwheel planetary gear transmission system generally adopt hole to sell output mechanism, that is, with the hole on planetary gear by 180 ° two of mutual alignment row
The angular velocity of star-wheel passes through the speed ratio such as pin of output panel output on output shaft.Commonly referred to pin-hole type W mechanism, its advantage is structure
Simple and transmission had both obtained static balance and had also improved bearing capacity.Shortcoming is that the stress of pin is irregular, the planetary gear away from output shaft,
The arm length of pin, moment of flexure is big, and the diameter of pin is big, and in order to reduce friction loss, pin palpus band set, therefore this output mechanism occupies relatively
Big space, so as to the interior bearing capacity of rotary arm bearing and service life are restricted, becomes the bottleneck of this transmission.Belong to together few
The hypocycloid pinwheel planetary gearing (patent No. 200610001307.9) of differential teeth planetary transmission adopts pin output mechanism, that is, use
The angular velocity of 180 ° of two planetary gear in mutual alignment is passed through to combine the hole constant speed of force transmiting disk on output shaft by the long needle pin on planetary gear
Ratio output, the stress radius of needle pin is big, cantilever is short, and moment of flexure is little, reduces the space of output mechanism, makes the bearing capacity of rotary arm bearing
And service life is largely increased.By implementing to prove that this transmission can be greatly improved bearing capacity, reduce the body of actuating device
Amass and weight.There is problems that the mechanism of patent description is single, structure is more complicated, and hypocycloid wheel there is no special processing to set at present
Standby, manufacturing cost is higher.
In precision drive, small Tooth Number Difference Planetary Transmission is widely used.Harmonic drive application is more, but the deformation that transmission produces is returned
Difference is larger, and its gear ratio is typically no less than 60, and usage range is restricted.And Involute planetary gear drive with small teeth difference and cycloid
, due to the arm length of output mechanism pin, deformation is big, precision is difficult raising, application is less for pinwheel Gear Planet Transmission.And Japan Supreme Being people is public
Department improves two-stage mixed drive RV that the way of output of cycloid pinwheel planetary gear transmission system is produced with the high accuracy of manufacture, design,
Robot field is used widely.In order to reach the demand of precision drive, except the precision of transformation drive mechanism and raising transmission
Outward, can also be with adjusting the mode of gap to reduce gap return difference, such as elastic double-faced tooth, spacing of adjustment power transmission shaft etc. all achieve necessarily
Effect.At present, as in the feed mechanism of precision machine tool and some Special precision actuating devices such as radar, robot it is desirable to fortune
Dynamic high precision, gap is little, deformation is little, and the little demand of hysterisis error gets more and more, and existing actuating device is also far from meeting need
Ask.
Content of the invention
The present invention is to solve the Involute planetary gear drive with small teeth difference in current small Tooth Number Difference Planetary Transmission and cycloid
Adopt hole to sell shortcoming and the perfect further output of hypocycloid pinwheel planetary gearing that output mechanism exists of pinwheel Gear Planet Transmission
Mechanism.And using above transmission, generally there are 180 ° of Meshing Pair of two phase contrasts or the structure of the symmetrical Meshing Pair of two groups of phase contrasts,
Characteristic beneficial to adjustment drive mechanism gap is so as to be used for precision drive.
The present invention solves its technical problem：The pin adopting in hypocycloid pinwheel planetary gearing
On the basis of output mechanism, the power transmission pin that employing can rotate, the center radius of circle R of power transmission pin is more than or equal to power transmission on output shaft
Bar center radius of circle rw.I.e. R >=rw, on the output panel of output shaft, installation center radius of circle is rwN dowel steel, through row
On star-wheel, corresponding hole does not contact in planetary gear, and the both sides of each planetary gear have force transmiting disk to be fixedly mounted on dowel steel, power transmission
Have on disk and the corresponding force transmission hole of power transmission pin on planetary gear, the speed ratios such as the angular velocity of planetary gear being mutually 180 ° are exported.
It is 180 ° of Meshing Pair or the symmetrical Meshing Pair of two groups of phase contrasts that this actuating device generally has two phase contrasts, need only
Two phase contrasts of adjustment are on the mutual phase angle of 180 ° of Meshing Pair or the symmetrical Meshing Pair centre wheel of two groups of phase contrasts or planetary gear
The mutual phase angle of power transmission pin, just can adjust the gap of drive system.
The invention has the beneficial effects as follows：
1. the removable pin that pair hypocycloid pinwheel planetary gearing use can rotate, the section of stretching out of pin is without band set；The position of power transmission pin
Put and be not limited only to pinwheel center circle, rolling bearing can be installed and improve transmission efficiency, easily realize natural gear ratio, usage range
Expand.
2. change Involute planetary gear drive with small teeth difference and the cycloid pinwheel planetary gear transmission system way of output completely, make output
The volume of mechanism reduces, rigidity increases, and improves bearing capacity and the service life of rotary arm bearing, power transmission pin can install the axis of rolling
Hold raising transmission efficiency, easily realize natural gear ratio, range is wider.
3. pair three of the above small Tooth Number Difference Planetary Transmission, due to good using its rigidity of pin-and-hole formula output mechanism, deforms little, generally
All use 180 ° of Meshing Pair of two phase contrasts or the symmetrical Meshing Pair of two groups of phase contrasts, the mutual phase angle of center-adjustable wheel or
The mutual phase angle of planetary gear power transmission pin, so that the gap of drive system is reduced or eliminated, reduces total return difference of transmission, for precision
Transmission.
Brief description
The present invention has accompanying drawing four width, wherein,
Fig. 1 is the structural representation front view that the present invention has the output of gap adjusting mechanism simply supported beam
Fig. 2 is the structural representation side view that the present invention has the output of gap adjusting mechanism simply supported beam
Fig. 3 is the structural representation equipped with the cantilever output of rolling bearing for the power transmission pin of the present invention
Fig. 4 is the simply supported beam export structure schematic diagram of the symmetrical Meshing Pair of two groups of phase contrasts that the present invention has gap adjusting mechanism
In figure：1st, left lateral star-wheel, 2, right lateral star-wheel, 3, input shaft, 4, rotary arm bearing, 5, the right supporting of output shaft, 6, power transmission
Pin, 7, right force transmiting disk, 8, right centre wheel 9, adjust gap screw, 10, body, 11, alignment pin, 12, left center wheel, 13, middle power transmission
Disk, 14, left force transmiting disk, 15, double eccentric sleeves, 16, the left supporting of output shaft, 17, dowel steel, 18, rolling bearing, 19, output shaft.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples；
As shown in figure 1, this actuating device inputs high angular velocity by input shaft 3, the double eccentric sleeves being 180 ° by phase contrast
15th, rotary arm bearing 4, load onto right lateral star-wheel 2 and left lateral star-wheel 1 and the right centre wheel 8 being fixed on body 10, left center wheel respectively
12 engagements, make right lateral star-wheel 2 and left lateral star-wheel 1 obtain low angular velocity.By being contained on right lateral star-wheel 2 and left lateral star-wheel 1
Power transmission pin 6 inserts right force transmiting disk 7, middle force transmiting disk 13 and the left force transmiting disk 14 that both sides are fixed on output shaft dowel steel 17 respectively
Corresponding hole, by the output of the speed ratios such as low angular velocity.The output shaft of simple beam structure by output shaft right supporting 5, dowel steel 17 and
The left supporting 16 of output shaft combines.
As shown in Figure 1 and Figure 2, this actuating device, from the beginning of double eccentric sleeves 15, is driven the two-way being just divided into, by two phase place
Differ from 180 ° of Meshing Pair, make right lateral star-wheel 2 and left lateral star-wheel 1 obtain low angular velocity, until the speed ratios such as low angular velocity pass to output
Axle.The right centre wheel 8 of two Meshing Pair of 180 ° of phase contrast need only be made one is rotated against with the phase place of left center wheel 12 in design
Individual definite value phase angle, or the phase place of right lateral star-wheel 2 and power transmission pin 6 on left lateral star-wheel 1 is rotated against a definite value phase angle, knot
When structure is two groups of phase contrast symmetrical Meshing Pair, two groups of centre wheels are rotated against a definite value phase angle；Just transmission can be reduced
The gap error of system.It is by alignment pin 11, left center wheel 12 is fixing with body 10 that mechanism adjusts gap, then with body 10
Adjust gap screw 9, the phase angle of right centre wheel 8 is turned over small angle clockwise or counterclockwise relative to left center wheel 12, adjustable
Gap reaches the purpose of the gap return difference that drive system is reduced or eliminated.After a period of time, because parts depreciation return difference increases
Still gap return difference can be turned down, also opposite direction adjustment can be reached using new transmission face and need return difference value, make the use of actuating device
Life-span increases.The center radius of circle R of power transmission pin 6 is more than or equal to the center radius of circle r of dowel steel 17 on output shaftw.I.e. R >=rw.
As shown in figure 3, being the structure of the cantilever output of this actuating device；Output shaft 20 is overall structure, dowel steel 17
One end is installed on the output panel of output shaft 19；Power transmission pin 6 improves transmission effect equipped with rolling bearing 18 to reduce friction loss
Rate.
As shown in figure 4, being the simply supported beam output knot of the symmetrical Meshing Pair of two groups of phase contrasts that this actuating device has gap adjusting mechanism
Structure.Respectively the centre wheel alignment pin 11 that biphase potential difference is 180 ° of Meshing Pair is fixed or share a centre wheel, form two groups
The symmetrical Meshing Pair of phase contrast, one group of left side centre wheel is passed through alignment pin 11 fixing with body 10, then with the tune gap on body 10
Screw 9, the phase angle of the one group of centre wheel in the right is turned over small angle clockwise or counterclockwise relative to one group of left side centre wheel,
Adjustable slit reaches the purpose of the gap return difference that drive system is reduced or eliminated.The transmission of this structure achieve dynamic balancing can high speed defeated
Enter, smooth running, noise are little, bearing capacity is strong.
Claims (6)
1. pin-and-hole formula exports the less-tooth-difference planetary transmission of adjustable slit, it is characterized in that：High angular velocity is inputted by input shaft (3),
The double eccentric sleeves being 180 ° by phase contrast (15), load onto rotary arm bearing (4), right lateral star-wheel (2) and left lateral star-wheel (1) respectively,
Right lateral star-wheel (2) and left lateral star-wheel (1) are engaged with the right centre wheel (8) being fixed on body (10), left center wheel (12), make the right side
Planetary gear (2) and left lateral star-wheel (1) obtain low angular velocity, using the output of pin-and-hole formula, that is, with being arranged on left lateral star-wheel (1) and right lateral
Power transmission pin (6) on star-wheel (2) inserts the left force transmiting disk (14) being fixed on output shaft dowel steel (17), middle force transmiting disk respectively
(13) and the corresponding hole of right force transmiting disk (7), the speed ratios such as the low angular velocity of planetary gear are exported, adjust gap and mechanism to adjust using definite value
Gap two ways adjusts the gap of drive system.
2. pin-and-hole formula according to claim 1 exports the less-tooth-difference planetary transmission of adjustable slit, it is characterized in that：Its few tooth
Difference Gear Planet Transmission contains hypocycloid pinwheel planetary gearing, cycloid pinwheel planetary gear transmission system and Involute planetary gear drive with small teeth difference.
3. pin-and-hole formula according to claim 1 exports the less-tooth-difference planetary transmission of adjustable slit, it is characterized in that：Power transmission pin
(6) be fixed or movable two kinds, activity power transmission pin (6) can make left lateral star-wheel (1), right lateral star-wheel (2) on slide rotate or
Dress rolling bearing (18) is made to roll rotation.
4. pin-and-hole formula according to claim 1 exports the less-tooth-difference planetary transmission of adjustable slit, it is characterized in that：Transmission knot
Structure has the Meshing Pair of 180 ° of two phase contrasts and two kinds of the Meshing Pair that two groups of phase contrasts are symmetrical.
5. pin-and-hole formula according to claim 1 exports the less-tooth-difference planetary transmission of adjustable slit, it is characterized in that：Output shaft
Structure have：Strutbeam between the combination type being made up of the right supporting of output shaft (5), dowel steel (17) and the left supporting of output shaft (16), and
It is installed on two kinds of monoblock type cantilever beam on output shaft (19) output panel by one end of dowel steel (17).
6. pin-and-hole formula according to claim 1 exports the less-tooth-difference planetary transmission of adjustable slit, it is characterized in that：Definite value is adjusted
Gap is that the right centre wheel (8) of the Meshing Pair making 180 ° of two phase contrasts in design is relative with the mesh phase of left center wheel (12)
One definite value phase angle of rotation, or the phase place of upper to right lateral star-wheel (2) and left lateral star-wheel (1) power transmission pin (6) is rotated against one
Definite value phase angle, when structure is two groups of phase contrast symmetrical Meshing Pair, two groups of centre wheels is rotated against a definite value phase angle；
It is will be fixing with body (10) for left center wheel (12) by alignment pin (11) that the mechanism of the Meshing Pair of 180 ° of two phase contrasts adjusts gap,
Use tune gap screw (9) on body (10) again by clockwise for the phase angle of right centre wheel (8) relatively left center wheel (12) or inverse time
Pin turns over small angle；It is to be 180 ° of Meshing Pair by biphase potential difference respectively that the mechanism of the symmetrical Meshing Pair of two groups of phase contrasts adjusts gap
Left center wheel (12) and right centre wheel (8) use alignment pin (11) fixing or share a centre wheel, form two groups of phase contrasts pair
The Meshing Pair claiming, one group of left side centre wheel is passed through alignment pin (11) and body (10) fixing, then with the tune gap on body (10)
Screw (9), the phase angle of the one group of centre wheel in the right is turned over small angle clockwise or counterclockwise relative to one group of left side centre wheel
Degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210039701.7A CN103291846B (en) | 2012-02-22 | 2012-02-22 | Small tooth difference planetary transmission device adopting pin hole output and provided with adjustable clearance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210039701.7A CN103291846B (en) | 2012-02-22 | 2012-02-22 | Small tooth difference planetary transmission device adopting pin hole output and provided with adjustable clearance |
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| Publication Number | Publication Date |
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| CN103291846A CN103291846A (en) | 2013-09-11 |
| CN103291846B true CN103291846B (en) | 2017-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210039701.7A Active CN103291846B (en) | 2012-02-22 | 2012-02-22 | Small tooth difference planetary transmission device adopting pin hole output and provided with adjustable clearance |
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Families Citing this family (8)
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| CN104295723A (en) * | 2014-08-06 | 2015-01-21 | 吴小杰 | Dynamic balance few tooth difference speed reducer for zinc base alloy bearing supporting |
| CN104154220A (en) * | 2014-08-06 | 2014-11-19 | 吴小杰 | Reduction box with small tooth difference for interlayer water-cooling tank zinc-based alloy bearings |
| CN104373573A (en) * | 2014-08-06 | 2015-02-25 | 吴小杰 | Star wheel speed reducer with zinc base alloy bearing supporting output shaft |
| CN104373558A (en) * | 2014-08-06 | 2015-02-25 | 吴小杰 | Small tooth difference speed reducer with zinc base alloy bearing supporting output shaft |
| CN108119613A (en) * | 2016-11-30 | 2018-06-05 | 比亚迪股份有限公司 | Planetary speed reducer with small tooth number difference, vehicle-mounted display screen device and vehicle |
| CN110735887B (en) * | 2018-07-18 | 2021-06-29 | 六环传动（西安）科技有限公司 | Planetary gear mechanism without reverse clearance and planetary reducer |
| CN112013094A (en) * | 2019-05-28 | 2020-12-01 | 周承岗 | Homothetic differential speed reducer |
| CN113324023B (en) * | 2021-06-10 | 2023-08-25 | 周晓汀 | Zero back clearance cycloid planetary reducer with bidirectional pre-tightening clearance adjustment |
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|---|---|---|---|---|
| CN2042911U (en) * | 1988-07-08 | 1989-08-16 | 福州大学 | Pin-cycloidal/cast-cycloidal speed-reducing machine |
| US5352163A (en) * | 1992-04-21 | 1994-10-04 | Sumitomo Heavy Industries, Ltd. | Step-up or reduction gear series using internally meshing planetary gear structure |
| CN1804427A (en) * | 2005-12-23 | 2006-07-19 | 重庆大学 | Double-disc cycloid cam planet driving device |
| CN2854208Y (en) * | 2005-07-04 | 2007-01-03 | 天津减速机股份有限公司 | Planet cycloid pinwheel reducing machine |
| CN101280824A (en) * | 2008-05-26 | 2008-10-08 | 重庆大学 | Accurate cycloid pin gear epicyclic transmission apparatus |
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2012
- 2012-02-22 CN CN201210039701.7A patent/CN103291846B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2042911U (en) * | 1988-07-08 | 1989-08-16 | 福州大学 | Pin-cycloidal/cast-cycloidal speed-reducing machine |
| US5352163A (en) * | 1992-04-21 | 1994-10-04 | Sumitomo Heavy Industries, Ltd. | Step-up or reduction gear series using internally meshing planetary gear structure |
| CN2854208Y (en) * | 2005-07-04 | 2007-01-03 | 天津减速机股份有限公司 | Planet cycloid pinwheel reducing machine |
| CN1804427A (en) * | 2005-12-23 | 2006-07-19 | 重庆大学 | Double-disc cycloid cam planet driving device |
| CN101280824A (en) * | 2008-05-26 | 2008-10-08 | 重庆大学 | Accurate cycloid pin gear epicyclic transmission apparatus |
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