CN104712711B - A kind of cosine Involute Small Teeth Difference Planetary Gearing device available for robot joint speed reducer - Google Patents

A kind of cosine Involute Small Teeth Difference Planetary Gearing device available for robot joint speed reducer Download PDF

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CN104712711B
CN104712711B CN201510065507.XA CN201510065507A CN104712711B CN 104712711 B CN104712711 B CN 104712711B CN 201510065507 A CN201510065507 A CN 201510065507A CN 104712711 B CN104712711 B CN 104712711B
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tooth
gear
planetary gear
turbine stage
curve
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CN104712711A (en
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陈志同
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

A kind of cosine Involute Small Teeth Difference Planetary Gearing device available for robot joint speed reducer, it is by high speed level sun gear, high speed level planetary gear, planet wheel bearing, eccentric shaft, planetary gear gasket, high speed level internal gear, left end cap, left end cap screw, left end cap seals, seal receptacle screw, seal receptacle, seal receptacle gasket, output shaft rolls left kinetoplast, slow speed turbine stage internal gear, the right rolling element of output shaft, right end cap screw, right end cap, output shaft right cover, slow speed turbine stage right lateral star-wheel, output shaft bar component, output shaft end cap cover board, slow speed turbine stage left lateral star-wheel, right sealing, eccentric shaft right bearing rolling element, left capacity eccentric bearing rolling element, right capacity eccentric bearing rolling element and eccentric shaft left bearing rolling element composition；The present invention is a kind of novel precise retarder formed by varying the tooth form of less teeth difference transmission based on Planetary Gear Transmission and less teeth difference transmission, in technical field of mechanical transmission, it can be as part or all of robot joint speed reducer and wind power generation speed increasing device.

Description

A kind of cosine Involute Small Teeth Difference Planetary Gearing device available for robot joint speed reducer
Technical field
The present invention relates to a kind of cosine Involute Small Teeth Difference Planetary Gearing device available for robot joint speed reducer, it is one The novel precise that by varying the tooth form of less teeth difference transmission is formed of the kind based on Planetary Gear Transmission and less teeth difference transmission Retarder, belongs to technical field of mechanical transmission, it is used as the one of robot joint speed reducer and wind power generation speed increasing device Partly or entirely.
Background technology
Precision, rigidity, efficiency, the volume of robot retarder have material impact for its working performance, such deceleration Device requires gearratio big, generally more than 100, if directly using planetary reduction gear, usually requires triple reduction gear series connection. The advantages of involute planetary retarder is that transmission efficiency is very high, but shortcoming is that number of parts is more, influences the reduction of volume and cost, Therefore at present mainly using harmonic speed reducer and planetary speed reducer with small tooth number difference, the former is suitable for small moment of torsion operating mode, Hou Zheshi For large torque operating mode.When being used as robot retarder, the gearratio of single-stage little tooth difference speed reducer is usually not big enough therefore real Border robot base end retarder is typically to be in series by primary planet retarder and level-one cycloidal reducer, can be described as planet Little tooth difference speed reducer, Gear Planet Transmission therein are adapted to high-speed drive and have high efficiency feature, little tooth difference speed reducer tool therein There are large speed ratio and small size feature.The tooth form of little tooth difference speed reducer usually has two kinds, and one kind is cycloidal tooth profile, and one kind is involute Tooth form.It is mathematically super although involute profile with very high transmission efficiency, its tooth form is made of multistage curve More equation, only has 0 rank continuity, does not possess high-order continuity, and less teeth difference transmission requirement is tens of to all positions between tooth Coordinate, this transcendental equation is easily interfered when forming enveloping surface, therefore, is realizing that a tooth is poor using involute profile It must carry out the deformations such as a wide range of tooth form displacement, tooth high shortening during transmission when (big speed ratio) to tooth form, this calculating shortage must The theoretical foundation wanted, therefore adjust calculating and rely primarily on experience, in order to avoid the interference of involute multistage tooth form, shorten and conjugate Gear overlap coefficient very little, many gear teeth can exit working status for a long time, it is impossible to engage, reduce at the same time at the same time The number of teeth of engagement, so limits the raising of its bearing capacity.Meanwhile the motor coordination of the both sides of this kind of tooth form is also very multiple It is miscellaneous that, it is necessary to reduce retarder return difference by reducing sideshake in a teeth groove, this brings very big difficulty to manufacturing process, Therefore this tooth form is difficult to be directly used in manufacture and design accurate robot retarder.But the pressure of the very little of involute profile Angle and very high transmission efficiency have powerful advantages, it is necessary to be used for designing high performance robot retarder.Cycloid Tooth form has high-order smooth property, and cycloid and circle can form stringent conjugate movement from principle, so with many circular The internal gear of pin tooth and characteristic of the external gear with multiple tooth coordination with engagement at the same time with gerotor structure, that is to say, that it has 50% tooth carries driving force at the same time, and 50% tooth in addition prevents gear from moving round about, can effectively eliminate gear and return Difference, improves transmission accuracy, its advantage is not require to be made very small the gap of pin tooth and cycloid tooth between a teeth groove, this side Method can avoid local severe interference using the deformation of gear macroscopic view, and reduce sensitivity of the retarder to the impurity of faying face Property.But cyclo drive also has shortcoming, its significant drawbacks has two：First, use the arc toothed basic tooth form as internal gear When, the tangent line of tooth form is always around central rotation, 360 degree of mobility scale, and the tangent line of the live part of involute internal gear tooth form Vary less, its normal direction keeps 20 degree of pressure angle with the circular arc tangential line of contact point always, can be designed to the pressure of smaller sometimes Power angle.And the angle in the tangent to periphery direction of the normal of the contact point of cycloid gear and pinwheel and the point is close to 90 degree, mean pressure Power angle is 70 degree or sos, and in almost poor twice of the same required normal force of tangential force of transmission, this is an a huge gap for the two, One of the reason for this is also the strength for causing the offer of rotary arm bearing needs very big and is easily damaged.The pinwheel of this epicyclic reduction Gear teeth radius of curvature is too small, and contact stress is very big.Another significant problem of cycloid gear is its output mechanism, this planet The output of movement is readily apparent that from principle using crosshead shoe and eccentric shaft structure, but is used crosshead shoe to eliminate gap and answered It is miscellaneous, and need increased number of parts more, add cost and volume.The reduced form of eccentric shaft output is using the outer of cantilever The hole of circle and planetary gear is engaged, and this mode can essentially regard one group of circle tooth form (axis) and output on planetary gear as One group of axis has the point contact engagement process of same amount of circular tooth form (hole).But equally there are pressure for the output mechanism Angle problem, the axis pin of half is responsible for output loads, but its pressure angle is distributed in 180 degree scope, and it is 3-6 usually to export the number of axle It is a, therefore it is operated in and has taught the axis pin of pressure angle state there was only one or less than 1, it means that powerful output torque is only By a limited number of few output pin bearing load, therefore these axis pins are caused to be easily bent and destroy.Gradually opened using zero tooth difference Line gear realizes that output is the third available means, but in order to avoid interference needs to do the displacement of complexity, and the tooth after displacement Wheel, which becomes modest, many teeth, to be engaged at the same time.RV transmissions use crank structure and add rolling bearing to improve carrying energy Power, but many load transfers have been arrived on previous stage Planetary Gear Transmission, are caused to the angle positioning requirements of the gear and carrying The lifting of ability.If zero tooth difference export structure of involute and cylindrical pin export structure are all regarded as the difference transmission of certain zero tooth, Then it is expected to obtain new solution.In addition, traditional pin shaft structure is so reduced by the way of separately manufacturing and assembling The overall accuracy of machine, improves the manufacture requirement of each part.
The present invention combines the unlimited smooth property advantage of curve of the small pressure angle advantage and cycloid gear of involute gear, fortune Dynamic coordination advantage proposes in a kind of tooth form close to involute but the cosine involute profile with unlimited smooth property, is directed at the same time The pressure angle of output mechanism fluctuates big problem and proposes that zero tooth difference intends the tooth that the not rounded axis pin output mechanism of involute improves output at the same time Figurate number amount and its pressure angle of reduction, the 3rd to integrally-built optimization and integrative design by being greatly reduced number of parts.
The content of the invention
The basic principle of the present invention is the advantages of abundant reference involute profile pressure angle is small and efficient and cycloidal tooth profile The advantages of coordinating for periodically continued high-order smooth curve internal-external gear easy to implement, designs a kind of cosine involute profile, i.e., The smooth curve of periodic high-order is formed by being modulated and being superimposed upon to cosine curve on basic circle curve, makes curve Shape be substantial access to involute profile in main section, then according to the gearratio relation of less teeth difference transmission, pass through and be conjugated fortune Dynamic envelope goes out the tooth form of the internal gear being meshed or external gear, can thus construct one group of internal messing little tooth difference speed reducer, Referred to as intend the transmission of involute cosine gear or letter is taken advantage of and claims the transmission of cosine involute.The kind of drive can be used for manufacturing single-stage Cosine involute speed reducer, can also be connected into planet little tooth difference speed reducer, wherein cosine involute with primary planet retarder Little tooth difference speed reducer can also use multistage cosine involute to slow down as low speed output stage, Gear Planet Transmission as its high speed level Device form big retarding than retarder.It should be noted that when determining a pair of of tooth-formation of gear, first subtract out according to above-mentioned cosine Line determines driving gear, and still first there is no particular restriction for the tooth form of definite driven gear, however, it would be possible to first determines therein any One tooth-formation of gear, another tooth-formation of gear being meshed is gone out according still further to drive connection envelope, can also be by a pair The optimization of tooth form common parameter obtains two tooth-formation of gear at the same time..
Another vital measure of the present invention is, greatly and easy for the bar output mechanism pressure angle of little tooth difference speed reducer The problem of damage, propose that the bar cross section structure of a kind of shape close to involute substitutes cylindrical bar section, according to planet tooth Between wheel and output mechanism planetary gear is obtained using conjugate movement equation with respect to the relation that angular speed is zero (the poor transmission of zero tooth) The tooth form of endoporus (pole perforating hole), or first determine the shape of pole perforating hole, the section shape of bar is then obtained using envelope principle.Consider The difficulty of the endoporus Machining of Curved Surface of the part, it may be considered that slow speed turbine stage planet is divided into inside and outside two from pole perforating hole full-size position Part, i.e., be divided into outer ring and inner ring, centre passes through pin and respective side from the perforative suitable position of all rod-perforateding holes by gear Semicircle orifice connection in boundary, can so make the pole perforating hole of closing become open pore, easy to carry out grinding using big emery wheel.
See Fig. 1, Fig. 2, a kind of cosine Involute Small Teeth Difference Planetary Gearing device available for robot joint speed reducer of the invention, It is by high speed level sun gear 01, high speed level planetary gear 02, planet wheel bearing 03, eccentric shaft 04, planetary gear gasket 05, high speed level Internal gear 06, left end cap 07, left end cap screw 08, left end cap sealing 09, seal receptacle screw 10, seal receptacle 11, seal receptacle gasket 12nd, output shaft rolls left the right rolling element 15 of kinetoplast 13, slow speed turbine stage internal gear 14, output shaft, right end cap screw 16, right end cap 17, defeated Shaft right cover 18, slow speed turbine stage right lateral star-wheel 19, output shaft bar component 20, output shaft end cap cover board 21, slow speed turbine stage left lateral star-wheel 22nd, right sealing 23, eccentric shaft right bearing rolling element 24, left capacity eccentric bearing rolling element 25, right capacity eccentric bearing rolling element 26 and bias Axis left bearing rolling element 27 forms, and the position connection relation between them is：High speed level sun gear 01, installed in multiple planetary gears Multiple high speed level planetary gears 02 on bearing 03, they be installed on multiple planet wheel spindles that 04 left end of eccentric shaft stretches out, planet The planetary gear gasket 05 at gear both ends is used for the friction for reducing planetary gear end face, above-mentioned high speed level planetary gear 02, high speed level Sun gear 01 constitutes the transmission of high speed level with high speed level internal gear 06, for that will be passed to from high speed level sun gear 01 from electricity The high-speed motion of machine is converted into the relatively low-speed rotation of eccentric shaft 04.High speed level internal gear 06, left end cap 07, left end cap screw 08th, output shaft right cover 18, output shaft bar component 20, output shaft end cap cover board 21 constitute output precision, output shaft therein Have 1 group of bar on bar 20, its section shape curve can according to Enveloping theory by the left and right planetary gear 22,19 of slow speed turbine stage and bar The pole perforating hole envelope of curve of engagement is formed, or vice versa, first determine bar section shape curve, then according to zero tooth difference transmission principle by The envelope of curve goes out the section shape curve of pole perforating hole.Seal receptacle screw 10, seal receptacle 11, seal receptacle gasket 12, slow speed turbine stage internal gear 14th, right end cap screw 16, right end cap 17 etc. are linked into an integrated entity by screw etc., become the housing unit of whole retarder, it is logical Cross the sealing between 09 realization of left end cap sealing and output precision.Realized at the same time by right sealing 23 between high speed input shaft Sealing.The output shaft right rolling element 15 of kinetoplast 13, output shaft that rolls left is used for realization support of the output precision on housing unit.It is eccentric Axis right bearing rolling element 24, left capacity eccentric bearing rolling element 25, right capacity eccentric bearing rolling element 26, eccentric shaft left bearing rolling element 27 etc. 4 groups of bearings are respectively used to realize left and right 22,19 support on eccentric shaft 04 of planetary gear of slow speed turbine stage, and slow speed turbine stage right lateral star Wheel 19, slow speed turbine stage left lateral star-wheel 22 form less teeth difference transmission with slow speed turbine stage internal gear 14 together with eccentric shaft 04, for that will come from The relatively slow-speed of revolution of eccentric shaft 04 further reduces, and constitutes the slow speed turbine stage of the transmission system.The high speed level and slow speed turbine stage string Connection constitutes a double reduction device.During work, the revolution at a high speed under the driving of motor of high speed level sun gear 01, movement is transmitted Onto high speed level planetary gear 02, but planetary gear 02 is subject to the constraint of high speed level internal gear 06, therefore, high speed level planetary gear The eccentric shaft 04 installed will be moved with relatively low speed, and be transmitted motion on the input eccentric shaft 04 of slow speed turbine stage, low speed The eccentric shaft 04 of level drives the left and right planetary gear 22,19 of slow speed turbine stage to move, but the gear be subject to the constraint of slow speed turbine stage internal gear 14 because This can only do planetary motion, its rotary speed is far below the output speed of eccentric shaft, its rotary motion can be by output precision Bar section tooth form movement output is come out, so may be used for realizing the transmission of big speed ratio.
Wherein, in Fig. 4, being used for less teeth difference transmission planetary gear equipped with one has Z21A external tooth, Z3A pole perforating hole, the gear Center be O1 points, x, y-coordinate axis thereon are as shown in the figure, external tooth therein is used for the internal tooth with meshed internal gear Engagement, pole perforating hole therein are used to engage with the cross section profile of the same amount of cantilever on same amount of output shaft.
(1) few teeth difference intends the tooth profile equation of involute cosine transmission
If the planetary benchmark radius of circle of less teeth difference transmission is R21.0, the radius vector of tooth curve any point P4 on external gear For R21, which uses amplitude as H21Cosine curve (or cosine curve) be directly bound on basic circle, then obtain tooth form side Cheng Wei
R21=[R21.0+H21cos(Z21·A21)][cos(A21),sin(A21)]T (1)
But the equally middle flat part of such equation and cycloid is few, the tangential direction of top and bottom changes too greatly, Excessive working range is occupied, if by using cosine correction function by curve deformation, makes to obtain close to the part of basic circle Larger lifting, close to determining portion and the curvilinear motion of bottom is little, it is possible to gradually even up the top and bottom of curve to connect Nearly involute, so just becomes closer to involute close to the part of basic circle.Design a kind of cycle and there was only above-mentioned periodic function 1/2 function in cycle can be modulated the shape of cosine curve, by curve magnification maximum M near basic circle21.2Times, Wish that amplification coefficient becomes M near tooth top21.1, change in centre according to cosine rule.May be selected under normal circumstances (but it is unlimited It is formed on) M21.2=1, i.e. the height of tooth top does not change.A kind of typical cosine correction function is
But such curve works as M21.2There are a fixed point during not equal to 1, if also carried out to the angle of fixed point Modulation can then obtain more preferable curve shape, and such correction function can express (Xiang radial angle combined cooker function) Into
In formula η be corresponding cosine curve on point deflection, M21.1、M21.2、M21.3It is to remaining respectively Deng three parameters Amplification coefficient at η=0 ° of chord curve, η=90 ° and the transport coefficient at η=45 °.
The cosine tooth profile side after two kinds of conditionings can be obtained using to footpath tuning function and to radial angle combined cooker function Journey
R21.1={ R21.0+H21cos(Z21·A21)F21.1(Z21·A21)]}[cos(A21),sin(A21)]T (4)
Or
R21.2={ R21.0+H21cos(Z21·A21)F21.2(Z21·A21)]}[cos(A21),sin(A21)]T (5)
R21.1.R21.2The R respectively obtained using two kinds of different tuning functions21Equation.
In addition the point in formula (1) can be rotated to change the width of tooth, can be so determined in base radius When change the number of teeth, realize the transmission of small speed reducing ratio, expand retarder working range.Can be by the A in the unit vector of formula21With A21 *Replace, will former cosine curve point to footpath from A21Tangentially modulated after radial modulation is completed, that is, rotate to A21 * Position
Therefore, formula (4) (5) can be rewritten as respectively：
Or
The characteristics of formula is that the different piece of tooth form is radially and tangentially adjusted using a kind of variable coefficient amplification coefficient System, i.e., fully change its shape.Can realize the equation of this modulation in fact has very much, sees in theory, any to meet above-mentioned rule The periodicity smooth curve of rule all has similar functions, and magnification M is introduced in the correction factor equation21.1、M21.2、 M21.3、M21.4H21It is adjusted Deng 5 parameters, cosine curve and the close degree of involute can be controlled by these parameters, It is allowed to be more nearly involute to modulate cosine curve it is of course possible to introduce the curve of more parameters, it is this to utilize periodic function The method that nesting changes shape has great convenience for tooth Shape Design, therefore people can be eliminated to complicated tooth Shape Design Fear, Tooth Form Optimizition will welcome a upsurge.
(2) tooth profile equation of zero teeth difference type output mechanism
The output mechanism of less teeth difference transmission mainly has three kinds of modes, a kind of crank mechanism at present, its principle is planet tooth Every bit on wheel is the rotary motion of the certain point on output shaft, can so use two knuckle-tooth exterior features as the output of the two Mechanism, can also use cross slides additionally to use zero-tooth difference gear output mechanism, it can as output mechanism To be involute gear.As planetary gear less teeth difference transmission, when use involute as the tooth form of output mechanism and works as tooth Number increase, easily interferes problem, this can be solved the problems, such as by carrying out conditioning using the cosine part in elliptic curve at this time.
If the tooth form array of the cross section curve composition of the bar of output mechanism is the tooth of output gear used by the device Shape, the bar number of teeth are Z3, the planetary tooth number Z of slow speed turbine stage21For Z3K times, K for take out tooth factor, generally integer, if knot Structure is allowed, and K most I is equal to 1.This partly belongs to the difference transmission of zero tooth, therefore corresponding on slow speed turbine stage planetary gear is mutually nibbled with bar The quantity of the perforation tooth form of conjunction is also Z3, construction bar tooth form and perforation tooth form comprise the concrete steps that
(1) set the fundamental equation of the pole perforating hole section shape of output shaft as ellipse, without loss of generality, can only one bar of research with The equation of the tooth form of perforation, and set the equation of the initial tooth form of its bar as
R31=[acos (C), bsin (C)]T+R31.0[1,0]T (6)
C is any point on tooth curve relative to the deflection of elliptic curve centre coordinate system, R in formula31It is bent for tooth form The corresponding elliptic curve at any point to footpath on line.
(2) construction is a kind of to footpath tuning function
With one kind to radial angle combined cooker function
In formula η be corresponding elliptic curve on point deflection, M31.1、M31.2、M31.3It is to ellipse respectively Deng three parameters Amplification coefficient at η=0 ° of circular curve, η=90 ° and the transport coefficient at η=45 °.
(3) tooth profile equation after 4 kinds of conditionings can be obtained using to footpath tuning function and to radial angle combined cooker function
R31.1=[acos (C), bsin (C) F31.1(C)]T+R31.0[1,0]T (9)
Or
R31.2=[acos (C), bsin (C) F31.2(C)]T+R31.0[1,0]T (10)
Or
R31.3=[acos (C) F31.1(C),bsin(C)]T+R31.0[1,0]T (11)
Or
R31.4=[acos (C) F32.2(C),bsin(C)]T+R31.0[1,0]T (12)
R31.1.R31.2R31.3.R31.4The R respectively obtained using two kinds of different tuning functions31Equation, the first two is to y Coordinate is nursed one's health, latter two is that x coordinate is nursed one's health.
(4) setting one has certain modulus m3Master gear of the involute gear as output shaft pole perforating hole, its tooth Number is Z3Integral multiple, multiple size can be according to structure determination.The tooth form on the basis of the tooth-formation of gear, by varying M31.1、 M31.2、M31.3Four parameters such as a or b make tooth profile equation R31.1、R31.2、R31.3、R31.4One of as selected tooth form and be allowed to and base The close part of quasi- tooth form, that is, form a kind of best fit, and the different regions of the involute of basic tooth profile can be selected to make To be fitted object, the tooth profile equation after different conditionings can be so obtained, using the tooth form that such method obtains given Region is approached with involute.
(5) above-mentioned plan involute cosine tooth profile equation R is utilized31.1、R31.2、R31.3、R31.4One of and slow speed turbine stage planet tooth Constant angular velocity movement relation between wheel and output shaft can utilize the bar on the output shaft that enveloping method foundation is meshed Tooth profile equation., can be to above-mentioned M if there is interference situation31.1、M31.2、M31.3Four parameters such as a or b, which are adjusted, is managed The tooth profile equation for the bar thought.
(6) tooth form of bar can also be first determined according to (1)-(4) step, then obtains pole perforating hole according to Enveloping theory Tooth form.
Wherein, the bar on the output mechanism of the device is directly to be processed in one end of output shaft, is so reduced Number of parts and raising precision and rigidity.
Wherein, small, two few teeth differences in two eccentric shafts on the slow speed turbine stage input shaft of the device on the left of the ratio on right side Planetary gear is installed from one direction, and the left side of the input shaft can have the planetary gear that sufficiently large space directly processes high speed level Axis, so reduce number of parts and improve precision and rigidity, the left end of the high speed level planet wheel spindle is using entirety disc structure It is connected with each other and is connected using the gap between planetary gear and the left end flange of slow speed turbine stage input shaft.
Wherein, the cross sectional shape of bar mechanism can be by carrying out internal messing zero teeth difference type output mechanism being formed after pumping tooth Engagement or external toothing form, therefore the tooth form combination between bar and planetary gear can have various ways.Output mechanism is interior Gear curve-planetary gear is external gear curve, and output mechanism is that external gear curve-planetary gear is internal gear curve, output mechanism It is interior cylinder curve for outside cylinder curve-planetary gear, output mechanism is that outer cylindroid curve-planetary gear is that interior approximate ellipse column is bent Line, output mechanism are that four sections of convex involute curve-planetary gears are envelope sag vertical curve.
When making output mechanism, the true output mechanism of part construction of flank profil after above-mentioned amendment can be taken, so may be used To reduce the volume of gear.Consider from structure, select structure shown in Fig. 7 c to make full use of the peripheral space of planetary gear.It is right Can be in basic circle inside and outside binding cycle two phases identical with amplitude in the situation for needing to compare symmetrical beam slip teeth type The curve of position difference 180 degree, two curves solve respective conjugate curves respectively, are connected upper and lower two parts finally by tooth is taken out To form elliptical structure.In order to solve the high-order continuous problem of two curves, can select after making cosine curve correction of the flank shape Perpendicular to basic circle.
The technical advantage of the present invention is periodicity and slickness the construction little tooth difference speed reducer planet tooth using cosine curve The basic configuration of the tooth form of wheel, recycles the cosine function that an average with the more minor cycle is not zero to adjust the curve System is corrected, and is allowed in groundwork region close to involute, while this principle is applied in the tooth Shape Design of output mechanism. 1) pressure angle 70 degree or so average of cycloidal tooth profile can be reduced to 20 degree or so by the tooth form so designed, make the method for the gear teeth More than 60% is reduced to power and the load of rotary arm bearing.2) while the average pressure angle by reducing output mechanism can be further The normal load on the output arm of rotary arm bearing and output mechanism is reduced, increases substantially bearing capacity and the transmission of transmission system Efficiency, it is expected to reduce retarder diameter more than 60%, reduce volume more than 80%.It is directed to involute profile and cycloidal tooth profile at the same time Deng limitation propose cosine involute profile, it is this that novel tooth form is studied based on periodic function using what more waveforms were multiplied Method there is universal meaning, it is expected to develop simpler mesh theory and the superior kind of drive, avoid and directly adopt With rough, the uncoordinated and easy interference problem of involute curve, the design difficulty of few teeth difference tooth form is reduced.
Brief description of the drawings
Fig. 1 is the shaft section profile of retarder most preferred embodiment.The meaning of each code name is as follows in figure：01st, high speed level is too Sun wheel 02, high speed level planetary gear 03, planet wheel bearing 04, eccentric shaft 05, planetary gear gasket 06, high speed level internal tooth It is wheel 07, left end cap 08, left end cap screw 09, left end cap sealing 10, seal receptacle screw 11, seal receptacle 12, close Envelope seat cushion piece 13, output shaft roll left the right rolling element 16 of kinetoplast 14, slow speed turbine stage internal gear 15, output shaft, right end cap spiral shell Nail 17, right end cap 18, output shaft right cover 19, slow speed turbine stage right lateral star-wheel 20, output shaft bar component 21, output shaft Right 24 eccentric shaft right bearing rolling element of sealing, the 25 left capacity eccentric bearing of end cap cover board 22, slow speed turbine stage left lateral star-wheel 23 rolls The right 27 eccentric shaft left bearing rolling element of capacity eccentric bearing rolling element of body 26
Fig. 2 is the profile at the cosine Involutes Gears Transmission position of retarder most preferred embodiment.
Fig. 3 is the left view of retarder most preferred embodiment (after removing left end cap).
Fig. 4 is R in the tooth curve figures of cosine involute gear planetary gear21.0、R21、A21Planetary gear external teeth respectively The basic radius of circle of shape, arbitrary point to footpath and deflection, W13-W15-W16-W11-W14-W12 curves are the 1st external tooth tooth form Curve, it is to be obtained using corresponding cosine curve tooth form by being multiplied by a correction factor function.
Fig. 5 is the output mechanism bar of cosine involute gear planetary gear and the tooth curve of pole perforating hole, which is to use In realizing constant speed than output, therefore, the number of teeth for the tooth form being engaged with is same, so tooth form can be closed curve knot Structure, its quantity are Z3A (in figure be 10), can not connect between each curve.R in figurenFor any point on tooth curve Corresponding elliptic curve to footpath, Rn.0It is elliptical center to footpath.N10 is the center of the first internal tooth curve, and N11 is the curve On arbitrary point.The deflection of the line and X-axis of the point and N10 is C*。
Fig. 6 is the formation basic theory figure of planetary gear output mechanism internal tooth form.Dotted line is ellipse in figure, its given shape is circle, The half shaft length in its Xn, Yn direction is respectively a and b, and radius vector more thereon is OnQ2, its deflection is C, the Yn components of the point It is OnQ1 to footpath to be multiplied by obtain after correction function F (c), and the deflection of the point is C*By being modified to ellipse Intend involute with to the structure that four sections of involutes link together with similar shape, by adjustingIn variable can be with The levels of precision for controlling it to be fitted.Certainly we can also control one be added by higher order curve or be multiplied obtained curve Lai Involute is approached, the careful shape of curve can be changed by the entrance of the multistage factor at this time, be allowed to more close to involute. When using specific equation provided by the invention, M2 is the diminution factor in Yn directions, and M1 is the amplification factor of left and right ends.It is theoretical Upper F (C) is any function for meeting above-mentioned periodicity requirements.It can also be obtained at the same time using left-right asymmetry correction function Trapezoidal, the asymmetric shape complexity flank profil in both ends.
Fig. 7 a are the tooth form schematic diagram of circular flank profil output mechanism.
Fig. 7 b are the tooth form schematic diagram of oval flank profil output mechanism.
Fig. 7 c are the tooth form schematic diagram that bar is interior involute profile output mechanism.
Fig. 7 d bars are the tooth form schematic diagram of outer involute profile output mechanism.
Fig. 7 e bars are the tooth form schematic diagram of double outer involute profile output mechanisms.
Fig. 7 f bars are the tooth form schematic diagram of cosine involute profile output mechanism.
Embodiment
See Fig. 1-Fig. 7 a-f, a kind of cosine Involute Small Teeth Difference Planetary Gearing available for robot joint speed reducer of the invention Device, it be by high speed level sun gear 01, high speed level planetary gear 02, planet wheel bearing 03, eccentric shaft 04, planetary gear gasket 05, High speed level internal gear 06, left end cap 07, left end cap screw 08, left end cap sealing 09, seal receptacle screw 10, seal receptacle 11, sealing Seat cushion piece 12, output shaft roll left the right rolling element 15 of kinetoplast 13, slow speed turbine stage internal gear 14, output shaft, right end cap screw 16, right end cap 17th, output shaft right cover 18, slow speed turbine stage right lateral star-wheel 19, output shaft bar component 20, output shaft end cap cover board 21, slow speed turbine stage left lateral Star-wheel 22, right sealing 23, eccentric shaft right bearing rolling element 24, left capacity eccentric bearing rolling element 25, right 26 and of capacity eccentric bearing rolling element Eccentric shaft left bearing rolling element 27 forms, and the position connection relation between them is：
High speed level sun gear 01, multiple high speed level planetary gears 02 on multiple planet wheel bearings 03, their installations On multiple planet wheel spindles that 04 left end of eccentric shaft stretches out, the planetary gear gasket 05 at planetary gear both ends is used to reduce planetary gear The friction of end face, above-mentioned high speed level planetary gear 02, high speed level sun gear 01 and high speed level internal gear 06 constitute high speed level biography It is dynamic, for the high-speed motion from motor being passed to from high speed level sun gear 01 to be converted into the relatively low speed rotation of eccentric shaft 04 Movement.High speed level internal gear 06, left end cap 07, left end cap screw 08, output shaft right cover 18, output shaft bar component 20, output Hubcap cover board 21 constitutes output precision, there is 1 group of bar on output shaft bar 20 therein, its section shape curve can be according to envelope Theory is formed by the pole perforating hole envelope of curve engaged with bar of the left and right planetary gear of slow speed turbine stage (22,19), or vice versa, first really Determine the section shape curve of bar, then go out the section shape curve of pole perforating hole by the envelope of curve according to zero tooth difference transmission principle.Seal receptacle Screw 10, seal receptacle 11, seal receptacle gasket 12, slow speed turbine stage internal gear 14, right end cap screw 16, right end cap 17 etc. pass through screw etc. Link into an integrated entity, become the housing unit of whole retarder, it is realized close between output precision by left end cap sealing 09 Envelope.The sealing between high speed input shaft is realized by right sealing 23 at the same time.Output shaft rolls left the right rolling element of kinetoplast 13, output shaft 15 are used for realization support of the output precision on housing unit.Eccentric shaft right bearing rolling element 24, left capacity eccentric bearing rolling element 25, 4 groups of bearings such as right capacity eccentric bearing rolling element 26, eccentric shaft left bearing rolling element 27 are respectively used to realize the left and right planet tooth of slow speed turbine stage 22,19 support on eccentric shaft 04 of wheel, and slow speed turbine stage right lateral star-wheel 19, slow speed turbine stage left lateral star-wheel 22 and slow speed turbine stage internal gear 14 Less teeth difference transmission is formed with together with eccentric shaft 04, for the relatively slow-speed of revolution from eccentric shaft 04 further to be reduced, constitutes this The slow speed turbine stage of transmission system.The high speed level and slow speed turbine stage double reduction device in series.
The present invention also has following features：Eccentric shaft 04 uses pyramidal structure, can so reduce number of components on eccentric shaft Amount；One end cantilever of eccentric shaft directly processes planetary gear shaft, can so increase substantially rigidity.And on output precision 10 output rods also use integrative design thinking, can so improve the precision and rigidity of structure.
During work, the revolution at a high speed under the driving of motor of high speed level sun gear 01, transmits motion to high speed level planet tooth On wheel 02, but planetary gear 02 is subject to the constraint of high speed level internal gear 06, therefore, the eccentric shaft that high speed level planetary gear is installed 04 will be moved with relatively low speed, and be transmitted motion on the input eccentric shaft 04 of slow speed turbine stage, and the eccentric shaft 04 of slow speed turbine stage drives The dynamic left and right planetary gear 22,19 of slow speed turbine stage moves, but the gear is subject to the constraint of slow speed turbine stage internal gear 14 therefore can only do planet fortune Dynamic, its rotary speed is far below the output speed of eccentric shaft, its rotary motion can pass through the bar section tooth form in output precision Movement output is come out, so may be used for realizing the transmission of big speed ratio.

Claims (6)

  1. A kind of 1. cosine Involute Small Teeth Difference Planetary Gearing device available for robot joint speed reducer, it is characterised in that：It is by High speed level sun gear (01), high speed level planetary gear (02), planetary gear bearing (03), eccentric shaft (04), planet gear pad (05), high speed level internal gear (06), left end cap (07), left end cap screw (08), left end cap sealing (09), seal receptacle screw (10), seal receptacle (11), seal receptacle gasket (12), output shaft roll left kinetoplast (13), slow speed turbine stage internal gear (14), the right rolling of output shaft Kinetoplast (15), right end cap screw (16), right end cap (17), output shaft right cover (18), the right planetary gear of slow speed turbine stage (19), output shaft Bar component (20), output shaft end cap cover board (21), the left planetary gear of slow speed turbine stage (22), right sealing (23), eccentric shaft right bearing Rolling element (24), left capacity eccentric bearing rolling element (25), right capacity eccentric bearing rolling element (26) and eccentric shaft left bearing rolling element (27) Composition, high speed level sun gear (01) and multiple high speed level planetary gear (02) phases on multiple planetary gear bearings (03) Connection, multiple planetary gear bearings (03) are installed in multiple planetary gear shafts that eccentric shaft (04) left end stretches out, planetary gear The planet gear pad (05) at both ends is used for the friction for reducing planetary gear end face, above-mentioned high speed level planetary gear (02), high speed Level sun gear (01) constitutes the transmission of high speed level with high speed level internal gear (06), for will be passed to from high speed level sun gear (01) The high-speed motion from motor be converted into the relatively low-speed rotation of eccentric shaft (04)；High speed level internal gear (06) passes through left end Lid screw (08) is connected with left end cap (07) and output shaft bar component (20), output shaft end cap cover board (21) by with left end cap One group of screw of the opposite right end of screw (08) is connected with output shaft right cover (18) and output shaft bar component (20), the above Component constitutes output precision, wherein there is 1 group of bar on output shaft bar component (20), its section shape curve according to Enveloping theory by The pole perforating hole envelope of curve engaged with bar of right, the left planetary gear (19,22) of slow speed turbine stage is formed, or vice versa, first determine bar Section shape curve, then go out the section shape curve of pole perforating hole by the envelope of curve according to zero tooth difference transmission principle；Seal receptacle screw (10), seal receptacle (11), seal receptacle gasket (12), slow speed turbine stage internal gear (14), right end cap screw (16), right end cap (17) pass through Screw links into an integrated entity, and becomes the housing unit of whole retarder, it by left end cap seal (09) realize with output precision it Between sealing；The sealing between sun gear (01) right end is realized by right sealing (23) at the same time；Output shaft roll left kinetoplast (13), The right rolling element of output shaft (15) is used for realization support of the output precision on housing unit；Eccentric shaft right bearing rolling element (24), (27) 4 groups of left capacity eccentric bearing rolling element (25), right capacity eccentric bearing rolling element (26), eccentric shaft left bearing rolling element bearings are used respectively In realizing support of the left and right planetary gear of slow speed turbine stage (22,19) on eccentric shaft (04), and the right planetary gear of slow speed turbine stage (19), The left planetary gear of slow speed turbine stage (22) forms less teeth difference transmission with slow speed turbine stage internal gear (14) together with eccentric shaft (04), in the future Further reduced from the relatively slow-speed of revolution of eccentric shaft (04), constitute and lack tooth available for the cosine involute of robot joint speed reducer The slow speed turbine stage of poor transmission device, the high speed level and slow speed turbine stage double reduction device in series.
  2. 2. a kind of cosine Involute Small Teeth Difference Planetary Gearing available for robot joint speed reducer according to claim 1 fills Put, it is characterised in that：The flank profil of less teeth difference transmission is to use the cosine curve with certain amplitude to be superimposed used by the device A radius on the left and right planetary gear of slow speed turbine stage (22,19) is R21.0Basis circle on, and changed using original gap function Become its shape, its primary drive profile is then gone out the low speed being meshed using the planet tooth form envelope close to involute profile The tooth form of level internal gear (14)；Also the tooth form of slow speed turbine stage internal gear (14) can be first determined using same method, then uses envelope method The tooth form for the left and right planetary gear of slow speed turbine stage (22,19) being meshed is obtained, and ensures that the number of teeth difference of the two is 1 or other integer； Specific method is：
    (1) the planetary number of teeth of slow speed turbine stage is set as Z21, slow speed turbine stage planetary gear basis radius of circle is R21.0, it is superimposed on the circle Cycle is 2 π/Z21, amplitude H21Cosine curve obtain the basic tooth profile equation of slow speed turbine stage planetary gear
    R21=[R21.0+H21cos(Z21·A21)][cos(A21),sin(A21)]T
    A in formula21For the deflection of the corresponding cosine curve at any point on tooth curve, R21For any point on tooth curve Corresponding cosine curve to footpath；
    (2) construction is a kind of to footpath tuning function
    With one kind to radial angle combined cooker function
    In formula η be corresponding cosine curve on point deflection, M21.1、M21.2、M21.3It is bent to cosine respectively Deng three parameters Amplification coefficient at η=0 ° of line, η=90 ° and the transport coefficient at η=45 °；
    (3) the cosine tooth profile equation after two kinds of conditionings is obtained using to footpath tuning function and to radial angle combined cooker function
    R21.1={ R21.0+H21cos(Z21·A21)F21.1(Z21·A21)]}[cos(A21),sin(A21)]T (a)
    Or
    R21.2={ R21.0+H21cos(Z21·A21)F21.2(Z21·A21)]}[cos(A21),sin(A21)]T (b)
    R21.1.R21.2The R respectively obtained using two kinds of different tuning functions21Equation；
    In addition to basic tooth form R21In point rotated to change the width of tooth, so change tooth when base radius determines Number, realizes small speed reducing ratio transmission, expands retarder working range；I.e. by the A in the unit vector of formula21Use A21 *Replace, will The point of former cosine curve to footpath from A21Tangentially modulated after radial modulation is completed, that is, rotate to A21 *Position
    Therefore, formula (a) (b) is rewritten as respectively：
    Or
    (4) setting one has certain modulus m21Involute gear as the planetary master gear of slow speed turbine stage, its number of teeth For Z21, the tooth form on the basis of the tooth-formation of gear, by varying M21.1、M21.2、M21.3、H21、M21.45 parameters make tooth profile equation R21.1Or R21.2Given involute profile approaches with certain, that is, forms a kind of best fit；Select the involute of basic tooth profile not Same region obtains the cosine tooth profile equation after different conditionings, the tooth form obtained using such method as fitting object Approached in given area and involute, because referred to herein as intending involute cosine tooth profile or cosine involute profile；M21.4It is for amplification Number；
    (5) internal tooth is established using the drive connection between above-mentioned plan involute cosine tooth profile and slow speed turbine stage planetary gear and internal gear Wide equation, if there is interference situation, to above-mentioned M21.1、M21.2、M21.3、H21、M21.45 parameters are adjusted, and are repeated above-mentioned Process obtains preferable flank profil；
    (6) tooth form of internal gear also can be first determined according to (1)-(4) step, then obtains slow speed turbine stage planet tooth according to Enveloping theory The tooth form of wheel.
  3. 3. a kind of cosine Involute Small Teeth Difference Planetary Gearing available for robot joint speed reducer according to claim 1 fills Put, it is characterised in that：If the tooth form array of the cross section curve composition of the bar of output precision is output gear used by the device The tooth form of wheel, the bar number of teeth are Z3, the planetary tooth number Z of slow speed turbine stage21For Z3K times, K for take out tooth factor, be integer, as long as Structure is allowed, and K is minimum to be equal to 1；The corresponding perforation being meshed with bar belongs to the difference transmission of zero tooth on slow speed turbine stage planetary gear, because The quantity of the corresponding perforation tooth form being meshed with bar is also Z on this slow speed turbine stage planetary gear3, construct bar tooth form and perforation Tooth form comprises the concrete steps that：
    (1) fundamental equation of the pole perforating hole section shape of output shaft is set as ellipse, without loss of generality, studies a bar and the tooth of perforation The equation of shape, and set the equation of the initial tooth form of its bar as
    R31=[acos (C), bsin (C)]T+R31.0[1,0]T
    C is any point on tooth curve relative to the deflection of elliptic curve centre coordinate system, R in formula31For on tooth curve The corresponding elliptic curve at any point to footpath；R31.0It is elliptical center to footpath；A and b is the length of elliptical two semiaxis Degree；
    (2) construction is a kind of to footpath tuning function
    With one kind to radial angle combined cooker function
    In formula η be corresponding elliptic curve on point deflection, M31.1、M31.2、M31.3Three parameters are to elliptic curve respectively η=0 °, the amplification coefficient at η=90 ° and the transport coefficient at η=45 °；
    (3) tooth profile equation after 4 kinds of conditionings is obtained using to footpath tuning function and to radial angle combined cooker function
    R31.1=[acos (C), bsin (C) F31.1(C)]T+R31.0[1,0]T
    Or
    R31.2=[acos (C), bsin (C) F31.2(C)]T+R31.0[1,0]T
    Or
    R31.3=[acos (C) F31.1(C),bsin(C)]T+R31.0[1,0]T
    Or
    R31.4=[acos (C) F31.2(C),bsin(C)]T+R31.0[1,0]T
    R31.1.R31.2R31.3.R31.4The R respectively obtained using two kinds of different tuning functions31Equation, the first two is to y-coordinate Conditioning, latter two is that x coordinate is nursed one's health；
    (4) setting one has certain modulus m3Master gear of the involute gear as output shaft bar component holes, its number of teeth For Z3Integral multiple, multiple size is according to structure determination；The tooth form on the basis of the tooth-formation of gear, by varying M31.1、M31.2、 M31.3, tetra- parameters of a or b make tooth profile equation R31.1、R31.2、R31.3、R31.4One of as selected tooth form and be allowed to and basic tooth profile A close part, that is, form a kind of best fit, selects the different regions of the involute of basic tooth profile to be used as fitting object, The tooth profile equation after different conditionings is obtained, the tooth form obtained using such method is approached in given area and involute；
    (5) above-mentioned plan involute cosine tooth profile equation R is utilized31.1、R31.2、R31.3、R31.4One of and slow speed turbine stage planetary gear and Constant angular velocity movement relation between output shaft, the pole perforating hole on the slow speed turbine stage planetary gear being meshed is established using enveloping method Tooth profile equation；If there is interference situation, to above-mentioned M31.1、M31.2、M31.3, that tetra- parameters of a or b are adjusted acquisition is preferable Pole perforating hole tooth profile equation；
    (6) tooth form of pole perforating hole can be also determined according to (1)-(4) step, the tooth form of bar is then obtained according to Enveloping theory.
  4. 4. a kind of cosine Involute Small Teeth Difference Planetary Gearing available for robot joint speed reducer according to claim 1 fills Put, it is characterised in that：Bar on the output shaft bar component (20) of the device is directly to be processed in one end of output shaft , so reduce number of parts and improve precision and rigidity.
  5. 5. a kind of cosine Involute Small Teeth Difference Planetary Gearing available for robot joint speed reducer according to claim 1 fills Put, it is characterised in that：Small, the left and right planet of slow speed turbine stage in two offsets on the eccentric shaft of the device on the left of the ratio on right side Gear (22,19) is installed from one direction, and the left side of the eccentric shaft can have the row that sufficiently large space directly processes high speed level The axis of star gear, so reduces number of parts and improves precision and rigidity, the left end of the planetary axis of the high speed level uses Overall disc structure is connected with each other and is contacted using the gap between planetary gear and the left end flange of slow speed turbine stage input shaft Get up.
  6. 6. a kind of cosine Involute Small Teeth Difference Planetary Gearing available for robot joint speed reducer according to claim 1 fills Put, it is characterised in that：The cross sectional shape of bar is worn by forming internal messing form after pumping tooth is carried out to zero tooth difference of internal messing Tooth form combination between bar and planetary gear has multiple several means：Bar is that interior cosine involute gear-planetary gear is it Conjugate tooth profile, bar are that outer cosine involute gear-planetary gear is its conjugate tooth profile, and bar is outer circular curve-planetary gear For interior circular curve, bar is that outer elliptic curve-planetary gear is interior approximate ellipse curve, bar for four sections of convex involute curves- Planetary gear is envelope sag vertical curve.
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CN106931081A (en) * 2017-04-26 2017-07-07 珠海飞马传动机械有限公司 A kind of robot high-accuracy cycloid difference tooth reductor
CN107542878B (en) * 2017-10-31 2020-06-09 枣庄北航机床创新研究院有限公司 Gapless elastic gear transmission device
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