CN105508521A - High-contact-ratio internal-gearing cycloidal gear mechanism - Google Patents

High-contact-ratio internal-gearing cycloidal gear mechanism Download PDF

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Publication number
CN105508521A
CN105508521A CN201610011652.4A CN201610011652A CN105508521A CN 105508521 A CN105508521 A CN 105508521A CN 201610011652 A CN201610011652 A CN 201610011652A CN 105508521 A CN105508521 A CN 105508521A
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China
Prior art keywords
gear
cycloid
cycloidal
external gear
internal
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Pending
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CN201610011652.4A
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Chinese (zh)
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贾萌
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Individual
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Individual
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Priority to CN201610011652.4A priority Critical patent/CN105508521A/en
Publication of CN105508521A publication Critical patent/CN105508521A/en
Priority to PCT/CN2016/097113 priority patent/WO2017118054A1/en
Pending legal-status Critical Current

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Classifications

    • 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
    • F16H55/08—Profiling
    • F16H55/0826—Novikov-Wildhaber profile
    • 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
    • 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
    • F16H2001/327—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 with orbital gear sets comprising an internally toothed ring 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
    • F16H2055/176—Ring gears with inner teeth

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

Abstract

The invention discloses a high-contact-ratio internal-meshing cycloidal gear mechanism which is composed of a cycloidal internal gear and a cycloidal external gear, wherein the cycloidal external gear is arranged in the cycloidal internal gear and meshes with the cycloidal internal gear; the meshing line of the cycloidal internal gear and cycloidal external gear is a circular arc; assuming that the circular arc radius of the meshing line is r, the pitch radius of the cycloidal internal gear is r1 and the pitch radius of the cycloidal external gear is r2, r1>r>r2; and when the meshing line respectively rolls around the pitch circle of the cycloidal internal gear and the pitch circle of the cycloidal external gear, one point on the meshing line respectively produces two gear tooth apical tooth profiles. A plurality of pairs of teeth simultaneously participate in the meshing in the transmission process, and the pressure angle is small, so that the carrying capacity of the mechanism is greatly enhanced. The tooth root part of the gear basically does not participate in meshing, the tooth profiles can be flexibly designed according to the structural requirements, thereby avoiding the problems of undercut and the like. The high-contact-ratio internal-meshing cycloidal gear mechanism has the advantages of simple structure and fewer parts; and the manufacturing technique is easy to implement.

Description

Large contact ratio internal messing cycloidal gear mechanism
Technical field
The present invention relates to gear mechanism, be specifically related to a kind of internal messing cycloidal gear mechanism.
Background technique
Cycloidal gear transmission occurs very early, and application is very wide, and after Involutes Gears Transmission occurs, many fields are replaced by the latter, but cycloidal gear transmission still occupies important or even main positions in fields such as clock and watch, instrument, blower, compressors.Traditional cycloidal gear flank profil generates by justifying line of contact, and tooth top and tooth root are made up of two sections of different curves and epicycloid and hypocycloid, and during engagement driving, in flank profil, the slip rate of any point is all equal, but responsive to centre distance application condition.
Internal gear pair is made up of an external gear and an internal gear, can realize dead axle or Gear Planet Transmission.Which kind of flank profil no matter traditional internal gear pair adopt, and its contact ratio is generally no more than 2, and namely simultaneously total number of teeth in engagement is no more than 2 right, and in order to carry or transmit necessary moment of torsion, structure often designs very huge.
Cycloidal pin-wheel drive is as a kind of form of Gear Planet Transmission, its outstanding advantages be cycloid wheel simultaneously and all pin tooth contacts, there is nearly half pin tooth to participate in engagement in transmission process simultaneously, rigidity is large, bearing capacity is strong, by based on the cycloidal planetary gear speed reducer of exploitation obtain extensive use in accurate, heavy equipment field.In recent years in industrial robot field application its core component of RV speed reducer Ye Shi cycloidal-pin wheel mechanism widely.Its shortcoming is that part is many, structure and manufacturing process complexity.The high-end RV speed reducer 95% of current domestic robot relies on import.In addition, from transmission principle, cycloid wheel and pin tooth engagement neither be very good, and substantially in the zonule contact of pin tooth tip, pressure angle is very large, stressed bad.
Summary of the invention
The object of the invention is to the shortcoming overcoming prior art, provide that a kind of part is few, structure is simple, manufacturing process is easy to realize and the bearing capacity large contact ratio internal messing cycloidal gear mechanism of significantly improving.
Technological scheme of the present invention is:
A kind of large contact ratio internal messing cycloidal gear mechanism, it is by cycloid internal gear and be arranged on and engage the cycloid external gear arranged in described cycloid internal gear and with cycloid internal gear and form, described cycloid internal gear and the line of contact of cycloid external gear are circular arc, if the radius of arc of line of contact is r, the Pitch radius of described cycloid internal gear is r 1be r with the Pitch radius of cycloid external gear 2, then r 1> r > r 2, described line of contact, respectively when the pitch circle pure rolling of the pitch circle of cycloid internal gear, cycloid external gear, described line of contact a bit generates two gear teeth tips flank profils respectively.
Advantage of the present invention:
Have multipair tooth to participate in engagement in transmission of the present invention, and pressure angle is little, thus the bearing capacity of mechanism is significantly improved simultaneously, and Gear Root part does not participate in engagement substantially, and its flank profil can according to structural requirement flexible design, there is not root and the problem such as to cut.Structure of the present invention is simple, and part is few, and manufacturing process is easy to realize.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of mode of execution of a kind of large contact ratio internal messing cycloidal gear mechanism of the present invention;
Fig. 2 is the structural representation of the another kind of mode of execution of a kind of large contact ratio internal messing cycloidal gear mechanism of the present invention;
Fig. 3 is the decomposing schematic representation of the structure shown in Fig. 2;
Fig. 4 is gears meshing line and pitch circle relation schematic diagram;
Fig. 5 is tooth top flank profil formation basic theory, and line of contact is respectively when the pitch circle pure rolling of the pitch circle of cycloid internal gear and cycloid external gear, and 1 P in line of contact generates two gear teeth tips flank profils respectively.
Embodiment
Described in detail below in conjunction with the drawings and specific embodiments.
One as shown in drawings large contact ratio internal messing cycloidal gear mechanism, it is by cycloid internal gear 1 and to be arranged in described cycloid internal gear 1 and the cycloid external gear 2 engaging setting with cycloid internal gear 1 forms, (center of circle is some o) for circular arc for the line of contact R (also referred to as justifying) of described cycloid internal gear 1 and cycloid external gear 2, if radius of arc is r, the pitch circle R of described cycloid internal gear 1 1radius is r 1(center of circle is at an o 1) and the pitch circle R of cycloid external gear 2 2radius is r 2(center of circle is at an o 2), then r 1> r > r 2, described line of contact R is respectively around the pitch circle R of cycloid internal gear 1with the pitch circle R of cycloid external gear 2during pure rolling, 1 P in line of contact generates the tooth top flank profil P of cycloid internal gear 1 respectively 1with the tooth top flank profil P of cycloid external gear 2 2.There is multipair tooth to participate in engagement in transmission simultaneously.
As one embodiment of the present invention, described cycloid external gear 2 is 2 or multiple and structure is identical, and the while of a cycloid internal gear 1, the cycloid external gear 2 identical with 2 or multiple engages and form epicyclic transmission mechanism.
As another mode of execution of the present invention, described cycloid external gear 2 is 2, on cycloid external gear 2 described in two is rotatably assorted and is sleeved on as motion input end eccentric shaft 3, the axis II of the cycloid external gear 2 described in two, III be arranged on radially symmetrically eccentric shaft axis I both sides and on eccentric shaft 3 before and after to stagger setting, cycloid external gear 2 described in two has multiple hole symmetrically, output mechanism 4 and eccentric shaft 3 coaxial line I are arranged, described output mechanism 4 is provided with multiple Movement transmit bearing pin respectively accordingly with described multiple holes, described multiple Movement transmit bearing pins are inserted in the multiple holes on the cycloid external gear 2 described in two.A kind of structure as in present embodiment: described cycloid internal gear 1 is fixed end, described output mechanism 4 is movement output end; Or the another kind of structure as in present embodiment: described cycloid internal gear 1 is movement output end, described output mechanism 4 is fixed end.
By adjustment line of contact radius, the tooth logarithm participating in engagement can be regulated in structure of the present invention.Its maximum value rises decision by the inside and outside wheel tooth of cycloid.
Embodiment 1
As shown in Figure 1.
1-cycloid internal gear, number of teeth z 1=45,2-cycloid external gear, number of teeth z 2=37, modulus m=5, get line of contact radius of arc r=101.7683.As can be seen from the figure, no matter to which direction transmission, simultaneously total number of teeth in engagement all reaches 7 right.
Embodiment 2
1 differential teeth planetary gear mechanism, as shown in Figure 2,3.
1-cycloid internal gear, number of teeth z 1=40,2-cycloid external gear, number of teeth z 2=39, modulus m=3, get line of contact radius of arc r=59.25.A pair of identical cycloid external gear 2 symmetry is installed, and axially staggers, engages simultaneously with cycloid internal gear 1.3-bidirectionally eccentric axle in Fig. 3, in order to support two external gears 2, makes it engage with internal gear 1 respectively.Suppose that cycloid internal gear 1 is fixed, eccentric shaft 3 is as input shaft, and namely move from its input, then cycloid external gear 2 will do plane motion, namely both doing circumference translational motion around cycloid internal gear 1 axis, doing rotation motion because engaging with cycloid internal gear 1 around own axes again.4-output mechanism, passes the rotation motion of cycloid external gear 2.In the present embodiment, velocity ratio is 39.As seen from Figure 2, nearly all tooth all contacts, and certainly, actual also will consider machining error and the factor such as easy for installation when using, leave gap, actual total number of teeth in engagement generally can reach more than 1/3.

Claims (4)

1. a large contact ratio internal messing cycloidal gear mechanism, it is by cycloid internal gear and be arranged on and engage the cycloid external gear arranged in described cycloid internal gear and with cycloid internal gear and form, it is characterized in that: described cycloid internal gear and the line of contact of cycloid external gear are circular arc, if the radius of arc of line of contact is r, the Pitch radius of described cycloid internal gear is r 1be r with the Pitch radius of cycloid external gear 2, then r 1> r > r 2, described line of contact, respectively when the pitch circle pure rolling of the pitch circle of cycloid internal gear, cycloid external gear, described line of contact a bit generates two gear teeth tips flank profils respectively.
2. large contact ratio internal messing cycloidal gear mechanism according to claim 1, it is characterized in that: described cycloid external gear is 2 or multiple and structure is identical, the while of a cycloid internal gear, the cycloid external gear identical with 2 or multiple engages and forms epicyclic transmission mechanism.
3. large contact ratio internal messing cycloidal gear mechanism according to claim 1 and 2, it is characterized in that: described cycloid external gear is 2, on cycloid external gear described in two is rotatably assorted and is sleeved on as motion input end eccentric shaft, the axis of the cycloid external gear described in two be arranged on radially symmetrically eccentric shaft axis both sides and on eccentric shaft before and after to stagger setting, cycloid external gear described in two has multiple hole symmetrically, output mechanism and eccentric shaft are coaxially set, described output mechanism is provided with multiple Movement transmit bearing pin respectively accordingly with described multiple holes, described multiple Movement transmit bearing pins are inserted in the multiple holes on the cycloid external gear described in two.
4. large contact ratio internal messing cycloidal gear mechanism according to claim 3, it is characterized in that: described cycloid internal gear is fixed end, described output mechanism is movement output end; Or described cycloid internal gear is movement output end, described output mechanism is fixed end.
CN201610011652.4A 2016-01-08 2016-01-08 High-contact-ratio internal-gearing cycloidal gear mechanism Pending CN105508521A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201610011652.4A CN105508521A (en) 2016-01-08 2016-01-08 High-contact-ratio internal-gearing cycloidal gear mechanism
PCT/CN2016/097113 WO2017118054A1 (en) 2016-01-08 2016-08-29 Large contact ratio, inner engagement cycloidal gear structure

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Application Number Priority Date Filing Date Title
CN201610011652.4A CN105508521A (en) 2016-01-08 2016-01-08 High-contact-ratio internal-gearing cycloidal gear mechanism

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017118054A1 (en) * 2016-01-08 2017-07-13 贾萌 Large contact ratio, inner engagement cycloidal gear structure
CN107314085A (en) * 2017-08-21 2017-11-03 戴高楠 A kind of few teeth difference slowing-down structure
CN110723673A (en) * 2019-10-21 2020-01-24 湖北三六一一应急装备有限公司 Rope winding device
CN113483075A (en) * 2021-06-30 2021-10-08 宁波中大力德智能传动股份有限公司 Design method of inner tooth profile of cycloid outer ring, cycloid outer ring and cycloid speed reducer

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111639293B (en) * 2020-05-25 2022-05-20 济南大学 Method for calculating tooth profile curvature radius of cycloidal gear at pin tooth meshing position of cycloidal gear

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CN2244646Y (en) * 1995-09-05 1997-01-08 沈培基 Small tooth difference internal engagement cylindrical straight-teeth double-cycloidal gear pair and its speed reducer
JP2002147546A (en) * 2000-11-14 2002-05-22 Sumitomo Heavy Ind Ltd Series of speed increasing/reducing gear
US20050059524A1 (en) * 2003-08-29 2005-03-17 Denso Corporation Internal planetary gear mechanism
WO2008030004A1 (en) * 2006-09-03 2008-03-13 S & T Daewoo Co., Ltd Tooth profile of internal gear
CN101825067A (en) * 2010-05-01 2010-09-08 吴声震 Wind generating cycloidal pitch-controlled speed reducer
CN205479155U (en) * 2016-01-08 2016-08-17 贾萌 Poor planetary gear mechanism of few tooth of cycloid tooth

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US3946621A (en) * 1975-01-15 1976-03-30 Rouverol William S Internal gearing
CN104712555B (en) * 2013-12-12 2017-04-19 西安航空动力控制科技有限公司 Inner engaging cycloidal pump cycloidal gear design method
CN103727204B (en) * 2013-12-27 2017-01-25 太原科技大学 Profiling method for cycloidal gear of gerotor motor
CN105221704B (en) * 2015-10-23 2017-12-29 中国人民解放军军事交通学院 The raising method of the registration of external toothing cycloid gear
CN105202151B (en) * 2015-10-23 2017-12-29 中国人民解放军军事交通学院 The raising method of the registration of internal messing cycloid gear
CN105508521A (en) * 2016-01-08 2016-04-20 贾萌 High-contact-ratio internal-gearing cycloidal gear mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2244646Y (en) * 1995-09-05 1997-01-08 沈培基 Small tooth difference internal engagement cylindrical straight-teeth double-cycloidal gear pair and its speed reducer
JP2002147546A (en) * 2000-11-14 2002-05-22 Sumitomo Heavy Ind Ltd Series of speed increasing/reducing gear
US20050059524A1 (en) * 2003-08-29 2005-03-17 Denso Corporation Internal planetary gear mechanism
WO2008030004A1 (en) * 2006-09-03 2008-03-13 S & T Daewoo Co., Ltd Tooth profile of internal gear
CN101825067A (en) * 2010-05-01 2010-09-08 吴声震 Wind generating cycloidal pitch-controlled speed reducer
CN205479155U (en) * 2016-01-08 2016-08-17 贾萌 Poor planetary gear mechanism of few tooth of cycloid tooth

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017118054A1 (en) * 2016-01-08 2017-07-13 贾萌 Large contact ratio, inner engagement cycloidal gear structure
CN107314085A (en) * 2017-08-21 2017-11-03 戴高楠 A kind of few teeth difference slowing-down structure
CN110723673A (en) * 2019-10-21 2020-01-24 湖北三六一一应急装备有限公司 Rope winding device
CN113483075A (en) * 2021-06-30 2021-10-08 宁波中大力德智能传动股份有限公司 Design method of inner tooth profile of cycloid outer ring, cycloid outer ring and cycloid speed reducer

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Application publication date: 20160420