CN106438864A - Eccentric swing type planetary gear device capable of increasing output torque - Google Patents
Eccentric swing type planetary gear device capable of increasing output torque Download PDFInfo
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- CN106438864A CN106438864A CN201611006425.9A CN201611006425A CN106438864A CN 106438864 A CN106438864 A CN 106438864A CN 201611006425 A CN201611006425 A CN 201611006425A CN 106438864 A CN106438864 A CN 106438864A
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- tooth
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- root
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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
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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
- 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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- 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
- F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses an eccentric swing type planetary gear device capable of increasing the output torque. The eccentric swing type planetary gear device comprises an inner tooth gear, an outer tooth gear, a crank shaft and a supporting body. The outer tooth gear is provided with at least one crank shaft hole and multiple through holes. Outer teeth engaged with inner teeth of the inner tooth gear are arranged on the periphery of the outer tooth gear, wherein the number of the outer teeth is one smaller than that of the inner teeth. The inner teeth composed of multiple parabola-shaped columnar rollers are arranged on the inner circumference of the inner tooth gear at the tooth interval of P, the ratio of the inner tooth thickness S to the certain tooth distance P of the inner teeth is made to be reduced till the tooth tops of the outer teeth exceed the tooth roots of the inner teeth towards the outer side of the radial direction, at least the portions, exceeding the inner tooth roots of the inner tooth gear, of the outer teeth are cut away, and therefore interference between the outer teeth and the columnar parabola-shaped inner tooth roots is reduced. By creatively designing the novel inner tooth form, the output torque of the eccentric swing type planetary gear device is further increased, and the transfer efficiency is improved. In addition, the output torque can be increased while enlargement is achieved.
Description
Technical field
The invention belongs to RV decelerator field, and in particular to a kind of eccentric oscillating-type planetary gear for increasing output torque
Device.
Background technology
As existing eccentric oscillating-type planetary gear device device, it is commonly known that the patent documentation that for example delivers at home
1---CN1831372A, patent documentation 2---CN10128082A, patent documentation 3---CN104633013A, patent documentation 4---
CN104565217A, patent documentation 5---CN1409029A, patent documentation 6---CN101263319A, patent documentation 7---
CN103968008A, patent documentation 8---CN105605159A, patent documentation 9---CN1120634A, patent documentation 10---
Device described in the patent documentations such as CN105020344A；All using few teeth difference cycloidal pin wheel-type version.
Robot decelerator is substantially with RV decelerator at present（Cycloidal-pin wheel structure）Based on, because its small volume, moment of torsion are big, fixed
Many advantages, such as position high precision, vibration little, shock resistance, it is widely used in industrial robot field and precision optical machinery field, but
It is that the manufacture of this Design of Speed Reducer is complicated, difficulty is big, processing and installation accuracy have high demands, its core technology is still by Japanese firm ridge
Disconnected, the country is not made substantial breakthroughs in the design, manufacture of robot high accurate speed reducer, is more produced without independent intellectual
The product of power；Seriously restrict and hinder domestic industrial machine man-based development.
On Vehicles Collected from Market, the decelerator of big retarding ratio generally adopts cycloidal pin wheel-type structure, for example：The RV decelerator of Japan,
FA type speed reducer precision speed reduction device and universal planet-cycloid reducer etc. are all using cycloidal-pin wheel version；But, should
There is the defect that can not fully increase torque in cycloidal-pin wheel structure type decelerator.Such as existing cycloidal pin wheel-type deceleration device
In, the device basic structure principle described in the known above-mentioned at home patent documentation that delivers is as described in I device of B.I device of B
Possess：Internal-gear, is provided with, with a constant pitch, the internal tooth being made up of multiple cylindric rollers in inner circumferential；External tooth gear, forms
There are a central crank shaft through hole and multiple pin through holes, periphery is engaged with above-mentioned internal tooth be made up of trochoid profile of tooth
And the gear ratio interior number of teeth only lacks a tooth, and its center keeps constant with the distance at above-mentioned internal gear center；Crank axle,
In insertion crank axis hole；Plug body, inserts in each pin through hole；External tooth gear eccentric swing is made by rotation；Plug body is permissible
Rotatably central crank shaft is supported, while many plug body are inserted actively and contiguously in each through hole.The device such as Figure 14,
Shown in 15：External tooth gear 01 is e with the eccentric throw of internal gear 03, and the external tooth 02 of the external tooth gear 01 for contacting with each other is in its contact point
Upper internal tooth respectively to internal gear 03（Cylinder）04 applies the driving component with flank of tooth vertical direction, simultaneously as in its retroaction
Tooth（Cylinder）The 04 counteracting force K for also applying above-mentioned driving component to external tooth 02.And, as shown in figure 16, each external tooth 01 applies
To corresponding internal tooth（Cylinder）The position D of the counteracting force K of 04 driving component overlaps and collects on point C, and Rendezvous Point
C is located at, and the distance on the outside of in the distance gear centre radial direction is designated as L；For example in the above-mentioned internal gear, the number of teeth is certain, the pin number of teeth
Amount and the also timing of the certain and internal gear eccentricity amount of external gear of distributing position, the position of Rendezvous Point C is away from internal gear center radius
The distance in direction is fixed, and limits Rendezvous Point C to the movement on the outside of in the distance gear centre radial direction；Constrain output to turn
The increase of square.
Content of the invention
It is an object of the invention to provide a kind of eccentric oscillating-type planetary gear device for increasing output torque, by innovation
New internal tooth profile of tooth is designed, increases the output torque of eccentric oscillating-type planetary gear device device further, improve transmission efficiency；
And increase output torque while being prevented from not maximizing.
The technical solution adopted in the present invention is：A kind of eccentric oscillating-type planetary gear device for increasing output torque,
Including internal-gear, external tooth gear, crank axle and supporter, there is on external tooth gear at least one crank axis hole and multiple logical
Hole, external tooth gear periphery is engaged each other with the internal tooth with internal-gear and few 1 external tooth of gear ratio internal tooth；The crank
Axle is inserted in crank axle in the hole, makes external tooth gear eccentric swing by each crank axle of synchronous rotary, and the supporter is for being plugged in
Column in each through hole, supports each bent axle for rotating；The internal-gear, is provided with a constant pitch P in inner circumferential multiple
The internal tooth that parabola shaped column roller is constituted, and make composition internal tooth transverse tooth thickness S divided by a constant pitch P of internal tooth ratio be reduced to
The tooth top of external tooth exceedes internal tooth tooth root on the outside of radial direction, and at least cut off interior tooth root more than internal gear part outer
Tooth, avoids the interference of external tooth and the parabola shaped internal tooth tooth root of column with this；When will be parabola shaped interior by constituting above-mentioned column
The radius of all internal tooth root circles of tooth is set to R, and when the number of teeth of internal-gear is set to Z, makes the tooth of the above-mentioned internal tooth of composition
Thickness is in 2Rsin (in the range of pi/2 z) ± emm.
Optimize further, so that composition internal tooth transverse tooth thickness S is reduced to the tooth top of external tooth divided by the ratio of a constant pitch P of internal tooth
Exceed internal tooth tooth root on the outside of radial direction, and the internal tooth tooth root of internal gear between adjacent internal tooth is at least cut off, by external tooth tooth
The partial depth amount of the interior tooth root of internal gear is crossed in toplap, avoids the interference of external tooth and the parabola shaped internal tooth tooth root of column with this.
Optimize further, when will be set to by constituting the root radius of the parabola shaped internal tooth of all columns of above-mentioned internal tooth
R, and the effect of the driving component K of corresponding internal tooth will be applied to from the normal direction of the above-mentioned internal gear internal tooth form flank of tooth to external tooth
Line D intersect in arm of force axes O L produce equivalent moment loading point C, obtain C point in the radial direction be set to Q apart from OC
When, C point be on above-mentioned radial direction apart from Q in the range of 0.85～1.00 times of above-mentioned root radius R.
Compared with prior art, the present invention at least has and has the advantage that and beneficial effect：
The eccentric oscillating-type planetary gear device of the present invention passes through the new internal tooth profile of tooth of innovative design, increases eccentric swing further
The output torque of type epicyclic gearing device, improves transmission efficiency；And increase output while being prevented from not maximizing
Moment of torsion.
The present invention is effectively to implement to promote the technological progress of few teeth difference precision speed reduction device, and Development and design goes out China and independently knows
Know technology and the product of brand；This invention technology will break the long-term technology monopolization of foreign countries, it is established that have and entirely autonomous know
Know the robot high accurate speed reducer core technology R＆D mode of property right, core of the lifting China in terms of precision speed reduction device is competing
Power is striven, promotes the development of China's precision speed reduction device and robot industry.
Description of the drawings
Fig. 1 is the sectional view of embodiments of the invention l；
Fig. 2 is the I-I regarding sectional view of figure l；
Fig. 3 is the explanatory diagram for acting on counteracting force K and its position Q on external tooth；
Fig. 4 is the enlarged drawing of U part in Fig. 3；
Fig. 5 is the sectional view of embodiments of the invention 3；
Fig. 6 is the II-II regarding sectional view of Fig. 5
Fig. 7 is the sectional view of internal tooth and the engagement of external tooth；
Fig. 8 is for illustrating to drive component（Counteracting force K）Position D intersect at saying for the state of equivalent moment point C on the OL arm of force
Bright figure；
Fig. 9 is the sectional view of embodiments of the invention 4；
Figure 10 is the III-III regarding sectional view of figure l1；
Figure 11 is the sectional view of U region partial enlargement during the engagement of internal tooth and external tooth；
Figure 12 is the explanatory diagram of the driving component K and its position D of a tooth-difference cycloid pinwheel sectional view internal tooth；
Figure 13 is the explanatory diagram of the driving component K and its position D for showing the parabola shaped column internal tooth of the present invention；
Figure 14 is the sectional view of of background technology；
Figure 15 is the sectional view of of background technology；
Figure 16 is the driving component for illustrating in description background technology（Counteracting force K）Position D intersect on the OL arm of force
The explanatory diagram of the state of Moment Point C；
Figure 17 is effectively to work the force analysis schematic diagram of region of engagement.
Specific embodiment
For becoming apparent present disclosure, below in conjunction with specific embodiment, describe the present invention.
Embodiment 1：
Figure l, Fig. 2 in, A I be for robot etc. around the parabola shaped column internal tooth form eccentric oscillating-type planet tooth of internal gear
Wheel apparatus device, epicyclic gearing device A I has, and is installed on the near of arm or the handss of the robot that in figure does not represent etc.
Like cylindric rotational shell 02, the section for forming its axial direction central part multiple in the inner circumferential of the rotational shell 02 is bottom
The parabola shaped column internal tooth 05 of closing, these parabola shaped column internal tooths 05 extend in the axial direction, along the circumferential direction
Equidistantly distribute, be herein with a constant pitch p separate configuration.Rotational shell 02, parabola shaped column internal tooth 05 are an entirety,
Constitute internal gear 01.The one constant pitch P is：By constituting the week of all interior root circle R of parabola shaped column internal tooth 05
The value of the long radical divided by parabola shaped column internal tooth 05, in other words, is 2 parabolics for connecting arbitrary neighborhood with circular arc line segment
The arc length of the root circle R of linear column internal tooth 05.The high h of described tooth is：Internal gear tooth top is to internal gear tooth root circumference
Upper nearest distance.
Parabola shaped column internal tooth 05 of the present invention is typically provided with 16～150 or so. but it is preferred that 30～
In the range of 100.Its reason is, if making the number of teeth of parabola shaped column internal tooth 05 within the above range, described later
The previous stage that external tooth gear 14 is engaged with internal gear 01, it is 3/1 to arrange the speed reducing ratio being made up of external tooth gear described later 16,12
～1/7 straight spur gear reducing gear, is made previous stage be combined with the speed reducing ratio of rear stage flexibly, then easily can obtain
High speed reducing ratio is obtained, but also the epicyclic gearing device of the higher high speed reducing ratio of intrinsic vibration frequency can be constituted.
Accommodated side by side in above-mentioned internal gear 01 in the axial direction multiple（In figure is 2）External tooth gear 14 annular in shape,
The periphery of these external tooth gears 14 is respectively formed with by special cycloidal tooth profile, multiple external tooths 04 of composition.Also, aforementioned external teeth tooth
The tooth number Z of the external tooth 04 of wheel 14 is than the number of teeth only few 1 of above-mentioned parabola shaped column internal tooth 05（Number of teeth difference is 1）.Also,
In the state of connecing in external tooth gear 14 and internal gear 01, external tooth 04 is engaged with parabola shaped column internal tooth 05, but 2 external tooth teeth
The maximum engagement position of wheel 14（The most deep position of engagement）180 ° of phase shifting.
At least one is formed with each external tooth gear 14, and in figure is the crank axis hole 15 of 3 insertions in the axial direction, these
Crank axis hole 15 is along radial direction apart from the equal distance of the central shaft of external tooth gear 14, and circumferentially spaced apart isogonism
Range distribution.09 is the multiple of formation on each external tooth gear 14（Identical with the quantity of crank axis hole 15, it is 3）Through hole, these
Through hole 09 is along the circumferential direction alternately configured with crank axis hole 15, and the configuration of circumferentially spaced apart isogonism range distribution.
07, for removable mounting in rotational shell 02, is fixed on the supporter bearing of robot components, the supporter 07
By distribution configuration in a pair end plate 08,13 in sub-circular in two outside of axis direction of external tooth gear 14, its one end is constituted
Be connected with end plate 08, the other end can be connected to loading and unloading by multiple bolts 10 multiple on end plate 13（With through hole 09
Quantity is identical, is 3）Column 11 is constituted.Also, connect the column 11 of above-mentioned end plate 08,13 to extend in the axial direction, and
Keep the insertion in some gaps（Removable mounting）In the through hole 09 of external tooth gear l4.
03 is the axis direction two ends of the specially periphery of end plate 08,13 and rotational shell 02 on supporter 07
A pair of bearings between inner circumferential, by bearing 03, supporter 07 can pivotally support internal-gear 01.21 is circumferentially side
To separating at least one of equal angular distribution configuration（Identical with the quantity of crank axis hole 15, it is 3）Crank axle, these are bent
Arbor 21, is assembled in by the tapered roller bearing 19 that is assembled on one end of its axis direction outward and outward the another of its axis direction
Tapered roller bearing 19 on one end, can be supported with supported body 07, and specially end plate 08,13 is pivotally supported.
Above-mentioned crank axle 21 has the inclined of the equidistant offset of 2 central shafts from crank axle 21 in its axis direction central authorities
Cardiac prominence wheel shaft 17,180 ° of these eccentric cam shafts 17 phase shifting each other.Herein, the eccentric cam shaft 17 of above-mentioned crank axle 21
Respectively by 18 removable mounting of needle roller bearing in the crank axis hole 15 of external tooth gear l4, as a result, aforementioned external teeth gear 14 and song
Arbor 21 allows to rotate against.Also, one end of the axis direction of each crank axle 21 is fixed with external tooth gear 16, these external tooth teeth
Wheel 16 is engaged with the external tooth gear 12 for arranging on 20 one end of in figure input shaft.
Also, when motor-driven input shaft 20, rotate external tooth gear 12, at the same time, drive external tooth gear
While 16 rotation, crank axle 21 is made to rotate around the central shaft of itself, as a result, the eccentric cam shaft 17 of crank axle 21 is in external tooth
Eccentric rotary in the crank axis hole 15 of gear 14, makes the eccentric swing rotation in the direction of the arrow of external tooth gear 14.Now, mutual
On the contact point of the parabola shaped column internal tooth 05 of engagement and external tooth 04, as shown in Figure 2,3, 4, effect respectively has external tooth 04 to apply
Add to driving component of the corresponding parabola shaped column internal tooth 05 along 05 flank of tooth normal direction position D direction of internal tooth, also, conduct
Its counteracting force, acts on respectively and is applied to external tooth 04 along 05 flank of tooth normal direction position D of internal tooth to parabola shaped column internal tooth 05
The counteracting force K of the driving component in direction.
The high h of tooth for making parabola shaped column internal tooth 05 is the half of transverse tooth thickness S（S/2）, and make the parabola shaped post of composition
Transverse tooth thickness S of shape internal tooth 05 is down to divided by the ratio B of a constant pitch P of parabola shaped column internal tooth 05, makes the imagination of external tooth 04
The tooth top 04b that line represents exceedes on the outside of the radial direction of the root circle R of internal gear 01, for example, when parabola shaped column internal tooth
When 05 number of teeth is 18, it was 0.55 or so so as to be decreased to 0.35 or so, thus, make above-mentioned parabola shaped column in the past
Transverse tooth thickness S of internal tooth 05 is little than ever, makes the tooth root 04a of external tooth 04 of external tooth gear 14 to side shifting outside radial direction.
Also, when making the tooth root 04a of external tooth 04 to side shifting outside radial direction as mentioned above, the radial direction of through hole 09
Outer end becomes big to the radial direction distance of the tooth root 04a of external tooth 04, even if the wall thickness J of above-mentioned bridge portions 23 was more thickening than previously, curved
Qu Gang property increases, as a result, inhibit bridge portions 23 and external tooth 04 by elastic deformation during above-mentioned counteracting force K effect, Neng Gouyan
The flank of tooth life-span of the long external tooth 04, even and if also can improve intrinsic vibration frequency in the case of there is torque load(ing), can
Improve vibrant characteristic and controlling.
Herein, when transverse tooth thickness S of parabola shaped column internal tooth 05 is reduced as mentioned above, make adjacent with two parabola shaped
Column internal tooth 05 contact（The flank of tooth and the rear side flank of tooth on front side of direction of rotation）The transverse tooth thickness of external tooth 04 and tooth is high increases, but if such as
Make ratio B be reduced to tooth top 04b described in upper to exceed on the outside of the root radius direction of internal tooth tooth root 01a, then tooth is high increases
External tooth 04 interfere internal tooth tooth root 01a.For this purpose, by least cutting off the portion that external tooth 04 exceedes the internal tooth tooth root 01a of internal gear 01
Position, it is to avoid the interference of the internal tooth tooth root 01a of external tooth 04 and internal gear 01.
Herein, preferably make the excision position on the external tooth 04 of aforementioned external teeth gear 14, be from the beginning of external tooth gear outside circle：
From external gear radial direction from outside to medial resection, how many resection is deducted in internal gear by external tooth gear radius of addendum T
Root radius R is along with external gear is to the determined position quantity of the eccentric amount e of internal gear, and its resection is larger than the determination position
Put value.Its reason is to talk about if as described above, then can reduce resection to greatest extent, as often as possible retain and not
The external tooth worked by transmitting torque is cut off, suppresses the reduction of transmitting torque.Meanwhile, can cut away external tooth 04 with parabola shaped
Column internal tooth 05 engage when produce big sliding position, if can retain between external tooth 04 and parabola shaped column internal tooth 05
The little position of slip, thus, it is possible to reduce noise and heating.
Also, as above as diminishing for transverse tooth thickness S makes the tooth root 04a of external tooth 04 become big on the outside of radial direction
Mobile, mode has three：One be make external tooth gear 14 constant with respect to the eccentric amount e of internal gear 01, for definite value when, increase by outer
The mode of the tooth root diameter of a circle of all tooth root 04a of gear 14；Two be make above-mentioned root circle constant, for definite value, increase inclined
The mode of heart amount Q；Three are and while increase the mode of root circle and eccentric amount e, but in the embodiment 1, make the root circle be
Necessarily, increase eccentric amount e.
Effect with regard to the embodiment of the present invention 1 is described below.
Now, drive motor work, crank axle 21 rotates.Now, the eccentric cam shaft 17 of crank axle 21 is in external tooth tooth
Eccentric rotary in the crank axis hole 15 of wheel 14, rotates 14 eccentric swing of external tooth gear, but due to aforementioned external teeth gear 14 outward
The quantity of the parabola shaped column internal tooth 05 of the gear ratio of tooth 04 only less 1, therefore rotational shell 02 and robots arm etc. due to
The eccentric swing of external tooth gear 14 rotates and low speed rotation.
Herein, as transverse tooth thickness S for making parabola shaped column internal tooth 05 as mentioned above is dropped divided by the ratio B of a constant pitch P
Extremely, on the outside of the radial direction of the internal tooth root circle R for making the tooth top 04b of external tooth 04 exceed internal gear 01, therefore above-mentioned parabola shaped
Column internal tooth 05 transverse tooth thickness S little than ever, thus, the tooth root 04a of the external tooth 04 of external tooth gear 14 is to sidesway outside radial direction
Dynamic, as a result, the wall thickness g of bridge portions 23（Minimum wall thickness (MINI W.)）Thickening than ever, flexural rigidity becomes strong.
Thus, it is suppressed that the elastic deformation during counteracting force K of bridge portions 23 and the component driven of external tooth 04, can extend
The flank of tooth life-span of external tooth 04, and intrinsic vibration frequency increases, it is possible to increase vibrant characteristic and controlling.Herein, if such as
Upper described composition, external tooth 04 interferes the internal tooth tooth root 01a of internal gear 01, but by least excision external tooth 04 more than internal gear
The position of the tooth root 01a of 01 internal tooth root circle R, it is to avoid the interference of this external tooth 04 and the internal tooth tooth root 01a of internal gear 01.
Embodiment 2
In the embodiment 2, the excision of the external tooth 04 as above-mentioned embodiment 1 do not carried out, but by adjacent parabola shaped post
The internal tooth tooth root of the internal gear 01 (rotational shell 02) between shape internal tooth 05（Root circle R）With each parabola shaped column internal tooth
Internal tooth tooth root inner circumferential around 05 cuts off, and preferably cuts off above-mentioned parabola shaped 05 tooth root of column internal tooth, and which cuts off depth location
For, external tooth 04 beyond more than internal tooth root circle R amount depth, be from the beginning of internal-gear root circle：By internal gear radial direction
Cut off by Inside To Outside, resection depth deducts root radius R in internal gear by external tooth gear radius of addendum T and adds
External gear is to the determined position quantity of the eccentric amount e of internal gear.Cut off above-mentioned internal tooth tooth root and internal tooth tooth root is exceeded by external tooth 04（01a）
Above depth dose, is cut off the half of transverse tooth thickness S for being of a depth approximately equal to parabola shaped column internal tooth 05 herein, is avoided with this
Internal gear 01 after external tooth 04 and excision（Rotational shell 02）Internal tooth tooth root 01a interference.
As a result, the internal gear 01 after the root radius direction outer end of each parabola shaped column internal tooth 05 is moved and cut off
The tooth root 01a of internal tooth root circle R become big, the high h of internal tooth tooth and increase, rotational shell 02 bears and acts on each parabola shaped column
Internal tooth 05 drives the component of the internal tooth flank of tooth normal orientation of component.Now, as internal tooth tooth root is deepened to become big, therefore external gear 01
Movement can be swung according to the path of regulation, it is to avoid external tooth 04 with cut off after internal gear 01（Rotational shell 02）Internal tooth tooth
The interference of root 01a.In addition, others are structurally and functionally identical with above-described embodiment l.
In addition, in above-described embodiment 1, being formed in external tooth gear 14 multiple（3）Crank axis hole 15, and will be along same
The crank axle 21 of one direction constant speed rotation is inserted in each crank axis hole 15 respectively, rotates 14 eccentric swing of external tooth gear, but
In the present invention, it is also possible to the l crank axis hole that will be formed on the central shaft of the eccentric cam insertion external tooth gear 14 of 1 crank axle
In, rotate external tooth gear eccentric swing by the rotation of the crank axle.Now, the column of supporter must be with the inner circumferential of through hole
Linear contact lay.
Also, in above-described embodiment 1, fixed support body 07, make 01 low speed rotation of internal gear, but in the present invention,
Support low speed rotation can be made with fixed annulus.And, do not reducing（Ratio）Constitute the tooth of parabolical column internal tooth 05
Thick S, in the epicyclic gearing device A1 of original diameter, it is also possible to be slightly closer to 1/2 in the outside of the radial direction of external gear
Certain high position of external tooth tooth cuts off external tooth 04, suppresses the reduction of transmitting torque, while reducing heating and noise.
Embodiment 3
In Fig. 5,6,7, A II is to put device for the eccentric oscillating-type planet tooth of robot etc., epicyclic gearing device A
II rotational shell 102 with the approximate cylinder shape on the arm of the robot not represented installed in such as in figure, handss etc..At this
It is parabola shaped column internal tooth 105 that the inner circumferential of rotational shell 102 is formed with the section of the central part of its axial direction a plurality of,
These parabola shaped column internal tooths 105 extend in the axial direction, and along the circumferential direction with equidistant configuration.Therefore these throwings
The linear column internal tooth 105 of thing is spaced apart in the circumferential direction to be equidistantly positioned in the inner circumferential of rotational shell 102.Outside above-mentioned rotation
Shell 102, parabola shaped column internal tooth 105 are an entirety, are formed in inner circumferential and are provided with by multiple parabola shaped column structures
The internal gear 101 of the internal tooth 105 for becoming.Herein, above-mentioned parabola shaped column internal tooth 105 configures 16～150 or so, but it is preferred that
In the range of 30～100.Its reason is, if make the radical of parabola shaped column internal tooth 105 within the above range, and
And by assembling external tooth gear 116,112 described later, the speed ratio of needs can be readily available, but also intrinsic shake can be improved
Dynamic frequency, obtains the epicyclic gearing device of high speed reducing ratio.
Axially accommodate side by side in above-mentioned internal gear 101 multiple（It is 2 herein）External tooth gear 114 annular in shape,
The periphery of these external tooth gears 114 is all formed by special cycloidal tooth profile respectively, the profile of tooth that specially internal and external cycloids circle is combined into, and is made
Its multiple external tooth 104 for constituting.Also, in the above-mentioned parabola shaped column of the gear ratio of the external tooth 104 of aforementioned external teeth gear 114
The number of teeth of tooth 105 is few 1（Number of teeth difference is 1）.Why the number of teeth of parabola shaped column internal tooth 105 and external tooth 104 is so made
Difference is l, because being compared with 2 and above value with their number of teeth difference, can easily accomplish high speed reducing ratio, and can reduce
Processing charges.
Herein, external tooth 104 and parabola shaped column internal tooth in the state of connecing in external tooth gear 114 with internal gear 101
105 engagements, but the maximum engagement position of 2 external tooth gears 114（The most deep position of engagement）180 ° of phase shifting.
At least one is formed with each external tooth gear 114, is the crank axis hole 115 of 3 insertions in the axial direction herein, this
A little crank axis holes 115 leave the equal distance of central shaft of external tooth gear 114, and phase spaced apart in the circumferential direction along radial direction
Deng distance.109 is the multiple of formation on each external tooth gear 114（Identical with the quantity of crank axis hole 115）Through hole, these through holes
109 are along the circumferential direction alternately configured with crank axis hole 115, and along the circumferential direction disperse equal distance.
107 is removable mounting in rotational shell 102, the support on stationary machines people's part that in figure does not represent
Body, the supporter 107 be by configuration a pair of the outside of axis direction two of external tooth gear 114 newel post's part 108 in a ring,
113, and end is connected with newel post part 108, the other end can be connected on newel post's part 113 by multiple bolts 110 in which load and unload
Multiple（Identical with the quantity of through hole 109）Column 111 is constituted.Also, connect the column of above-mentioned newel post's part 108,113
111 extend in the axial direction, and keep some gaps to insert（Removable mounting）In the through hole 109 of external tooth gear 114
103 is the bearing installed between above-mentioned supporter l07 and shell 102, specially：In the periphery of end plate 108,113 and rotation
Turn between the axis direction two ends inner circumferential of shell 102, by this to bearing 103, make this can on supporter 107 to bearing 103
To pivotally support internal-gear 101.Crank axle 121 is at least one of circumferentially spaced apart equal angle setting, (with
The quantity of crank axis hole 115 is identical) | crank axle, these crank axles 121, by the circle on one end of its axis direction
Cone roller bearing 119 and the tapered roller bearing 119 on the other end of its axis direction, are supported by supporter 107, tool
Body is pivotally supported by newel post's part 108,113.
It is equidistant eccentric inclined that above-mentioned crank axle 121 has 2 central shafts from crank axle 121 in its axis direction central authorities
Cardiac prominence wheel shaft 117,180 ° of these eccentric cam shafts 117 phase shifting each other.Herein, the eccentric cam of above-mentioned crank axle 121
The difference removable mounting of axle 117 is in the crank axis hole 101 of external tooth gear 114, and is provided with needle roller bearing between them
114, as a result, aforementioned external teeth gear 114 is allowed to rotate against with crank axle 121.Also, the axis direction of each crank axle 121
One end is fixed with external tooth gear 116, and these external tooth gears 116 are engaged with the external tooth gear 112 for arranging on 120 one end of input shaft,
Input shaft is by motor-driven.
Also, work as drive motor action, when rotating external tooth gear 116；Crank axle 121 is simultaneously driven to surround itself
Central shaft rotates, as a result, the eccentric cam 117 of crank axle 121 eccentric rotary in the crank axis hole 115 of external tooth gear 114, makes
114 eccentric swing of external tooth gear rotates.Now, in the linear column internal tooth 105 of intermeshing thing and the contact point of external tooth 104
On, effect respectively has external tooth 104 to be applied to the normal direction position along the internal tooth flank of tooth of corresponding parabola shaped column internal tooth 105
The driving component in D direction.
Herein, the position D of the counteracting force K of above-mentioned each driving component, as shown in figure 12 positioned at above-mentioned contact
On the vertical line of the point place flank of tooth, but these positions D, due to column internal tooth 105 parabola shaped as mentioned above parabolically
Column, external tooth 104 is made up of special cycloidal tooth profile, therefore intersect on external tooth gear 114 in arm of force axes O L produce etc.
The moment loading point C of effect.Then, the equivalent of above-mentioned each tangential direction component for driving component makes a concerted effort to act on as rotary driving force
On internal gear 101.
But, in the embodiment 3, make the above-mentioned equivalent moment loading point C for intersecting at generation in arm of force axes O L
Than ever to side shifting outside radial direction, it is being located at than above-mentioned outer end on the outside of circle G is by radial direction.Thus, when intersecting at
The equivalent moment loading point C for producing in arm of force axes O L, as shown in figure 8, be located across the radial direction at the center of through hole 109
When on line, the position D of all counteracting force K rolls oblique, close bridge portions than ever with respect to through hole 109 to tangential direction
123 bearing of trend.As a result, it is suppressed that the external tooth 104 near the thin rigid low bridge portions 123 of wall and the bridge portions 123
Elastic deformation, extends the flank of tooth life-span of external tooth 104.
And, when the above-mentioned equivalent moment loading point C for producing in arm of force axes O L that intersects at is as mentioned above positioned at than outer
When end is on the outside of circle G is by radial direction, due to not being the hollow sectors of through hole 109, but the rigidly high bridge like of tangential direction
The component of the tangential direction of above-mentioned counteracting force K is born in portion 123, therefore, it is possible to suppress the deformation of through hole 109.But, when above-mentioned
When convergent point C is located on the outside of the radial direction of all root circle R by constituting parabola shaped column internal tooth 105, in external tooth 104
The flank of tooth on can produce sharp position, therefore above-mentioned intersect in arm of force axes O L produce equivalent moment loading point C must
Outer end must be located between circle G and root circle R.
Center O to the equivalent moment loading point C for intersecting at generation in arm of force axes O L due to above-mentioned internal gear 101
Radial direction apart from Q, eccentric amount e that can be with external tooth gear 114 with respect to internal gear 101 is multiplied by internal gear 101
The tooth number Z of the tooth number of teeth 105 is representing, in order that apart from Q than conventional big apart from Q shown in Figure 16, can make eccentric amount e or tooth
In number some or make both while big than ever.And, although above-mentioned increase apart from Q to increase in the embodiment 3
Large eccentricity amount e, but in order to increase eccentric amount e further, makes transverse tooth thickness S of internal tooth 105 less than conventional.Herein, preferably above-mentioned half
The ratio apart from the Q and radius R of above-mentioned root circle R in footpath direction（L/R）Value 0.85～l.00 in the range of.
When the radius of all internal tooth root circles by constituting the parabola shaped internal tooth of above-mentioned column is set to R, and will be interior
When the number of teeth of gear is set to Z, the transverse tooth thickness of the above-mentioned internal tooth of composition is made in 2Rsin (in the range of pi/2 z) ± emm.Make as mentioned above
The transverse tooth thickness of internal tooth 105 is than conventional thin and if making eccentric amount e big than ever, the then external tooth that two flank of tooth are contacted with internal tooth 105
104 become thick bigization, i.e. transverse tooth thickness, tooth height all increases.But, the internal tooth root circle due to rotational shell 102 is typically generally located at
On above-mentioned internal tooth root circle R, if external tooth 104 maximizes, external tooth 104 interferes the internal tooth tooth root of rotational shell 102.Therefore exist
In the embodiment 3, ormal weight is only pressed along the circle with the center of external tooth gear 114 as the center of curvature and cut off aforementioned external teeth.104 tooth
Top（The position for being represented with imaginary dotted line in Fig. 7）, prevent the interference of external tooth 104 and the internal tooth tooth root of rotational shell 102.Separately
Outward, above-mentioned interference can also pass through the internal tooth tooth root of the rotational shell 102 between adjacent internal tooth 105 is cut off the depth of regulation
Spend to prevent.
Also, in the embodiment 3, this pivotally supports inner tooth shell 102 to bearing 103 on supporter 107, tool
Body is：The bearing inner race 103b of above-mentioned one of bearing 103 is on supporter newel post part 113, bearing outer ring 103a peace
The one end being mounted in inner tooth shell 102, the bearing inner race 103a of another end bearing 103 is on newel post's part 108, bearing outer ring
103a is integrated newel post's part 108,113 by trip bolt 110 in inner tooth shell 102；Constitute this to exist bearing 103
Inner tooth shell 102 is pivotally supported on supporter 107.
The effect of the embodiment of the present invention 3 is described below.
Now, drive motor work, crank axle 121 is revolved with same speed in the same direction around the central shaft of itself
Turn.Now, the eccentric cam shaft 117 of crank axle 121 eccentric rotary in the crank axis hole 115 of external tooth gear 114, makes external tooth tooth
114 eccentric swings rotate, but as the number of teeth of the gear ratio internal tooth 105 of the external tooth 104 of aforementioned external teeth gear 114 only lacks 1, because
Arm of this rotational shell 102 and robot mounted thereto etc. is rotated and low speed rotation due to the eccentric swing of external tooth gear 114.
Herein, as each external tooth 104 for making external tooth gear 114 is applied to the driving component of corresponding internal tooth 105（Retroaction
Power K）Position D overlap intersect at the equivalent moment loading point C for producing in arm of force axes O L, positioned at by all of interior
The root circle R of tooth 105 and by the outer end of the radial direction outer end of all of through hole 109 between circle G, therefore when intersecting at
The equivalent moment loading point C for producing in arm of force axes O L is located at by, when on the radial direction line at the center of through hole 109, owning
Counteracting force K position D all roll to tangential direction than ever with respect to through hole 109 oblique, thus suppression bridge portions 123 and
The elastic deformation of the external tooth 104 near the bridge portions 123.
In addition, in the above embodiments 3, form multiple (3) crank axis holes 115 on external tooth gear 114, and will
The crank axle 121 of constant speed rotation is inserted in each crank axis hole 115 respectively in the same direction, revolves 114 eccentric swing of external tooth gear
Turn, it is also possible to l root crank axle is inserted the 1 crank axis hole for being formed on the central shaft of external tooth gear 114, by the crank axle
Rotation rotates external tooth gear eccentric swing.Now, have must be with the inner circumferential linear contact lay of through hole for the column of supporter.
Also, in the above embodiments 3, fixed support body 107, make 101 low speed rotation of internal gear, it is also possible in fixing
Gear, makes supporter low speed rotation.Furthermore, it is also possible to the previous stage in above-mentioned epicyclic gearing device A11 arranges straight-tooth circle
Stud wheel reducing gear, carries out 2 grades of decelerations.So, it is possible to obtain the high high speed reducing ratio geared system of intrinsic vibration frequency.
Embodiment 4
In Fig. 9,10,11, A III is the eccentric oscillating-type planetary gear device device for robot etc., the eccentric oscillating-type
Epicyclic gearing device A III has the approximate cylinder shape on the robots arm not represented installed in such as in figure or handss etc.
Rotational shell 202.The section for being formed with the central part of its axial direction a plurality of in the inner circumferential of the rotational shell 202 is parabola
The column internal tooth of shape, the parabola shaped column internal tooth 202 extends in the axial direction, along the circumferential direction equidistant configuration.
205 is the internal tooth being made up of multiple parabolically shape cylindrical straight teeth, and these internal tooths 205 are along the circumferential direction with equidistant
It is arranged on the inner circumferential of rotational shell 202.Above-mentioned rotational shell 202, internal tooth 205 are overall, a composition internal gear 201.Herein,
Above-mentioned internal tooth 205 configures 16～150 or so, but it is preferred that in the range of 30～100.Its reason is, if making internal tooth 205
Radical within the above range, then by the previous stage that engages with internal gear 201 in external tooth gear described later 214, setting one-level
Straight spur gear reducing gear, by making combining for previous stage and the speed reducing ratio of rear stage, can be readily available high deceleration
Than, but also intrinsic vibration frequency can be improved, while obtaining the epicyclic gearing device of high speed reducing ratio.
Accommodated side by side in above-mentioned internal gear 201 in the axial direction multiple（It is 2 herein）External tooth gear annular in shape
214, the periphery of these external tooth gears 214 is respectively formed with by special cycloidal tooth profile, and specially internal and external cycloids justify compound tooth-shaped structure
The multiple external tooths 204 for becoming.Also, the number of teeth of the above-mentioned internal tooth 205 of the gear ratio of the external tooth 204 of aforementioned external teeth gear 214 only less 1
（Number of teeth difference is 1）.It is 1 with the number of teeth difference of external tooth 204 why to make internal tooth 205, is because compared with when number of teeth difference for more than 2,
High speed reducing ratio can be accomplished, and processing charges can be reduced.
Herein, external tooth 204 and parabola shaped column in the state of connecing in these external tooth gears 214 with internal gear 201
Internal tooth 205 is engaged, but the maximum engagement position of 2 external tooth gears 214（The most deep position of engagement）180 ° of phase shifting.
At least one is formed with each external tooth gear 214, is the crank axis hole 215 of 3 insertions in the axial direction herein, this
A little crank axis holes 215 leave the equal distance of central shaft of external tooth gear 214, and circumferentially spaced apart phase along radial direction
Deng distance.209 is the multiple of formation on each external tooth gear 214（Identical with the quantity of crank axis hole 215）Through hole, these lead to
Hole 209 is along the circumferential direction alternately configured with crank axis hole 215, and circumferentially spaced apart equal distance.
207 is removable mounting in rotational shell 202, the support on stationary machines people's part that in figure does not represent
Body（Base）, the supporter 207 entering for a pair like annular newel post in two outside of axis direction of external tooth gear 214 by configuration
Part 208,213, and one end is connected with newel post part 208, the other end can be connected to loading and unloading newel post's part by multiple bolts 210
Multiple on 213（Identical with the quantity of through hole 209, it is 3）Column 211 is constituted.Also, the above-mentioned newel post's part 208 of connection,
213 column 211 extends in the axial direction, and ensures the insertion of certain interval（Removable mounting）Through hole 209 to external tooth gear 214
Interior.
203 be installed in above-mentioned support 207, the specially axis of the periphery of end plate 208,213 and rotational shell 202
Between the inner circumferential at the two ends in direction to bearing, internal tooth tooth can be pivotally supported by these 203 supporters 207 of bearing
Wheel 201.221 at least for arranging for circumferentially spaced apart equal angle（Identical with the quantity of crank axis hole 215, it is 3
Root）Crank axle, these crank axles 221, by the tapered roller bearing 219 on one end of its axis direction and installation
Tapered roller bearing 219 on the other end of its axis direction, is supported body 207, and specially newel post's part 208,213 can revolve
Turn ground to support.
Above-mentioned crank axle 221 has the equidistant bias of 2 central shafts from crank axle 221 in its axis direction central authorities
Eccentric cam shaft 217,180 ° of these eccentric cam shafts 217 phase shifting each other.Herein, the bias of above-mentioned crank axle 221 is convex
Wheel shaft 217 is separately mounted in the crank axis hole 215 of external tooth gear 214, and is provided with needle roller bearing between them
218；As a result, aforementioned external teeth gear 214 is allowed to rotate against with crank axle 221.Also, the axis direction of each crank axle 221
One end is equipped with fixing external tooth gear 216, the output shaft of these external tooth gears 216 and the drive motor not represented in figure
The external tooth gear 212 for arranging on 220 one end is engaged.
Also, eccentric amount e is made as mentioned above if more than 0.225 times of transverse tooth thickness S, as two flank of tooth are connect with internal tooth 205
Tactile external tooth 204 becomes thick bigization, i.e. transverse tooth thickness, tooth is high all increases, and therefore the external tooth 204 exceeds and is generally located at internal tooth root circle p
On internal gear 201（Rotational shell 202）Interior root portion 201a and enter, between them produce interference.Therefore, in the enforcement
In example 4, external tooth 204 is started only to cut off the amount of regulation from tooth top along the circle with the center of external tooth gear 214 as the center of curvature（Only
It is the position being represented by dashed line in Figure 11）, prevent the interference of external tooth 204 and the interior root portion 201a of internal gear 201.In addition,
Resection in these external tooths 204 is preferred, at internal-gear 201 and the maximum engagement position of external tooth gear 214, after making excision
The degree in small gap is only produced between the top of external tooth 204 and the interior root portion 201a of internal gear 201.
Also, in the principle for partly cutting off each external tooth 204 it is as mentioned above：To each external tooth from radial direction by outer lateral
Medial resection, resection depth deducts root radius R in internal gear by external tooth gear radius of addendum T and adds external gear phase
To the determined position quantity of the eccentric amount e of internal gear.Its reason is, in this way, reservation external tooth that can be most, it is ensured that external tooth 204
Flexural rigidity, and the handling ease of external tooth can be made.
The effect of the embodiment of the present invention 4 is described below.
Drive motor works, and crank axle 221 is rotated with same speed in the same direction around the central shaft of itself.This
When, the eccentric cam shaft 217 of crank axle 221 eccentric rotary in the crank axis hole 215 of external tooth gear 214, make external tooth gear 214
Eccentric swing rotates, but as the number of teeth of the gear ratio internal tooth 205 of the external tooth 204 of aforementioned external teeth gear 214 only lacks 1, therefore
Arm of rotational shell 202 and robot etc. is rotated and low speed rotation due to the eccentric swing of external tooth gear 214.
Herein, due to making eccentric amount e at more than 0.225 times of transverse tooth thickness S as mentioned above, therefore the center O of internal gear 201 is arrived
Intersect in arm of force axes O L produce equivalent moment loading point C big than ever apart from Q, i.e. can make to intersect at arm of force axle
The position of the equivalent moment loading point C for producing on line OL is significantly moved on the outside of radial direction, thus, above-mentioned position D phase
The tangential direction big than ever of external tooth gear 214 is rolled to oblique, the tangentially component increase of driving component K', output is turned round
Square increases.
Embodiment 5
In the embodiment 5, the excision of the external tooth 204 as above-mentioned embodiment 4 is not carried out, but by all of internal tooth 205
Gear 201（Rotational shell 202）Internal tooth tooth root 201a, cut off prescribed depth, depth is：Internal tooth cut off from radial direction by
Inside To Outside cuts off, and resection depth at least will deduct root circle half in internal gear more than by external tooth gear radius of addendum T
Footpath R is along with external gear is with respect to the determined position quantity of the eccentric amount e of internal gear.External tooth 204 and internal gear 201 are avoided with this
The interference of the interior tooth root 201a of (rotational shell 202).
In addition, in the above embodiments 4, being formed in external tooth gear 214 multiple（3）Crank axis hole 215, and will
The crank axle 221 of constant speed rotation is inserted in each crank axis hole 215 respectively in the same direction, revolves 214 eccentric swing of external tooth gear
Turn, but in the present invention, it is also possible to l root crank axle is inserted the 1 crank axis hole for being formed on the central shaft of external tooth gear 214,
Rotate external tooth gear eccentric swing by the rotation of the crank axle.Now, the column of supporter have must with through hole in
All linear contact lay.
Also, in the above embodiments 4, fixed support body 207,201 low speed rotation of internal gear is made, but in the present invention
In, it is also possible to fixed annulus, make support low speed rotation.And, in the present invention, it is also possible in above-mentioned epicyclic gearing
The previous stage of device A III arranges straight spur gear reducing gear, carries out 2 grades of decelerations.So, it is possible to improve intrinsic vibration frequency
Height, while obtain high speed reducing ratio geared system.Also, only external tooth is cut off with ormal weight from tooth top in the above embodiments 4
204, in embodiment 5, by the internal gear 201 between internal tooth 205（Rotational shell 202）Interior tooth root 201a only cut off regulation depth
Degree, but the present invention can also cut off the internal tooth tooth root of external tooth and internal gear simultaneously.
The technology of the present invention innovates relative analyses
1. device described in patent documentation 1 ~ 9 is all using cycloidal-pin wheel version, in the existing traditional pendulum shown in Figure 12
In II structural profile principle of line pinwheel device B, pin tooth 04, i.e. internal tooth 04 is generally adopted（Pin tooth）Section for circle, internal gear
03 pin tooth（Internal tooth）04 by internal tooth 04 number Z is distributed in 03 inner circumferential of internal gear of the radius as Q with isogonism, pin tooth 04 is counted as Z, pin
04 radius of tooth is r（A diameter of d）, the relative internal gear 03 of external gear 06 side-play amount be e.The 04 internal tooth profile of tooth of pin tooth is present can not
Output torque is fully transmitted, and its reason is：As shown in figure 12, the external tooth 02 of the external tooth gear 06 for contacting with each other in device is at which
Internal tooth on contact point respectively to internal gear 03（Roller）04 applies the driving component with flank of tooth vertical direction, anti-simultaneously as which
Effect internal tooth（Roller）The 04 counteracting force K for also applying above-mentioned driving component to external tooth 02.The anti-work of above-mentioned each driving component
The firmly position D of K, on the line vertical with the above-mentioned contact point place flank of tooth, but these positions D, due to as described above
Internal tooth（Roller）04 is cylindrical, and external tooth 02 is made up of trochoid profile of tooth, therefore acts on a little converging on external tooth gear 06
Accumulation C is converged（Intersect）；The distance of convergent point C to internal gear center O is L.Then, above-mentioned each tangential direction for driving component is divided
Power make a concerted effort act on internal gear 03 as rotary driving force.But, as each counteracting force K for driving component is to internal gear
Tangent line drive component can not increase, tangent line driving force is restricted；So, in external gear and the internal gear（Pinwheel）Transmission is nibbled
During conjunction, under the conditions of input driving force identical, it is impossible to fully produce bigger driving component, because engagement contact point is to pin tooth
（Internal tooth）The tangential direction component of the line active force of the round heart can not increase, and cause output torque continue to increase, transmission
The ability of moment of torsion is restricted.
2. the parabola profile of tooth that innovates, in the eccentric oscillating-type planetary gear device installation drawing of B III shown in Figure 13, be
More preferable contrast, illustrate, understand the present invention better than cycloidal-pin wheel deceleration device B II situation.The eccentric oscillating-type planet of B III
The parameter of geared system deceleration device in figure：Internal gear tooth number Z, internal tooth root radius Q, external gear are inclined with respect to internal gear
Tri- parameter amounts of shifting amount e are identical with II device of cycloidal-pin wheel deceleration device B, with the parabola shaped internal tooth of column（Transverse tooth thickness is S（Tooth
The half of a height of transverse tooth thickness S））Do the internal gear internal tooth in III device of B.III eccentric oscillating-type planetary gear device of B of the present invention slows down
In apparatus structure, 03 internal tooth profile of tooth of internal gear adopts parabola shaped cylindrical straight teeth 02, using new parabola tooth Shape Design internal tooth
The internal tooth 02 of wheel, both the section of internal tooth 02 was parabola shaped.The parabola shaped internal tooth profile of tooth more fully can transmit output torque,
Its reason is：When external gear is engaged with the internal gear transmission of the parabola shaped internal tooth profile of tooth, identical with above-mentioned input driving force
Under conditions of, driving component can be increased further, because the normal direction of the flank of tooth of parabola shaped internal tooth profile of tooth is made at engagement contact point
Tangential direction component firmly is increased compared with above-mentioned pin tooth, makes output torque can continue to increase, and transmission efficiency is carried
Height, and output torque can be increased while preventing from not maximizing.
Its reason is：As shown in figure 13, the external tooth 02 of the external tooth gear 06 for contacting with each other in device divides on its contact point
Not Gei the parabola shaped internal tooth 04 of internal gear 03 apply and the driving component of flank of tooth vertical direction, simultaneously as its retroaction parabolic
Linear internal tooth 04 also applies the counteracting force K of above-mentioned driving component to external tooth 02.The counteracting force K's of above-mentioned each driving component
Position D, on the line vertical with the above-mentioned contact point place flank of tooth, but these positions D, due to parabola shaped as mentioned above
Internal tooth profile of tooth, external tooth 02 is made up of special cycloidal tooth profile, therefore acts on 06 arm of force line OL of external tooth gear and equivalent action is C
Point；The distance of point C to internal gear center O is L.Then, the conduct rotation of making a concerted effort of above-mentioned each tangential direction component for driving component
Turn driving force to act on internal gear 03.But, contrast Figure 12, Figure 13 understand that the OL arm of force is more than OL, while each anti-work in Figure 13
Firmly the tangent line component of K also increases；By drawing the following conclusions to the analysis of Figure 12, Figure 13 contrast：Parabola shaped internal tooth profile of tooth
Bigger torque can be exported than pin tooth profile of tooth, so, when external gear is engaged with the parabola shaped internal tooth drive, drive in input
Under the conditions of power identical, bigger driving component can be produced than cycloidal-pin wheel class deceleration device, because engagement contact point is to parabolic
The tangential direction component of the normal force of the linear internal tooth flank of tooth can increase, and cause output torque continue to increase, driving torque
Ability increased.
3rd, for the ease of analysis and understanding, the force analysis schematic diagram that device effectively works region of engagement is given in Figure 17.
In fig. 17, represent traditional cycloidal-pin wheel structure be by：Internal gear M, pin tooth A etc. constitute；Internal gear internal tooth point
Cloth radius of circle was pin tooth for R, pin tooth radius for r, H line（Or parabola tooth）Center and internal gear centrage, external gear external tooth D
Normal F with internal gear pin tooth meshing point.
In fig. 17, the geared system of the present invention is made up of internal gear M, parabola shaped internal tooth etc.；Internal gear internal tooth
Distribution radius of circle is R, a height of h of parabola internal tooth tooth, transverse tooth thickness are s（Transverse tooth thickness s is approximately equal to 2 times of pin tooth radius r）, H line cross parabolic
Line tooth（Or pin tooth）Center and internal gear centrage, the normal E of external gear external tooth C and internal gear pin tooth meshing point.
When planetary gear does rotation clockwise, internal gear（Pin gear）Turn clockwise, make external gear external tooth D and internal tooth
Wheel pin tooth A is meshed, and external gear external tooth D is applied to the normal component of force F of the active force of pin tooth A, velocity attitude V1, the normal component of force
By Zhen Chi center, and pressure angle beta 1 is formed with velocity attitude, the pressure angle is less, and delivery efficiency is higher, and the output of transmission turns
Square is bigger.
When planetary gear does rotation clockwise, internal gear（Parabola shaped internal gear）Turn clockwise, make outside external gear
Tooth C is meshed with parabola shaped internal tooth B（In the zonule of engagement）, external gear external tooth C is applied to the work of parabola shaped internal tooth B
Normal component of force E firmly, velocity attitude V2, the normal component of force is perpendicular through the parabola profile of tooth flank of tooth, and is formed with velocity attitude
Pressure angle beta 2, the pressure angle is less, and delivery efficiency is higher, and the output torque of transmission is bigger.
In comparison diagram, β 1,2 two pressure angle of β understand, 2 pressure angle of β is less than 1 pressure angle of β；The little explanation of pressure angle can have higher
Delivery efficiency and the bigger transmission torque of generation；So, the eccentric oscillating-type planetary gear device device using the present invention is described, right
Such device product plays the role of notable improved efficiency and increases output torque.
Claims (3)
1. a kind of eccentric oscillating-type planetary gear device for increasing output torque, including internal-gear, external tooth gear, crank axle
And supporter, there is on external tooth gear at least one crank axis hole and multiple through holes, external tooth gear periphery has and internal-gear
Internal tooth engage each other and few 1 external tooth of gear ratio internal tooth；The crank axle is inserted in crank axle in the hole, by synchronous rotation
Turning each crank axle makes external tooth gear eccentric swing, and the supporter is the column being plugged in each through hole, supports for rotating
Each bent axle；It is characterized in that：The internal-gear, is provided with multiple parabola shaped column roller structures in inner circumferential with a constant pitch P
The internal tooth for becoming, and make composition internal tooth transverse tooth thickness S be reduced to the tooth top to external tooth to radius side divided by the ratio of a constant pitch P of internal tooth
Exceed internal tooth tooth root laterally, and at least cut off the external tooth of the part of interior tooth root more than internal gear, avoided with this external tooth with
The interference of the parabola shaped internal tooth tooth root of column；
When the radius of all internal tooth root circles by constituting the parabola shaped internal tooth of above-mentioned column is set to R, and by internal tooth tooth
When the number of teeth of wheel is set to Z, the transverse tooth thickness of the above-mentioned internal tooth of composition is made in 2Rsin (in the range of pi/2 z) ± emm.
2. a kind of eccentric oscillating-type planetary gear device for increasing output torque as claimed in claim 1, it is characterised in that：
Make composition internal tooth transverse tooth thickness S be reduced on the outside of to the tooth top of external tooth to radial direction divided by the ratio of a constant pitch P of internal tooth to exceed
Internal tooth tooth root, and the internal tooth tooth root of internal gear between adjacent internal tooth is at least cut off, the internal tooth of internal gear is exceeded by external tooth tooth top
The partial depth amount of root, avoids the interference of external tooth and the parabola shaped internal tooth tooth root of column with this.
3. a kind of eccentric oscillating-type planetary gear device for increasing output torque as claimed in claim 1 or 2, its feature exists
In：When R will be set to by constituting the root radius of the parabola shaped internal tooth of all columns of above-mentioned internal tooth, and will be from above-mentioned interior
The normal direction of the gear internal tooth form flank of tooth is applied to the position D of the counteracting force K of corresponding internal tooth and intersects at arm of force axis to external tooth
On OL produce equivalent moment loading point C, obtain C point in the radial direction apart from OC be set to Q when, C point is above-mentioned radius side
Upwards apart from Q in the range of 0.85～1.00 times of above-mentioned root radius R.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106402285A (en) * | 2016-11-16 | 2017-02-15 | 李宗翰 | Eccentric swing type planetary gear speed reducer capable of increasing output torque |
| CN106402285B (en) * | 2016-11-16 | 2020-09-04 | 李宗翰 | Eccentric swinging type planetary gear speed reducer capable of increasing output torque |
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Application publication date: 20170222 |
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