CN108679167B - Planetary line gear reducer with small tooth difference - Google Patents
Planetary line gear reducer with small tooth difference Download PDFInfo
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- CN108679167B CN108679167B CN201810735849.1A CN201810735849A CN108679167B CN 108679167 B CN108679167 B CN 108679167B CN 201810735849 A CN201810735849 A CN 201810735849A CN 108679167 B CN108679167 B CN 108679167B
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 44
- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 230000009467 reduction Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 8
- 238000003754 machining Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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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
- F16H55/08—Profiling
- F16H55/0826—Novikov-Wildhaber profile
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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
- F16H55/10—Constructively simple tooth shapes, e.g. shaped as pins, as balls
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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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The planetary line gear reducer with small tooth difference comprises a machine body and a power transmission part, wherein the power transmission part is arranged in an inner cavity of the reducer; the power transmission part comprises an input shaft, an output shaft, an eccentric shaft sleeve, a duplex outer line gear, an input end inner line gear, an output end inner line gear and a weight piece, wherein the input shaft is arranged on the machine body; the output shaft is arranged in the machine body and extends out of the left end of the machine body, the inner end of the output shaft is provided with an output end inner line gear, and the output end inner line gear and the left end of the duplex outer line gear are meshed to form a pair of inner meshing line gear pairs with less tooth difference. The invention has the advantages of compact structure, continuous and stable transmission, no undercut phenomenon and the like. The invention belongs to the technical field of speed reducers.
Description
Technical Field
The invention belongs to the technical field of speed reducers, and particularly relates to a planetary line gear speed reducer with small tooth difference.
Background
The speed reducer is used for reducing the rotation speed of the prime motor and increasing the torque at the same time so as to output the power required by the working machine, and the requirement on the motor is greatly reduced by using the speed reducer. The speed reducer is widely applied to various fields of industry, has various kinds and advantages, and is respectively suitable for different working condition occasions, such as worm gear speed reducers, planetary speed reducers and the like. For a common gear reducer, to realize a large transmission ratio, multistage transmission is needed, and the structure of the reducer is inevitably heavy and the size is huge. The planetary reducer breaks through the limitation of fixed shaft transmission, and the planetary gear makes revolution motion, so that the realization of small volume and large reduction ratio is easy. The small tooth difference speed reducer is used as a special planetary speed reducer, and the small tooth difference between the inner gear and the outer gear is utilized to skillfully realize the large transmission ratio. And the number of gears is small, and the number of single-stage sun gears and planetary gears is 1, so that the whole structure is compact, and the single-stage sun gears and the planetary gears are increasingly used in industry. For the involute few-tooth-difference speed reducer, complex displacement calculation is needed to avoid interference between the internal gear tooth pairs, and a non-standard short-tooth-made gear is needed. The design is complex, the assembly requirement is high, and the interference between the tooth top and the tooth root fillets of the internal and external gears, the involute interference of the internal gear pair, the overlapping interference of the tooth profile, the radial interference in the processing and manufacturing and the like can be caused by slightly improper design or installation. The relative sliding among the gear teeth is serious in the meshing process, so that more heat is generated and the energy loss is large. For cycloid gears with small tooth difference, the cycloid gear tooth profile is complex, and the gear teeth are ground by a special machine tool, so that the machining precision is difficult to ensure, the machining is difficult and the cost is high, and therefore, the cycloid gear tooth profile is mainly applied to the field of precise transmission. For the harmonic reducer, the flexible gear belongs to a thin-wall part, and has high manufacturing cost and complex process. The flexible gear is continuously deformed at high frequency in the transmission process, and is easy to cause fatigue damage, so that the service life is not long.
Disclosure of Invention
Aiming at the problems, the invention provides the planetary line gear reducer with small tooth difference, which has the advantages of compact structure, continuous and stable transmission, no undercut phenomenon, low manufacturing cost, small power loss and the like.
The planetary line gear reducer with small tooth difference comprises a machine body and a power transmission part, wherein a reducer inner cavity is formed in the machine body, and the power transmission part is arranged in the reducer inner cavity; the power transmission part comprises an input shaft, an output shaft, an eccentric shaft sleeve, a duplex outer gear, an input end inner gear, an output end inner gear and a counterweight, wherein the input shaft is arranged on the machine body; the output shaft is arranged in the machine body and extends out of the left end of the machine body, the inner end of the output shaft is provided with an output end inner line gear, and the output end inner line gear and the left end of the duplex outer line gear are meshed to form a pair of inner meshing line gear pairs with less tooth difference.
Preferably, the duplex outer gear, the input end inner gear and the output end inner gear are all linear gears based on the space conjugate curve meshing principle, and each linear gear comprises a wheel body and linear teeth, and the linear teeth are arranged on the outer side face of the wheel body.
Preferably, the wheel body of the duplex external gear comprises a wheel body left end and a wheel body right end, and wire teeth are arranged on the wheel body left end and the wheel body right end.
Preferably, the number of teeth of the wire gear is 1 or more.
Preferably, the tooth number difference of the meshing line gear pair in the small tooth difference is 1-4 teeth.
Preferably, the number of teeth at the right end of the double outer gear is 7, the number of teeth at the left end of the double outer gear is 8, the number of teeth of the inner gear at the input end is 8, and the number of teeth of the inner gear at the output end is 9.
Preferably, the machine body comprises a machine seat and a machine cover, the machine cover is buckled at the opening of the right end of the machine seat, and the left end cover and the right end cover are respectively fixed on two sides of the machine body through screws so as to seal the inner cavity of the reduction gearbox.
Preferably, two ends of the input shaft are respectively arranged on the machine base and the machine cover through bearings, and the outer end of the input shaft extends out of the machine cover; the input end inner line gear is fixedly connected with the machine base and the machine cover through screws; the output shaft is arranged on the stand through a bearing, and the outer end of the output shaft extends out of the stand; the inner line gear at the output end is fixed on the output shaft through a mounting end and a screw, and a bearing is arranged between the mounting end of the inner line gear at the output end and the inner wall of the engine base.
The invention has the beneficial effects that:
1. The design and the installation are convenient; compared with the involute small-tooth-difference planetary reducer, the small-tooth-difference planetary reducer does not need to carry out complex gear deflection design calculation, only needs to design the tooth profile parameters of the linear gear, and the linear gear can adopt circular arc tooth profile, so that the parameters are small and the design is simple and convenient; moreover, the wire gear engagement is point contact engagement, so that the requirement on assembly precision is relatively low, and the installation is easy.
2. The manufacturing cost is low; the minimum tooth number of the line gear adopted by the planetary line gear reducer with small tooth difference can be designed to be 1, and any tooth number can be selected without being limited by machining conditions such as undercut, top undercut and the like, so that the limitation of the minimum tooth number of the involute gear is broken through; the machining of the wire gears among different tooth profiles does not need to carry out complicated adjustment on a machine tool, corresponding forming milling cutters are designed according to the designed tooth profiles, the machining can be finished according to a conventional machining method of the wire gears, the machining is simple and quick, and the cost is greatly reduced.
3. The transmission performance is good; the planetary gears in the planetary gear reducer simultaneously have rotation and revolution motions, and the energies are caused by the relative sliding among the gear teeth; the loss is more serious, and more heat is generated; the invention adopts the wire gear as the point contact meshing transmission, the sliding rate between the wire teeth is 0 in the meshing process, namely, the wire teeth do not slide relatively, which is equivalent to pure rolling meshing, so that the damage of tooth surfaces is small, the energy loss is low and the noise is small.
Drawings
Fig. 1 is a schematic diagram of a planetary gear reducer with small tooth difference.
FIG. 2 is a schematic diagram of the movement of a mechanism according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a wire gear space engagement coordinate system according to an embodiment of the present invention.
Fig. 4 is a schematic view of a concave-convex arc tooth profile according to an embodiment of the present invention.
Fig. 5 is a schematic cross-sectional view of a line gear pair of a planetary line gear reducer with small tooth difference.
Fig. 6 is an overall external view of a planetary gear reducer with small tooth difference.
The device comprises a 1-base, a 2-input shaft, a 3-left end cover, a 4-output shaft, a 5-bearing, a 6-rotating arm bearing, a 7-output end inner wire gear, an 8-duplex outer wire gear, a 9-input end inner wire gear, a 10-cover, an 11-eccentric shaft sleeve and a 12-weight piece.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the planetary line gear reducer with small tooth difference comprises a machine body and a power transmission part. The power transmission part comprises an input shaft, an eccentric shaft sleeve, a duplex outer gear, an input end inner gear, an output end inner gear and a counterweight. The input shaft is arranged on the machine base and the machine cover, and two ends of the input shaft are supported by bearings. The input shaft is provided with an eccentric shaft sleeve, and two ends of the duplex external gear are eccentrically arranged on the input shaft through a rotating arm bearing. Because the eccentric installation of the duplex external gear and the input shaft generates unbalanced moment in the rotation process of the input shaft, the two ends of the eccentric shaft sleeve on the input shaft are provided with the weight parts for balancing the eccentric moment in the rotation process. The inner line gear of the input end is fixed with the machine base and the machine cover through bolts. The right end of the input end inner line gear is meshed with the right end of the duplex outer line gear. The output shaft is arranged on the left side of the machine base, and the output shaft is arranged on the machine base through a bearing. The inner end of the output shaft is fixed with the inner wire gear of the output end through a screw and the mounting end of the inner wire gear of the output end, and a bearing is arranged between the inner wire gear of the output end and the upper and lower inner walls of the machine base. And the inner line gear of the output end is meshed with the left end of the duplex outer line gear. The cover is buckled at the opening of the right end of the machine base, and the left side and the right side of the machine base are fixed through the end covers and the screws. The end covers comprise a left end cover and a right end cover.
The double outer line gear, the input end inner line gear and the output end inner line gear are line gears based on a space conjugate curve meshing principle; the active contact line of the wire gear is a cylindrical spiral line, main parameters include a spiral radius m and a pitch parameter n, and t s,te are the value ranges of the spiral line. From the conjugate curve engagement principle v 12 =0, a driven contact line equation conjugated to the driving contact line can be derived, wherein: v 12 is the relative movement speed at the meshing point, and β is the principal normal vector of the active contact line; the parameter equation is as follows:
the driven contact line is also a cylindrical spiral line, i is a transmission ratio, and the parameter equation is as follows:
The wire gear belongs to the prior art. The wire gear consists of a wheel body and wire teeth, the wire teeth are arranged on the outer side surface of the wheel body, the minimum tooth number of the wire teeth can be designed to be 1 (namely, the minimum tooth number is more than or equal to 1), and the wire gear has no undercut phenomenon; because the contact line of the line gear is a space curve, the design is flexible and various, other space curves can be selected as the contact line besides the cylindrical spiral line selected by the design, such as a conical spiral line, an Archimedes spiral line and the like, and the contact line can be selected according to the needs; the gear pair with small tooth difference and internal meshing line has very small tooth difference between the inner and outer gears and 1-4 teeth, and the inner and outer gear pairs have the same motion direction relative to the input shaft in the meshing transmission process.
The wheel body of duplex external gear includes wheel body left end and wheel body right-hand member, all is equipped with the line tooth on wheel body left end and the wheel body right-hand member.
The outer line gear and the inner line gear are continuously meshed and driven through line teeth. The left end and the right end of the duplex external gear are respectively provided with wire teeth which are respectively meshed with the internal wire gear at the input end and the internal wire gear at the output end to form two pairs of internal meshing wire gear pairs with small tooth difference, and the pair of internal meshing wire gear pairs is eccentrically arranged on the input shaft through an eccentric shaft sleeve and a rotating arm bearing.
In operation, the output shaft of the prime mover is connected to the input shaft via the coupling, whereby power is input. Under the drive of the input shaft, the double outer gear revolves around the center line of the input shaft, and simultaneously, the double outer gear rotates around the self axis, and the revolution and rotation combined motion drives the inner gear at the output end to revolve and the output shaft outputs motion and power outwards according to the set transmission ratio. The inner line gear at the output end is meshed with the duplex outer line gear and transmits output power to the output shaft, and the output shaft is connected with the working machine through the coupler, so that the power is transmitted from the prime motor to the working machine.
Referring to fig. 2, for the schematic movement diagram of the mechanism in this embodiment, the numbers of teeth on the right end and the left end of the duplex external gear are z 1、z2, the numbers of teeth on the internal gear on the input end and the output end are z 3、z4, and the transmission ratio of the speed reducer is: in this example z 1＝7,z2＝8,z3＝8,z4 =9, the transmission ratio i= -63. The transmission ratio is negative, and the input rotating speed and the output rotating speed are opposite in direction.
As shown in fig. 3, fixed coordinate systems o-xyz and o p-xpypzp are established, where o is the origin of the coordinate system o-xyz, located on the central axis of the eccentric sleeve, and o p is the origin of the coordinate system o p-xpypzp, located on the non-eccentric shaft segment axis of the input shaft. o p is derived from the translation of the o-point by one eccentricity in the negative x-axis direction. The coordinate system o1-x1y1z1、o2-x2y2z2、o3-x3y3z3、o4-x4y4z4 is the following coordinate system of the gears 1,2,3, 4, respectively, and their z-axes are all coincident with the gear rotation axis.
In this embodiment, taking m 1＝28、m2＝32、n1＝n2 =15, the expressions of each gear wire tooth contact wire under each follow-up coordinate system are respectively:
The external gear 1 is meshed with the internal gear 3 at the input end, the coincidence degree is determined by the value range of the curve parameter t and the number of teeth of the driving wheel The line gear 2 is meshed with the line gear 4 in the output end, and the contact ratio is increasedThe eccentricity of the contact line of the inner and outer gears is 4mm.
As shown in fig. 4, a plane rectangular coordinate system P-xy is established, P is the engagement point, the positive x-axis direction is the negative direction of the auxiliary normal vector of the active contact line, and the positive y-axis direction is the same as the main normal vector direction of the active contact line. The thick solid line portion is the profile of the wire teeth of the wire gear pair in the normal plane at the point of engagement P on the active contact wire. Respectively taking arc sections of two inscribed arcs at two ends of a tangent point P of the arc sections to obtain convex arc tooth profile and concave arc tooth profile; the left and right sides of the convex and concave arc tooth profiles are symmetrical about an axis of symmetry that is parallel to the y-axis. The distance between the intersection points of the tooth profile and the x axis is defined as the tooth width. The convex arc tooth profile parameters mainly comprise an arc radius rho 1, a tooth width coefficient c 1 and a tooth top height h a1; the concave arc tooth profile parameters mainly comprise an arc radius ρ 2, a tooth width coefficient c 2 and a tooth top height h f2. The tooth profile parameters are few, and the design is convenient. The wire teeth are attached to the wheel body, wherein a cross section of the inner meshing wire gear pair of the input and output ends is shown in fig. 5, wherein omega i is the rotating speed of the input shaft, omega o is the rotating speed of the output shaft, and omega m is the rotating speed of the duplex outer gear.
As shown in fig. 6, the overall appearance box body of the speed reducer is not split up and down, and the speed reducer is simple in structure and convenient to process. The box body, the box cover, the input and output shaft end covers and the sealing piece are connected through bolts to form a closed inner cavity of the speed reducer. The power transmission part is arranged in the inner cavity of the speed reducer.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a few tooth difference planetary line gear reducer which characterized in that: the device comprises a machine body and a power transmission part, wherein a speed reducer inner cavity is formed in the machine body, and the power transmission part is arranged in the speed reducer inner cavity; the power transmission part comprises an input shaft, an output shaft, an eccentric shaft sleeve, a duplex outer gear, an input end inner gear, an output end inner gear and a counterweight, wherein the input shaft is arranged on the machine body; the output shaft is arranged in the machine body and extends out of the left end of the machine body, the inner end of the output shaft is provided with an output end inner line gear, and the output end inner line gear is meshed with the left end of the duplex outer line gear to form a pair of inner meshing line gear pairs with less tooth difference;
The calculation formula of the transmission ratio of the speed reducer is
，
Wherein i is a transmission ratio, theIs the right end gear tooth number of the duplex external gear, and the/>Is the number of teeth of the left end gear of the duplex external gear, and the/>For the number of teeth of the inner wire gear of the input end, the/>The number of teeth of the internal line gear at the output end is the number of teeth of the internal line gear at the output end;
the double outer line gear, the inner line gear at the input end and the inner line gear at the output end are all line gears based on the space conjugate curve meshing principle, and the line gears comprise a wheel body and line teeth which are arranged on the outer side surface of the wheel body;
The machine body comprises a machine seat and a machine cover, the machine cover is buckled at the opening of the right end of the machine seat, and the left end cover and the right end cover are respectively fixed on the two sides of the machine body through screws so as to seal the inner cavity of the reduction gearbox.
2. The small tooth difference planetary line gear reducer as claimed in claim 1, wherein: the number of teeth of the wire gear is greater than or equal to 1.
3. The small tooth difference planetary line gear reducer as claimed in claim 1, wherein: the wheel body of duplex external gear includes wheel body left end and wheel body right-hand member, all is equipped with the line tooth on wheel body left end and the wheel body right-hand member.
4. The small tooth difference planetary line gear reducer as claimed in claim 1, wherein: the tooth number difference of the meshing line gear pair in the small tooth difference is 1-4 teeth.
5. The small tooth difference planetary line gear reducer according to claim 4, wherein: the number of teeth at the right end of the duplex outer gear is 7, the number of teeth at the left end of the duplex outer gear is 8, the number of teeth of the inner gear at the input end is 8, and the number of teeth of the inner gear at the output end is 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810735849.1A CN108679167B (en) | 2018-07-06 | 2018-07-06 | Planetary line gear reducer with small tooth difference |
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| CN201810735849.1A CN108679167B (en) | 2018-07-06 | 2018-07-06 | Planetary line gear reducer with small tooth difference |
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| CN108679167B true CN108679167B (en) | 2024-05-14 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7131330B2 (en) * | 2018-11-21 | 2022-09-06 | トヨタ自動車株式会社 | Reduction gear and brake actuator using the same |
| CN109692617A (en) * | 2019-01-22 | 2019-04-30 | 苏增荣 | A kind of vertical mixer |
| CN110360274A (en) * | 2019-07-22 | 2019-10-22 | 孙金曦 | Planetary speed reducer with small tooth number difference |
| CN110645334A (en) * | 2019-09-23 | 2020-01-03 | 天津大学 | Coaxial surface contact oscillating tooth speed reducer |
| CN111828556A (en) * | 2020-07-27 | 2020-10-27 | 银川威力传动技术股份有限公司 | Pressing nut screwing device of wind driven generator speed reducer |
| CN112963505A (en) * | 2021-03-25 | 2021-06-15 | 郑州爱丁宝机电科技有限公司 | Double-arc small-tooth-difference speed reduction transmission device and double-arc tooth forming method |
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| CN208858869U (en) * | 2018-07-06 | 2019-05-14 | 华南理工大学 | A kind of fewer differential teeth planetary line gear retarder |
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| CN101893064A (en) * | 2010-07-16 | 2010-11-24 | 杨天博 | Reducer capable of regulating return difference |
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