CN110242708A - Secondary seal formula eccentric disc swing movable teeth reducer - Google Patents
Secondary seal formula eccentric disc swing movable teeth reducer Download PDFInfo
- Publication number
- CN110242708A CN110242708A CN201910391298.6A CN201910391298A CN110242708A CN 110242708 A CN110242708 A CN 110242708A CN 201910391298 A CN201910391298 A CN 201910391298A CN 110242708 A CN110242708 A CN 110242708A
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- China
- Prior art keywords
- eccentric disc
- oscillating tooth
- tooth carrier
- gear
- swing movable
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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
-
- 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 a kind of secondary seal formula eccentric disc swing movable teeth reducers, wherein the 2K-H type planetary gear train that high speed grade is made of input shaft, centre wheel, the planetary gear of three radial equipartitions and three crank axles.Slow speed turbine stage includes eccentric disc, oscillating tooth carrier, swing movable gear, ring gear and output shaft.Input shaft is connected firmly with centre wheel, and output shaft is connected firmly with oscillating tooth carrier.One end of crank axle is connected firmly with planetary gear, and the other end forms revolute pair with pin hole corresponding on oscillating tooth carrier, and respective pin hole forms revolute pair on the crank throw and eccentric disc of crank axle, is realized the revolution motion of eccentric disc by the spinning motion of planetary gear and then is generated radial shock wave.Constraint of the swing movable gear by oscillating tooth carrier and ring gear flank profil pushes oscillating tooth carrier rotation.The present invention is enclosed construction, improves transmission efficiency and reliability.It is easily manufactured compared with non-circular gear, it is compact-sized, and also the number of teeth for simultaneously participating in engagement is more, and rigidity is big, large carrying capacity, stable drive.
Description
Technical field
The present invention relates to Gear Planet Transmission fields, and in particular to less teeth difference transmission field more particularly to a kind of secondary seal formula
Eccentric disc swing movable teeth reducer.
Background technique
With the development and the progress of science and technology of production, increasingly higher demands are proposed to machine driven system.In order to mention
The bearing capacity and transmission efficiency of high machine, reduce outer dimension, quality and increase retarder transmission ratio etc., Planetary Gear Transmission
Just it comes into being in this case, and receives the extensive concern of countries in the world, become the important research in terms of machine driving
One of direction.And conventional planet transmission has been difficult to meet the requirement of system, therefore develops suitable for new technology, new equipment etc.
The transmission device of demand for development has become the more and more important development trend of mechanical transmission fields.Mobile tooth and small tooth difference is driven
It is a kind of to utilize one group of intermediate active part --- oscillating tooth transmitting two is driven with the novel mechanical of between centers rotary motion, it has structure tight
It gathers, the advantages that gear range is wide, large carrying capacity, high transmission efficiency, once occurring just causing, scientific worker's is extensive for it
Concern.Therefore the few teeth difference decelerating movable teeth device for developing function admirable, is of great importance to the production of China's mechanical equipment industry.
Harmonic speed reducer and RV retarder are the most commonly used two kinds of deceleration devices of current application.Wherein, harmonic speed reducer
Have many advantages, such as that speed ratio is big, movement is steady, structure is simple and high-efficient, but since it is passed by the flexible deformation principle of flexbile gear
Graduating power, makes its return difference small with rigidity simultaneously, elastic greatly and transmission accuracy is solid with using the time to increase significant decrease etc.
It is defective.RV retarder is secondary seal formula planetary transmission system, and high speed grade drives offset crank shoft rotation to generate Cycloidal Wheel
Radial shock wave exports Cycloidal Wheel revolution due to few teeth difference principle.RV retarder not only has large speed ratio, small size, Gao Cheng
The advantages that load/precision/efficiency and stable drive, and many defects of harmonic speed reducer are overcome, it is increasingly subject to both at home and abroad
The extensive concern of relevant enterprise and R&D institution.
Summary of the invention
For the prior art, a kind of secondary seal formula eccentric disc swing movable teeth reducer proposed by the present invention, is according to RV
The expansion thinking of reducer structure feature, innovative design one kind can generate the mechanical structure device of radial shock wave, be deceleration transmission
Mechanism design provides a kind of new thinking and scheme.
In order to solve the above-mentioned technical problem, a kind of secondary seal formula eccentric disc swing movable teeth reducer proposed by the present invention,
Including high speed grade and slow speed turbine stage, the high speed grade is by planetary gear uniformly distributed in an input shaft, a centre wheel, three circumferential directions
With the 2K-H type planetary gear train of three crank axles composition；The slow speed turbine stage includes eccentric disc, oscillating tooth carrier, swing movable gear, ring gear
And output shaft；The oscillating tooth carrier includes support plate and bracing ring；It is equipped on the support plate of the oscillating tooth carrier and the eccentric disc
Three circumferentially uniformly distributed pin holes；The centre wheel connects firmly on the input shaft, one end of three crank axles respectively with three rows
Star-wheel connects firmly, and the other end of three crank axles pin hole corresponding with three in the support plate forms revolute pair；Three crank axles
Corresponding with three on the eccentric disc pin hole of crank throw form revolute pair, the eccentric disc and swing movable gear composition are high
It is secondary；Z pin is evenly equipped on the same circumference of the support plate, the number of the swing movable gear is z1, z1=Z；The swing
Oscillating tooth and the pin form revolute pair；The shell of the ring gear and retarder is connected；The output shaft and the oscillating tooth carrier
It connects firmly.
Further by secondary seal formula eccentric disc swing movable teeth reducer of the invention, wherein the eccentric disc turns over
When, the oscillating tooth carrier turns overI-slow speed turbine stage reduction ratio, the pitch curve equation of the ring gear are as follows:
In formula (1), a-crank axle eccentricity；R-eccentric disc radius；R-oscillating tooth radius；- eccentric disc revolution angle；- eccentric disc rotation angle；- oscillating tooth carrier rotation angle.
Wherein, unit normal vector n are as follows:
In formula (2), T-is spin matrix, and
The cam profile equation of the ring gear are as follows:
pc=p+rn (3)
Three crank axles are the share components of slow speed turbine stage input and output.It is specifically exactly the transhipment certainly of three planetary gears
The dynamic revolution motion for realizing the eccentric disc, and then generate radial shock wave；Thrust of the swing movable gear by the eccentric disc,
Under the common constraint of the oscillating tooth carrier and the ring gear flank profil, the oscillating tooth carrier rotation；While the oscillating tooth carrier rotation,
Its rotation, which is fed back to the crank axle, makes its revolution.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is enclosed construction, improves transmission efficiency and reliability.Compared with non-circular gear, secondary seal formula is eccentric
Disk swing movable teeth reducer mechanism is easily manufactured, compact-sized, and the number of teeth for simultaneously participating in engagement is more, and rigidity is big, carries energy
Power is big, stable drive.Compared with general oscillating tooth gear, have the characteristics that reduction ratio is big.
Detailed description of the invention
Fig. 1 is the mechanism principle figure of secondary seal formula eccentric disc swing movable teeth reducer of the present invention；
Fig. 2 is the end view drawing of mechanism slow speed turbine stage shown in dotted line frame inner part in Fig. 1；
Fig. 3 is the three-dimensional exploded schematic diagram of secondary seal formula eccentric disc swing movable teeth reducer of the present invention；
In figure: 1- input shaft, 2- centre wheel, 3- planetary gear, 4- crank axle, 5- eccentric disc, 6- oscillating tooth carrier, 7-, which is swung, to live
Tooth, 8- ring gear, 9- output shaft.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, Figure 2 and Figure 3, a kind of secondary seal formula eccentric disc swing movable teeth reducer proposed by the present invention, packet
Include high speed grade and slow speed turbine stage.The high speed grade is by planetary gear uniformly distributed in a circumferential direction of centre wheel 2, three of input shaft 1, one
3 and three crank axles 4 composition 2K-H type planetary gear train, wherein the input shaft 1 is connected firmly with centre wheel 2.The slow speed turbine stage packet
Eccentric disc 5, oscillating tooth carrier 6, swing movable gear 7, ring gear 8 and output shaft 9 are included, the oscillating tooth carrier 6 includes support plate and bracing ring；Institute
It states with three one-to-one pin holes of crank shaft there are three being all provided in the support plate and the eccentric disc 5 of oscillating tooth carrier 6, it is described
The shell of ring gear 8 and retarder is connected, and the output shaft 9 is connected firmly with oscillating tooth carrier 6.
One end (left end shown in Fig. 1) of three crank axles 4 is connected firmly with three planetary gears 3 respectively, three crank axles 4
Other end pin hole corresponding with three in the support plate forms revolute pair；On the crank throw of three crank axles 4 and the eccentric disc 5
Three corresponding pin holes form revolute pair, to be realized the revolution motion of eccentric disc 5 by the spinning motion of planetary gear 3 and then be generated
Radial shock wave.The eccentric disc 5 forms higher pair with the swing movable gear 7, and swing movable gear 7 is pushed away by the radial direction that eccentric disc 5 generates
Power pushes oscillating tooth carrier 6 to rotate under the common constraint of 8 flank profil of oscillating tooth carrier 6 and ring gear.
In the present invention, Z pin is evenly equipped on the same circumference of the support plate, the number of the swing movable gear 7 is
z1, the number z of swing movable gear 71The pin number of corresponding oscillating tooth carrier 6, i.e. z1=Z, the swing movable gear 7 turn with pin composition
Dynamic pair.It is z that the ring gear 8, which is the number of teeth,2Internal gear, and meet relationship: z2-z1=± 1.
In the present invention, when eccentric disc 5 turns overWhen, oscillating tooth carrier turns overI is slow speed turbine stage reduction ratio, calculates internal tooth
When the pitch curve of circle 8, using reversal process, it is assumed that oscillating tooth carrier 6 is motionless, mechanism can be equivalent to crank and rocker mechanism, at this point,
The pitch curve equation of the ring gear 8 are as follows:
In formula (1), a-crank axle eccentricity；R-eccentric disc radius；R-oscillating tooth radius；- eccentric disc revolution angle；- eccentric disc rotation angle；- oscillating tooth carrier rotation angle.
Wherein, unit normal vector n are as follows:
In formula (2), T-is spin matrix, and
According to geometrical relationship, practical tooth is the outside equidistant curve of theoretic profile, therefore, the reality of the ring gear 8
Profile equation are as follows:
pc=p+rn (3)
Secondary seal formula eccentric disc swing movable teeth reducer of the invention, described in the spinning motion of three planetary gears 3 is realized
The revolution motion of eccentric disc 5, and then generate radial shock wave；Radial thrust of the swing movable gear 7 by the eccentric disc 5,
Under the common constraint of 8 flank profil of the oscillating tooth carrier 6 and the ring gear, the oscillating tooth carrier 6 is pushed to rotate；6 rotation of oscillating tooth carrier
While, its rotation, which is fed back to the crank axle 4, makes its revolution, i.e. three crank axles 4 are that slow speed turbine stage input is total to what is exported
Use component.
The present invention uses secondary seal structure, simple and compact for structure, shortens transmission chain to the maximum extent, improves transmission efficiency
And reliability.It is easily manufactured compared with non-circular gear, and the number of teeth for simultaneously participating in engagement is more, and rigidity is big, large carrying capacity,
Stable drive.Compared with general oscillating tooth gear, have the characteristics that reduction ratio is big.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (4)
1. a kind of secondary seal formula eccentric disc swing movable teeth reducer, including high speed grade and slow speed turbine stage, the high speed grade is by one
A input shaft (1), a centre wheel (2), planetary gear (3) He Sangen crank axle (4) composition uniformly distributed in three circumferential directions 2K-H
Type planetary gear train；The slow speed turbine stage includes eccentric disc (5), oscillating tooth carrier (6), swing movable gear (7), ring gear (8) and output shaft
(9)；It is characterized by:
The oscillating tooth carrier (6) includes support plate and bracing ring；In the support plate and the eccentric disc (5) of the oscillating tooth carrier (6)
If there are three circumferentially uniformly distributed pin holes；
The centre wheel (2) connects firmly on the input shaft (1), one end of three crank axles (4) respectively with three planetary gears (3)
It connects firmly, the other end of three crank axles (4) pin hole corresponding with three in the support plate forms revolute pair；Three crank axles
(4) crank throw pin hole corresponding with upper three of the eccentric disc (5) forms revolute pair, and the eccentric disc (5) and the swing are lived
Tooth (7) forms higher pair；
Z pin is evenly equipped on the same circumference of the support plate, the number of the swing movable gear (7) is z1, z1=Z；It is described
Swing movable gear (7) and the pin form revolute pair；
The shell of the ring gear (8) and retarder is connected；The output shaft (9) connects firmly with the oscillating tooth carrier (6).
2. secondary seal formula eccentric disc swing movable teeth reducer according to claim 1, it is characterised in that: the eccentric disc
(5) it turns overWhen, the oscillating tooth carrier (6) turns overI is slow speed turbine stage reduction ratio, the pitch curve of the ring gear (8)
Equation are as follows:
In formula (1), a-crank axle eccentricity；R-eccentric disc radius；R-oscillating tooth radius；- eccentric disc revolution angle；—
Eccentric disc rotation angle；- oscillating tooth carrier rotation angle；
Wherein, unit normal vector n are as follows:
In formula (2), T-is spin matrix, and
The cam profile equation of the ring gear (8) are as follows:
pc=p+rn (3).
3. secondary seal formula eccentric disc swing movable teeth reducer according to claim 1 or claim 2, it is characterised in that: three cranks
Axis (4) is the share components of slow speed turbine stage input and output.
4. secondary seal formula eccentric disc swing movable teeth reducer according to claim 3, it is characterised in that: three planetary gears
(3) spinning motion realizes the revolution motion of the eccentric disc (5), and then generates radial shock wave；The swing movable gear (7) by
The thrust of the eccentric disc (5), under the common constraint of the oscillating tooth carrier (6) and the ring gear (8) flank profil, the oscillating tooth carrier
(6) it rotates；While oscillating tooth carrier (6) rotation, its rotation, which is fed back to the crank axle (4), makes its revolution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910391298.6A CN110242708A (en) | 2019-05-12 | 2019-05-12 | Secondary seal formula eccentric disc swing movable teeth reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910391298.6A CN110242708A (en) | 2019-05-12 | 2019-05-12 | Secondary seal formula eccentric disc swing movable teeth reducer |
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| Publication Number | Publication Date |
|---|---|
| CN110242708A true CN110242708A (en) | 2019-09-17 |
Family
ID=67884272
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910391298.6A Pending CN110242708A (en) | 2019-05-12 | 2019-05-12 | Secondary seal formula eccentric disc swing movable teeth reducer |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110701251A (en) * | 2019-09-23 | 2020-01-17 | 天津大学 | Multistage coaxial surface contact oscillating tooth precision speed reducer |
| CN113565932A (en) * | 2021-08-25 | 2021-10-29 | 合肥波林新材料股份有限公司 | Cycloidal planetary gear speed reducing mechanism |
| CN114110136A (en) * | 2021-11-30 | 2022-03-01 | 重庆大学 | Method for designing internal tooth profile of complex wave type oscillating tooth speed reducer and two-stage speed reducer |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110701251A (en) * | 2019-09-23 | 2020-01-17 | 天津大学 | Multistage coaxial surface contact oscillating tooth precision speed reducer |
| CN113565932A (en) * | 2021-08-25 | 2021-10-29 | 合肥波林新材料股份有限公司 | Cycloidal planetary gear speed reducing mechanism |
| CN114110136A (en) * | 2021-11-30 | 2022-03-01 | 重庆大学 | Method for designing internal tooth profile of complex wave type oscillating tooth speed reducer and two-stage speed reducer |
| WO2023097802A1 (en) * | 2021-11-30 | 2023-06-08 | 重庆大学 | Design method for inner tooth profile of complex-wave oscillating-tooth speed reducer, and two-stage speed reducer |
| CN114110136B (en) * | 2021-11-30 | 2024-01-26 | 重庆大学 | Method for designing internal tooth profile of complex wave type movable tooth speed reducer and two-stage speed reducer |
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Application publication date: 20190917 |