CN111120588A - Centrosymmetric two-stage differential undercut cycloid oscillating tooth speed reducer - Google Patents

Centrosymmetric two-stage differential undercut cycloid oscillating tooth speed reducer Download PDF

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CN111120588A
CN111120588A CN202010012355.8A CN202010012355A CN111120588A CN 111120588 A CN111120588 A CN 111120588A CN 202010012355 A CN202010012355 A CN 202010012355A CN 111120588 A CN111120588 A CN 111120588A
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undercut
raceway
oscillating tooth
cycloid
steel ball
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CN111120588B (en
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闫济东
邢鹏达
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Henan Zhulong High Tech Co Ltd
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Henan Zhulong High Tech Co Ltd
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Priority to CN202180013709.3A priority patent/CN115066570A/en
Priority to PCT/CN2021/070226 priority patent/WO2021139636A1/en
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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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • F16C33/78—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members
    • 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
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • 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
    • 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
    • F16H57/00—General details of gearing
    • F16H57/0018—Shaft assemblies for gearings
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • 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
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H2057/0087—Computer aided design [CAD] specially adapted for gearing features ; Analysis of gear systems

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

The invention provides a centrosymmetric two-stage differential undercut cycloid oscillating tooth speed reducer which comprises an input shaft, an angular contact ball roller, a first retainer, a rear side transmission wheel and the like. The transmission mechanism is obtained by the centrosymmetric arrangement of two-stage differential undercut cycloid oscillating tooth transmission units; the undercut cycloid raceways are divided into undercut hypocycloid raceways and undercut epicycloid raceways; according to the axial arrangement, the speed reducer has four types of configurations, and is divided into sixteen types of configurations aiming at each type under four conditions that two stages are undercut hypocycloid raceways, two stages are undercut epicycloid raceways, one stage is undercut hypocycloid raceway, the second stage is undercut epicycloid raceway and the first stage is undercut epicycloid raceway, and the second stage is undercut hypocycloid raceway; the invention has the advantages of flexible and changeable configuration mode, wide transmission ratio range and mechanical dynamic balance characteristic, and is the inherent attribute of the invention.

Description

Centrosymmetric two-stage differential undercut cycloid oscillating tooth speed reducer
Technical Field
The invention relates to the technical field of movable tooth transmission, in particular to a centrosymmetric two-stage differential undercut cycloid movable tooth speed reducer.
Background
In the traditional involute gear transmission, under some special conditions, designed gears can have undercut, although the transmission precision of the gears is not influenced, the root of a single tooth is thinned due to the undercut thickness, the bending resistance of the gears is reduced, the contact ratio is reduced, and the transmission stability is influenced, so that in the traditional design idea, the involute gears are designed to avoid undercut as much as possible. In the other conventional transmission form, the cycloidal pin gear transmission technology, the actual tooth profile of the cycloidal gear is strictly not allowed to be undercut, because the undercut distorts the transmission. With the development of a novel transmission technology (which is a representative oscillating tooth transmission technology), on the basis of the transmission idea of the cycloid pin wheel, the oscillating tooth transmission theory is applied, the pin teeth can be changed into steel ball oscillating teeth, the cycloid wheel is changed into a transmission wheel with a cycloid raceway, namely, the cycloid oscillating tooth transmission mechanism is obtained, compared with a cycloid pinwheel, the cycloid oscillating tooth transmission mechanism realizes full-circle tooth meshing on the structural principle, greatly improves the bearing capacity and the shock resistance of transmission, the design idea is to avoid the undercut of the actual meshing tooth profile of the cycloid raceway, and in the traditional three-dimensional solid modeling software, if the size of the selected movable teeth is too large, the actual meshing tooth profile of the cycloid raceway has an undercut phenomenon, the expression in the software is that the model cannot be established, and an error can be reported, so that the thinking of most of related practitioners and designers is limited. For example, patent No. CN201721031991.5 proposes "a cycloidal steel ball speed reducer and its robot joint", and the specification clearly proposes conditions for avoiding undercut and avoiding undercut. The problems that the power density of a traditional cycloid steel ball oscillating tooth speed reducer is not high, the power density is large in popular terms, the transmission ratio is relatively small, the space utilization is insufficient, and the market competitiveness is lacked are solved. Aiming at the problem, a new method is developed, the traditional design thinking is broken through, and the method is carried out against the way, namely in the design of the cycloid oscillating tooth transmission, the undercut phenomenon is not avoided, the undercut phenomenon is also utilized, the designed cycloid tooth profile is undercut, and therefore the undercut cycloid oscillating tooth transmission technology is obtained. Compared with the traditional cycloid oscillating tooth transmission, the undercut cycloid oscillating tooth transmission has the advantages that under the same size, the number of the oscillating teeth is more, the transmission ratio is higher, the whole-tooth whole-circle meshing stress is basically achieved, and the comprehensive performance of the undercut cycloid oscillating tooth transmission is superior to that of the traditional cycloid oscillating tooth transmission structure; compared with a cycloidal pin gear transmission structure, the transmission of the undercut cycloidal movable teeth has the advantages of simpler manufacture, fewer parts, simple assembly, longer service life, higher bearing capacity and shock resistance and the like. The transmission technology of the undercut cycloid oscillating tooth is applied to the speed reducer, and the problem to be solved urgently is solved.
Disclosure of Invention
Aiming at the problems, the invention provides a centrosymmetric two-stage differential undercut cycloid oscillating tooth speed reducer, wherein a transmission mechanism is obtained by centrosymmetric arrangement of two-stage differential undercut cycloid oscillating tooth transmission units; the undercut cycloid raceways are divided into undercut hypocycloid raceways and undercut epicycloid raceways; according to the axial arrangement, the speed reducer has four types of configurations, and is divided into sixteen types of configurations aiming at each type under four conditions that two stages are undercut hypocycloid raceways, two stages are undercut epicycloid raceways, one stage is undercut hypocycloid raceway, the second stage is undercut epicycloid raceway and the first stage is undercut epicycloid raceway, and the second stage is undercut hypocycloid raceway; the invention has the advantages of flexible and changeable configuration mode, wide transmission ratio range and mechanical dynamic balance characteristic, and is the inherent attribute of the invention.
The technical scheme adopted by the invention is as follows: the utility model provides a differential undercut cycloid oscillating tooth reduction gear of central symmetry doublestage, includes input shaft, angular contact ball roller, first holder, rear side drive wheel, second holder, cylindrical roller, rear side steel ball oscillating tooth, transition drive wheel, front side steel ball oscillating tooth, cross roller bearing, second sealing washer, front side drive wheel, its characterized in that: the outer rings of the two crossed roller bearings are respectively and fixedly arranged at two ends of the rear driving wheel; a front side driving wheel is hinged in an outer ring of each crossed roller bearing; the two ends of the input shaft are respectively hinged at two sides through a group of angular contact ball rollers uniformly distributed on the first retainerThe front side transmission wheel; the two transition driving wheels are respectively hinged on the input shaft through a group of cylindrical rollers uniformly distributed on the second retainer; a circle of uniformly distributed transmission wheels Z is meshed between each transition transmission wheel and the rear transmission wheelb1The rear side steel ball movable teeth; a circle of uniformly distributed transmission wheels Z is meshed between each transition transmission wheel and the front transmission wheelb2The front side steel ball movable teeth.
Furthermore, the outer ring of each crossed roller bearing and the rear transmission wheel are positioned through four uniformly distributed second column pins; a circle of crossed rollers which are arranged in a crossed manner is arranged between each front-side transmission wheel and the outer ring of the crossed roller bearing, and a cushion block is arranged between every two crossed rollers; a plug fixedly installed through a first pin is arranged on an outer ring of each crossed roller bearing, and a set screw is arranged in each plug and used for fastening the first pin; a first sealing ring is fixedly arranged in each front-side transmission wheel; and a second sealing ring is fixedly arranged on the outer ring of each crossed roller bearing.
Furthermore, the input shaft comprises an internal spline, a first threaded hole, a first shaft section, a second shaft section, a first raceway, a third shaft section, a first eccentric shaft section, a second raceway, a fourth shaft section, a second eccentric shaft section, a third raceway, a fifth shaft section, a fourth raceway, a sixth shaft section and a seventh shaft section, and the internal splines are arranged in the inner holes of the left side and the right side of the input shaft and used for externally connecting parts; a group of first threaded holes are uniformly distributed on the left end surface and the right end surface of the input shaft respectively and are used for externally connecting parts; the first shaft section and the seventh shaft section are used for being matched with the first sealing ring; the second shaft section, the third shaft section, the fourth shaft section, the fifth shaft section and the sixth shaft section are not in contact with any part; the first ball track and the fourth ball track are used for being matched with the angular contact ball roller; the first eccentric shaft section and the second eccentric shaft section are hinged with the transition transmission wheel, and a second rolling path and a third rolling path are respectively arranged on the first eccentric shaft section and the second eccentric shaft section; the second and third raceways are for cooperating with the cylindrical rollers.
Furthermore, the rear side transmission wheel comprises a second threaded hole, a pin hole and a first tangent cycloid oscillating tooth meshing pair, and the sixteen uniformly distributed second threaded holes are used for connecting cylindrical head screws; the pin hole is used for connecting a second pin; the first tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove or an undercut cycloid raceway, and the undercut cycloid raceway comprises an undercut hypocycloid raceway and an undercut epicycloid raceway.
Furthermore, the undercut hypocycloid raceway is an envelope surface of a circle swept by a steel ball movable tooth meshing surface around a raceway meshing curve, and the inner side of the raceway is undercut while the outer side of the raceway is not undercut; the undercut epicycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the outer side of the raceway is undercut while the inner side is not undercut; when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than the active tooth number of the steel ball, and the parameter equation of the meshing curve in a plane rectangular coordinate system is as follows:
Figure BSA0000199530860000031
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
Figure BSA0000199530860000032
in the above formulae, R1-rear side steel ball oscillating teeth distribution circle radius; the eccentricity of the transition driving wheel and the fixed driving wheel is the distance between the axis of the transition driving wheel and the axis of the fixed driving wheel; zc1Wave number of the back undercut cycloid raceway.
Furthermore, the transition transmission wheel comprises a second tangent cycloid oscillating tooth meshing pair and a third tangent cycloid oscillating tooth meshing pair, the second tangent cycloid oscillating tooth meshing pair, the rear side steel ball oscillating tooth and the first tangent cycloid oscillating tooth meshing pair form a single-machine transmission unit, and when the first tangent cycloid oscillating tooth meshing pair adopts an oscillating tooth groove, the second tangent cycloid oscillating tooth meshing pair adopts an undercut cycloid raceway; when the first tangent cycloid oscillating tooth meshing pair adopts an undercut cycloid raceway, the second tangent cycloid oscillating tooth meshing pair adopts an oscillating tooth groove;
furthermore, the third tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove or an undercut cycloid raceway, when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than that of the steel ball, and the parameter equation of the meshing curve in a plane rectangular coordinate system is as follows:
Figure BSA0000199530860000041
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
Figure BSA0000199530860000042
in the above formulae, R2-front side steel ball oscillating teeth distribution circle radius; the eccentricity of the transition driving wheel and the fixed driving wheel is the distance between the axis of the transition driving wheel and the axis of the fixed driving wheel; zc2Wave number of the anterolateral undercut cycloid raceway.
Furthermore, the front side transmission wheel comprises a crossed roller raceway, a fourth tangent cycloid oscillating tooth meshing pair, a fifth raceway, a first clamping groove, a third threaded hole and a second clamping groove, wherein the crossed roller raceway is used for being matched with a crossed roller; the fifth roller path is used for matching with the angular contact ball roller; the first clamping groove is used for being matched with the first sealing ring, and the second clamping groove is used for being matched with the second sealing ring; the uniformly distributed third threaded holes are used for externally connecting parts; the fourth tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove or an undercut cycloid raceway.
Furthermore, when the third tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove, the fourth tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway; when the third tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway, the fourth tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove.
Furthermore, the groove surface of the rear side oscillating tooth groove meshed with the rear side steel ball oscillating tooth is completely attached to the rear side steel ball oscillating tooth; the groove surface of the front side oscillating tooth groove which is engaged with the front side steel ball oscillating tooth is completely attached to the front side steel ball oscillating tooth.
Further, when a parameter equation of the meshing curve is determined, the curvature radius of any point on the meshing curve is determined; the calculation formula of the curvature radius rho of the meshing curve is as follows:
Figure BSA0000199530860000051
furthermore, the radius r of the rear side steel ball movable tooth1And radius r of front side steel ball movable tooth2The relationship that can cause undercut of the raceway needs to be satisfied:
ri＞ρmini＝1，2
in the formula, ρmin-minimum value of the curvature radius p of the meshing curve.
Due to the adoption of the technical scheme, the invention has the following advantages: (1) under the same size, compared with the traditional cycloid oscillating tooth speed reducer, the speed reducer has more oscillating tooth number or larger oscillating tooth size, thereby having larger speed reduction ratio and larger bearing capacity; (2) compared with the traditional two-stage closed type cycloid oscillating tooth speed reducer, the double-stage closed type cycloid oscillating tooth speed reducer has the advantages that the dynamic balance characteristic is realized, the double-side output is realized, and the bearing capacity is larger; (3) the two-stage differential structure has sixteen types of structures, and the reduction ratio range is very wide; (4) the accuracy and the continuity of the whole transmission are not influenced by the local undercut, all the movable teeth participate in meshing force transmission, and the shock resistance is strong; (5) the steel ball movable teeth are adopted, so that the service life is long; (6) the structure is simple and compact, and the processing, the manufacturing and the assembly are convenient.
Drawings
Fig. 1 and 2 are sectional views of the overall assembly structure of the present invention.
Fig. 3 is an exploded view of the overall structure of the present invention.
Fig. 4 is a schematic structural view of the input shaft component of the present invention.
Fig. 5 and 6 are schematic structural views of rear side transmission wheel parts of the invention.
Fig. 7 and 8 are schematic structural diagrams of transition transmission wheel parts of the invention.
Fig. 9 and 10 are schematic structural views of parts of the front side transmission wheel of the invention.
Reference numerals: 1-an input shaft; 2-angular contact ball rollers; 3-a first holder; 4-a first sealing ring; 5-rear transmission wheel; 6-a second cage; 7-a cylindrical roller; 8-rear side steel ball movable teeth; 9-a transition driving wheel; 10-front side steel ball movable teeth; 11-crossed roller bearing outer races; 12-set screws; 13-a plug; 14-a first pin; 15-a cross roller; 16-a second sealing ring; 17-a front side transmission wheel; 18-a cushion block; 19-cylindrical head screw; 20-a second stud; 101-internal splines; 102-a first threaded hole; 103-a first shaft section; 104-a second shaft section; 105-a first raceway; 106-a third shaft segment; 107-a first eccentric shaft segment; 108-a second raceway; 109-a fourth shaft segment; 110-a second eccentric shaft section; 111-a third raceway; 112-fifth shaft segment; 113-a fourth raceway; 114-a sixth shaft segment; 115-a seventh axial segment; 501-a second threaded hole; 502-pin hole; 503-a first tangent cycloid oscillating tooth meshing pair; 901-a second tangent cycloid oscillating tooth meshing pair; 902-a third trochoid oscillating tooth meshing pair; 1701-cross roller raceway; 1702-fourth tangent cycloid oscillating tooth meshing pair; 1703-fifth raceway; 1704-a first card slot; 1705-third threaded hole; 1706-second card slot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-10, a preferred embodiment of the present invention is a centrosymmetric two-stage differential undercut cycloid oscillating tooth speed reducer, which comprises an input shaft, angular contact ball rollers, a first retainer, a first seal ring, a rear-side transmission wheel, a second retainer, cylindrical rollers, rear-side steel ball oscillating teeth, a transition transmission wheel, front-side steel ball oscillating teeth, crossed roller bearing outer rings, set screws, plugs, first pins, crossed rollers, a second seal ring, a front-side transmission wheel, a cushion block, a cylindrical head screw, and second pinsThe two crossed roller bearing outer rings are fixedly arranged at two ends of a rear side transmission wheel through eight uniformly distributed cylindrical head screws respectively; each crossed roller bearing outer ring and the rear side transmission wheel are positioned through four uniformly distributed second column pins; a front-side transmission wheel is hinged in each crossed roller bearing outer ring, a circle of crossed rollers which are arranged in a crossed mode is arranged between each front-side transmission wheel and each crossed roller bearing outer ring, and a cushion block is arranged between every two crossed rollers; a plug fixedly arranged on the outer ring of each crossed roller bearing through a first pin, and a set screw used for fastening the first pin is arranged in each plug; a first sealing ring is fixedly arranged in each front-side transmission wheel; a second sealing ring is fixedly arranged on the outer ring of each crossed roller bearing; two ends of the input shaft are respectively hinged on front side transmission wheels at two sides through a group of angular contact ball rollers uniformly distributed on the first retainer; the two transition driving wheels are respectively hinged on the input shaft through a group of cylindrical rollers uniformly distributed on the second retainer; a circle of uniformly distributed transmission wheels Z is meshed between each transition transmission wheel and the rear transmission wheelb1The rear side steel ball movable teeth; a circle of uniformly distributed transmission wheels Z is meshed between each transition transmission wheel and the front transmission wheelb2The front side steel ball movable teeth.
The input shaft comprises an internal spline, a first threaded hole, a first shaft section, a second shaft section, a first roller path, a third shaft section, a first eccentric shaft section, a second roller path, a fourth shaft section, a second eccentric shaft section, a third roller path, a fifth shaft section, a fourth roller path, a sixth shaft section and a seventh shaft section, and the inner holes on the left side and the right side of the input shaft are provided with the internal spline for externally connecting parts; a group of first threaded holes are uniformly distributed on the left end surface and the right end surface of the input shaft respectively and are used for externally connecting parts; the first shaft section and the seventh shaft section are used for being matched with the first sealing ring; the second shaft section, the third shaft section, the fourth shaft section, the fifth shaft section and the sixth shaft section are not in contact with any part; the first ball track and the fourth ball track are used for being matched with the angular contact ball roller; the first eccentric shaft section and the second eccentric shaft section are hinged with the transition transmission wheel, and a second rolling path and a third rolling path are respectively arranged on the first eccentric shaft section and the second eccentric shaft section; the second and third raceways are for cooperating with the cylindrical rollers.
The rear side transmission wheel comprises a second threaded hole, a pin hole and a first tangent cycloid oscillating tooth meshing pair, and sixteen uniformly distributed second threaded holes are used for connecting cylindrical head screws; the pin hole is used for connecting a second pin; the first tangent cycloid oscillating tooth meshing pair can be an oscillating tooth groove or an undercut cycloid raceway, and the undercut cycloid raceway comprises an undercut hypocycloid raceway and an undercut epicycloid raceway; the undercut hypocycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the inner side of the raceway is undercut to a certain degree while the outer side of the raceway is not undercut; the undercut epicycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the outer side of the raceway is undercut to a certain degree while the inner side of the raceway is not undercut; when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than the active tooth number of the steel ball, and the parameter equation of the meshing curve in a plane rectangular coordinate system is as follows:
Figure BSA0000199530860000071
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
Figure BSA0000199530860000081
in the above formulae, R1-rear side steel ball oscillating teeth distribution circle radius; the eccentricity of the transition driving wheel and the fixed driving wheel is the distance between the axis of the transition driving wheel and the axis of the fixed driving wheel; zc1Wave number of the back undercut cycloid raceway.
The transition transmission wheel comprises a second tangent cycloid oscillating tooth meshing pair and a third tangent cycloid oscillating tooth meshing pair, the second tangent cycloid oscillating tooth meshing pair, the rear side steel ball oscillating tooth and the first tangent cycloid oscillating tooth meshing pair form a single-machine transmission unit, and when the first tangent cycloid oscillating tooth meshing pair adopts an oscillating tooth groove, the second tangent cycloid oscillating tooth meshing pair adopts an undercut cycloid raceway; when the first tangent cycloid oscillating tooth meshing pair adopts an undercut cycloid raceway, the second tangent cycloid oscillating tooth meshing pair adopts an oscillating tooth groove; the third tangent cycloid oscillating tooth meshing pair can adopt an oscillating tooth groove and an undercut cycloid raceway, when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than that of the oscillating tooth of the steel ball, and the parameter equation of a meshing curve in a plane rectangular coordinate system is as follows:
Figure BSA0000199530860000082
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
Figure BSA0000199530860000083
in the above formulae, R2-front side steel ball oscillating teeth distribution circle radius; the eccentricity of the transition driving wheel and the fixed driving wheel is the distance between the axis of the transition driving wheel and the axis of the fixed driving wheel; zc2Wave number of the anterolateral undercut cycloid raceway.
The front side transmission wheel comprises a crossed roller raceway, a fourth tangent cycloid oscillating tooth meshing pair, a fifth raceway, a first clamping groove, a third threaded hole and a second clamping groove, and the crossed roller raceway is used for being matched with a crossed roller; the fifth roller path is used for matching with the angular contact ball roller; the first clamping groove is used for being matched with the first sealing ring, and the second clamping groove is used for being matched with the second sealing ring; the uniformly distributed third threaded holes are used for externally connecting parts; when the third tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove, the fourth tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway; when the third tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway, the fourth tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove.
The embodiment adopts a pictographic method to take symbolic significance, a symbol S is used for representing an undercut cycloid raceway, a symbol O is used for representing a movable tooth groove, the S is connected with the corresponding O to form a pair of movable tooth meshing pairs, and the movable teeth are added to form a single-stage undercut cycloid movable tooth transmission unit. From the foregoing, the first tangent cycloid oscillating tooth meshing pair, the second tangent cycloid oscillating tooth meshing pair, the third tangent cycloid oscillating tooth meshing pair and the fourth tangent cycloid oscillating tooth meshing pair, four in total, that is, two groups of oscillating tooth meshing pairs, respectively form the two-stage differential undercut cycloid oscillating tooth speed reduction unit of the invention together with the rear side steel ball oscillating tooth and the front side steel ball oscillating tooth, and the two speed reduction units are arranged in central symmetry, so that the two-stage differential undercut cycloid oscillating tooth speed reducer of the invention is formed. According to the sequence from back to front, the rear side transmission unit is a first-stage transmission unit, the front side transmission unit is a second-stage transmission unit, and according to the expression of the symbols, the transmission structure is divided into sixteen transmission structures according to the arrangement form of the meshing pair arrangement combination, namely, four transmission forms of SOSO, SOOS, OSSO and OSOS, wherein the two stages of any one transmission structure are all undercut hypocycloid raceways, the two stages of any one transmission structure are all undercut epicycloid raceways, the first stage of any one transmission structure is an undercut hypocycloid raceway, the second stage of the undercut hypocycloid raceway is an undercut epicycloid raceway, and the second stage of the first stage of the undercut epicycloid raceway is an undercut hypocyclo.
Fig. 1 to 10 show a preferred embodiment of the invention, which uses OSSO type and hypocycloidal raceways in both stages, with the oscillating teeth using standard balls of the same size. The transmission parameters are shown in table 1:
TABLE 1 structural theory parameter table
Figure BSA0000199530860000091
The working principle of the invention is as follows: from the foregoing, the structure of the present invention has four transmission forms of SOSO, OSSO and oss according to the arrangement form of the arrangement and combination of the meshing pairs, where SOSO is, in turn, oss is, in turn, SOSO, and SOSO and OSSO are, in turn, self, so that the transmission principle and the reduction ratio calculation formula are explained uniformly according to the rear-side transmission wheel fixation, and all cases can be covered.
When the rear side transmission wheel is fixed, the input shaft is driven, so that the axis of the transition transmission wheel revolves around the axis of the input shaft, at the same time, the rear side steel ball oscillating teeth uniformly distributed along the circumference are simultaneously meshed with the first tangent cycloid oscillating tooth meshing pair of the rear side transmission wheel and the second tangent cycloid oscillating tooth meshing pair of the middle transmission wheel, and because the first tangent cycloid oscillating tooth meshing pair of the rear side transmission wheel is fixedly connected with the rear side transmission wheel, the rear side steel ball oscillating teeth are meshed with the first tangent cycloid oscillating tooth meshing pair of the rear side transmission wheel, and simultaneously, the transition transmission wheel is pushed to rotate along the axis of the transition transmission wheel through the second tangent cycloid oscillating tooth meshing pair of the transition transmission wheel, so that the motion of the transition transmission wheel is revolution around the axis of the input shaft and rotation around the axis of the transition transmission wheel, and when the transition transmission wheel moves in the above-mentioned rule, the third tangent oscillating tooth meshing pair on the transition transmission wheel, the front side steel ball movable teeth meshed with the front side steel ball movable teeth are pushed, then the fourth tangent cycloid movable tooth meshing pair on the front transmission wheel meshed with the front side steel ball movable teeth is pushed, the front side transmission wheel is pushed to rotate along the self axis, and the front side transmission wheel and the input shaft are coaxial, so that the motion is input through the input shaft and is finally output in a speed reduction mode through the front side transmission wheel.
The reduction ratio calculation formulas of the four transmission forms respectively correspond to the following steps:
for the SOSO model, the reduction ratio calculation formula is:
Figure BSA0000199530860000101
for the SOOS type, the reduction ratio calculation formula is:
Figure BSA0000199530860000102
for the OSSO type, the reduction ratio calculation formula is as follows:
Figure BSA0000199530860000103
for the oss type, the reduction ratio calculation formula is:
Figure BSA0000199530860000104
the whole machine is centrosymmetric about the middle plane, so that the problem of dynamic unbalance of the traditional two-stage differential cycloid oscillating tooth speed reducer is solved, and the whole machine achieves the dynamic balance effect.
The speed reducer has multiple mounting and using modes, wherein one of an input shaft, a rear side transmission wheel and a front side transmission wheel is selected as a fixing piece, one of the other two transmission wheels is selected as an input piece, and the other one is an output piece; particularly, when the input shaft is selected as the output member, the reduction ratio is less than 1, namely the speed increasing movement is realized, and the speed increasing mechanism is a speed increasing mechanism and has no speed reducing effect.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. A centrosymmetric two-stage differential undercut cycloid oscillating tooth speed reducer comprises an input shaft, angular contact ball rollers, a first retainer, a rear side transmission wheel, a second retainer, cylindrical rollers, rear side steel ball oscillating teeth, a transition transmission wheel, front side steel ball oscillating teeth, crossed roller bearings, a second sealing ring and a front side transmission wheelThe method is characterized in that: the outer rings of the two crossed roller bearings are respectively and fixedly arranged at two ends of the rear driving wheel; a front side driving wheel is hinged in an outer ring of each crossed roller bearing; two ends of the input shaft are respectively hinged on front side transmission wheels at two sides through a group of angular contact ball rollers uniformly distributed on the first retainer; the two transition driving wheels are respectively hinged on the input shaft through a group of cylindrical rollers uniformly distributed on the second retainer; a circle of uniformly distributed transmission wheels Z is meshed between each transition transmission wheel and the rear transmission wheelb1The rear side steel ball movable teeth; a circle of uniformly distributed transmission wheels Z is meshed between each transition transmission wheel and the front transmission wheelb2The front side steel ball movable teeth.
2. The centrosymmetric two-stage differential undercut cycloidal oscillating tooth reducer of claim 1, wherein: the outer ring of each crossed roller bearing and the rear-side transmission wheel are positioned through four uniformly distributed second column pins; a circle of crossed rollers which are arranged in a crossed manner is arranged between each front-side transmission wheel and the outer ring of the crossed roller bearing, and a cushion block is arranged between every two crossed rollers; a plug fixedly installed through a first pin is arranged on an outer ring of each crossed roller bearing, and a set screw is arranged in each plug and used for fastening the first pin; a first sealing ring is fixedly arranged in each front-side transmission wheel; and a second sealing ring is fixedly arranged on the outer ring of each crossed roller bearing.
3. The centrosymmetric two-stage differential undercut cycloidal oscillating tooth reducer of claim 1, wherein: the input shaft comprises an internal spline, a first threaded hole, a first shaft section, a second shaft section, a first rolling way, a third shaft section, a first eccentric shaft section, a second rolling way, a fourth shaft section, a second eccentric shaft section, a third rolling way, a fifth shaft section, a fourth rolling way, a sixth shaft section and a seventh shaft section, and the inner holes on the left side and the right side of the input shaft are provided with the internal spline for externally connecting parts; a group of first threaded holes are uniformly distributed on the left end surface and the right end surface of the input shaft respectively and are used for externally connecting parts; the first shaft section and the seventh shaft section are used for being matched with the first sealing ring; the second shaft section, the third shaft section, the fourth shaft section, the fifth shaft section and the sixth shaft section are not in contact with any part; the first ball track and the fourth ball track are used for being matched with the angular contact ball roller; the first eccentric shaft section and the second eccentric shaft section are hinged with the transition transmission wheel, and a second rolling path and a third rolling path are respectively arranged on the first eccentric shaft section and the second eccentric shaft section; the second and third raceways are for cooperating with the cylindrical rollers.
4. The centrosymmetric two-stage differential undercut cycloidal oscillating tooth reducer of claim 1, wherein: the rear side transmission wheel comprises a second threaded hole, a pin hole and a first tangent cycloid oscillating tooth meshing pair, and the sixteen uniformly distributed second threaded holes are used for connecting cylindrical head screws; the pin hole is used for connecting a second pin; the first tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove or an undercut cycloid raceway, and the undercut cycloid raceway comprises an undercut hypocycloid raceway and an undercut epicycloid raceway.
5. The centrosymmetric two-stage differential undercut cycloidal oscillating tooth reducer of claim 1, wherein: the undercut hypocycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the inner side of the raceway is undercut while the outer side of the raceway is not undercut; the undercut epicycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the outer side of the raceway is undercut while the inner side is not undercut; when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than the active tooth number of the steel ball, and the parameter equation of the meshing curve in a plane rectangular coordinate system is as follows:
Figure FSA0000199530850000021
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
Figure FSA0000199530850000022
in the above formulae, R1-rear side steel ball oscillating teeth distribution circle radius; the eccentricity of the transition driving wheel and the fixed driving wheel is the distance between the axis of the transition driving wheel and the axis of the fixed driving wheel; zc1Wave number of the back undercut cycloid raceway.
6. A centrosymmetric two-stage differential undercut cycloidal reducer as defined in claim 1 or 5, wherein: the transition transmission wheel comprises a second tangent cycloid oscillating tooth meshing pair and a third tangent cycloid oscillating tooth meshing pair, the second tangent cycloid oscillating tooth meshing pair, the rear side steel ball oscillating tooth and the first tangent cycloid oscillating tooth meshing pair form a single-machine transmission unit, and when the first tangent cycloid oscillating tooth meshing pair adopts an oscillating tooth groove, the second tangent cycloid oscillating tooth meshing pair adopts an undercut cycloid raceway; when the first tangent cycloid oscillating tooth meshing pair adopts an undercut cycloid raceway, the second tangent cycloid oscillating tooth meshing pair adopts an oscillating tooth groove.
7. The centrosymmetric two-stage differential undercut cycloidal oscillating tooth reducer of claim 6, wherein: the third tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove or an undercut cycloid raceway, when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than that of the oscillating tooth of the steel ball, and a parameter equation of a meshing curve in a plane rectangular coordinate system is as follows:
Figure FSA0000199530850000023
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
Figure FSA0000199530850000024
in the above formulae, R2-front side steel ball oscillating teeth distribution circle radius; a-transition transmissionThe eccentricity between the wheel and the fixed driving wheel is the distance between the axis of the transition driving wheel and the axis of the fixed driving wheel; zc2Wave number of the anterolateral undercut cycloid raceway.
8. The centrosymmetric two-stage differential undercut cycloidal oscillating tooth reducer of claim 1, wherein: the front side transmission wheel comprises a crossed roller raceway, a fourth tangent cycloid oscillating tooth meshing pair, a fifth raceway, a first clamping groove, a third threaded hole and a second clamping groove, wherein the crossed roller raceway is used for being matched with a crossed roller; the fifth roller path is used for matching with the angular contact ball roller; the first clamping groove is used for being matched with the first sealing ring, and the second clamping groove is used for being matched with the second sealing ring; the uniformly distributed third threaded holes are used for externally connecting parts; the fourth tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove or an undercut cycloid raceway.
9. A centrosymmetric two-stage differential undercut cycloidal reducer as defined in claim 7 or 8 in which: when the third tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove, the fourth tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway; when the third tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway, the fourth tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove.
10. The centrosymmetric two-stage differential undercut cycloidal oscillating tooth reducer of claim 1, wherein: the groove surface of the rear side movable tooth groove meshed with the rear side steel ball movable tooth is completely attached to the rear side steel ball movable tooth; the groove surface of the front side oscillating tooth groove which is engaged with the front side steel ball oscillating tooth is completely attached to the front side steel ball oscillating tooth.
11. A centrosymmetric two-stage differential undercut cycloidal reducer as defined in claim 5 or 7 in which: when the parameter equation of the meshing curve is determined, the curvature radius of any point on the meshing curve is determined; the calculation formula of the curvature radius rho of the meshing curve is as follows:
Figure FSA0000199530850000031
12. the centrosymmetric two-stage differential undercut cycloidal oscillating tooth reducer of claim 1, wherein: the radius r of the rear side steel ball movable tooth1And radius r of front side steel ball movable tooth2The relationship that can cause undercut of the raceway needs to be satisfied:
ri＞ρmini＝1，2
in the formula, ρmin-minimum value of the curvature radius p of the meshing curve.
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