CN112377574B - Gear transmission structure - Google Patents

Gear transmission structure Download PDF

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CN112377574B
CN112377574B CN202011394497.1A CN202011394497A CN112377574B CN 112377574 B CN112377574 B CN 112377574B CN 202011394497 A CN202011394497 A CN 202011394497A CN 112377574 B CN112377574 B CN 112377574B
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gear
output
input
eccentric
eccentric wheel
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CN112377574A (en
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贾天玖
程议
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Fujian Dpl Energy Technology Co ltd
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Fujian Sipu Measurement Technology Co ltd
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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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • 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
    • 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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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention discloses a gear transmission structure, which belongs to the field of speed reducers and comprises an input assembly and an output assembly, wherein the output assembly comprises an output gear and more than two output eccentric wheels which are uniformly distributed in the circumferential direction of the output gear and are attached to the output gear. The invention has the beneficial effects that: the cooperation of more than two groups of gears is utilized, the gear transmission mechanism is not limited by the relation of tooth number and diameter, the self size can be kept from being enlarged synchronously under the condition of realizing large transmission ratio, and even the transmission ratio is finally unrelated to the size ratio of the gears, so that the purpose of high-power transmission is achieved.

Description

Gear transmission structure
Technical Field
The invention relates to the field of speed reducers, in particular to a gear transmission structure.
Background
The mechanical technology of the machine has been developed for hundreds of years, various transmission modes are abundant, the gear transmission of pure machinery is more perfect, and the mature solutions can be found according to almost various mechanical design requirements, but the gear multi-stage transmission type reducer is rapidly developed in the last ten years and is predicted to be in the ubiquitous robot market in the future, the traditional gear multi-stage transmission type reducer is in a marginal position, and most market requirements are occupied by the high-price and expensive RV reducer and the harmonic reducer. The conventional structure of the gear requires that the minimum number of teeth of the gear must meet a certain value, so that the diameter of the number of teeth of the driven wheel is too large, and then or through a multi-stage cascade mode, the speed reducer after multi-stage cascade is heavy, and the additional requirements that the structure of the robot needs to be small and light cannot be met.
Disclosure of Invention
Aiming at the problems that the gear transmission structure of the speed reducer in the prior art has to meet the multiple relation of diameter and tooth number when the high transmission ratio is achieved, the diameter of the tooth number of a driven wheel is overlarge, the structure of a multi-stage cascade speed reducer is heavy, and the like, the invention provides the gear transmission structure. The specific technical scheme is as follows:
the utility model provides a gear drive structure, includes input assembly and output assembly, output assembly includes output gear and evenly distributed be in output gear circumferencial direction and with more than two output eccentric wheels of output gear outer periphery laminating. The output gear is driven to move by the fit of the output eccentric wheel and the output gear, so that the purpose of gear speed reduction transmission is achieved.
Preferably, any point M (x) in the eccentric profile curve of the output geart，yt) The following formula is satisfied:
Figure BDA0002814197480000021
Figure BDA0002814197480000022
wherein, the center of the output gear is the origin, t is (0, 2N)1π]N1 is the number of output gear teeth, N1 is an integer greater than 1, A is the axle center distance of two wheels, and B1 is the eccentricity of the output eccentric wheel.
Preferably, the profile curve of the output gear is obtained by taking an equidistant curve with the radius of the output eccentric wheel from the inner side of the profile curve of the output gear.
Preferably, each output eccentric wheel is attached to a curve corresponding to one tooth on the output gear, and the outer circumferential surface of each output eccentric wheel is in rolling connection with different positions on the curve of the corresponding tooth. In the process that the output eccentric wheel is in contact with the gear corresponding to the output gear, the output gear rotates for 1/N1 circles every time the output eccentric wheel rotates for one circle, and then the output eccentric wheel is fitted with the curve corresponding to the next tooth on the output gear and drives the output gear to rotate, so that the aim of speed reduction transmission is fulfilled.
Preferably, N1 output eccentric wheels are uniformly distributed in the circumferential direction of the output gear.
Preferably, the number of teeth N1 of the output gear is 3-21 teeth.
Preferably, the number of teeth N1 of the output gear is 4-8 teeth.
Preferably, the number of teeth N1 of the output gear is 8 teeth.
When the circumferential profile surface of the output eccentric wheel is contacted with the concave center of each tooth of the output gear, the friction force of the output eccentric wheel on the output gear is minimum, and when the circumferential profile surface of the output eccentric wheel is contacted with the convex center of each tooth of the output gear, the friction force of the output eccentric wheel on the output gear is maximum.
The effect of the concavity and convexity of the output gear circumferential surface profile is more pronounced as the eccentricity B1 of the output eccentric is greater.
In the implementation operation process, in order to ensure the uniformity of the force action of the output gear by the output eccentric wheel, when the circumferential profile surface of a certain output eccentric wheel is positioned at the concave center position of the upper teeth of the output gear, if the number of the teeth of the output gear is odd, the circumferential profile surface of the output eccentric wheel opposite to the output gear is contacted with the convex center of the upper teeth of the output gear; if the number of teeth of the output gear is even, two output eccentric wheels are arranged on the left side and the right side opposite to the output gear in a triangular arrangement mode, and the problem that the friction force at the position is insufficient is solved.
In the implementation operation process, the number of the output eccentric wheels has a certain correlation with the number of teeth of the output gear, half or equal to the number of teeth of the output gear is preferably half of the number of teeth of the output gear, and if the number of teeth of the output gear is 8, the number of the output eccentric wheels is preferably 4; if the number of teeth of the output gear is 6, the number of the output eccentric wheels can be 3 or 6.
Preferably, the transmission structure further comprises a mounting plate, and the input assembly and the output assembly are respectively mounted on two side surfaces of the mounting plate.
Preferably, the output assembly comprises an output gear set formed by overlapping W1 output gears with a central shaft and more than two groups of output eccentric gear sets uniformly distributed in the circumferential direction of the output gear set, each group of output eccentric gear sets is formed by rigidly and coaxially connecting W1 output eccentric gears, and W1 is an integer greater than or equal to 2;
and each layer of output eccentric wheel in the output eccentric wheel set is uniformly distributed in the outer circumferential direction of the output gear of the corresponding layer in the output gear set and is attached to the outer circumferential profile of the output gear of the corresponding layer.
Preferably, the number of output gears W1 in the output gear set is 3-6.
Preferably, the number of output gears W1 in the output gear set is 4.
The output gear set formed by overlapping a plurality of output gears is adopted for transmission, the contact parts of the concave-convex edges of the output gears on different layers in the same output gear set and the corresponding output eccentric wheels are different, the transmission stability between the output eccentric wheel set and the output gear set is greatly improved, and the stable and smooth transmission of the output gear set by the output eccentric wheel set is realized.
Preferably, the position of the output gear set in the circumferential direction of the output gear positioned below from top to bottom is such that the output gear positioned above rotates clockwise around a central shaft
Figure BDA0002814197480000031
And obtaining the compound.
Preferably, the position of the output gear set in the circumferential direction of the output gear positioned below from top to bottom is that the output gear positioned above rotates anticlockwise around a central shaft
Figure BDA0002814197480000032
And obtaining the compound.
Preferably, the input assembly comprises an input eccentric and more than two input gears which are uniformly distributed in the circumferential direction of the input eccentric and fit with the outer circumferential profile of the input eccentric, and each input gear central shaft is rigidly and coaxially connected with one output eccentric central shaft. The input eccentric wheel divergently drives the input gear to form a stable single-stage driving structure, then the input gear is gathered again through the output eccentric wheel and drives back inwards to drive the output gear to rotate, a complete two-stage transmission driving structure is formed, and the whole transmission process of the speed reducer with a large transmission ratio is completed through two transmissions.
Preferably, the first and second electrodes are formed of a metal,any point M in the eccentric profile curve of the input gear2(xt，yt) The following formula is satisfied:
Figure BDA0002814197480000033
Figure BDA0002814197480000041
wherein, the input gear center is the origin, t ═ 0, 2N2π]N2 is the number of teeth of the input gear, N2 is an integer greater than 1, A is the axle center distance of two wheels, and B2 is the eccentricity of the input eccentric wheel.
Preferably, the input gear profile curve is obtained by an equidistant curve of the input gear eccentric profile curve inwardly spaced by the radius of the input eccentric.
Preferably, the input gear tooth number N2 is equal to the output gear tooth number.
Preferably, the input assembly comprises an input eccentric wheel set formed by overlapping W2 input eccentric wheels with a central shaft and more than two groups of input gear sets uniformly distributed in the circumferential direction of the input eccentric wheel set, each group of input gear sets is formed by coaxially connecting W2 input eccentric wheel sets, and W2 is an integer greater than or equal to 2;
and each layer of input gears in the input gear set are uniformly distributed in the direction of the outer circumference of the input eccentric wheel of the corresponding layer in the input eccentric wheel set and are attached to the outer circumference profile of the input eccentric wheel of the corresponding layer.
Preferably, the input gear set is located at a position in the circumferential direction of the input gear located below from top to bottom, and the input gear located above rotates clockwise around a central shaft
Figure BDA0002814197480000042
And obtaining the compound.
Preferably, the circumferential position of the input gear set positioned below from top to bottom isThe input gear positioned above rotates anticlockwise around the central shaft
Figure BDA0002814197480000043
And obtaining the compound.
Preferably, each input eccentric wheel on the input eccentric wheel set consists of an input eccentric wheel main body and a rolling bearing sleeved on the periphery of the input eccentric wheel main body, and the outer diameter of the rolling bearing is equal to the diameter of the input eccentric wheel.
Has the advantages that:
the technical scheme of the invention has the following beneficial effects:
(1) each output eccentric wheel is attached to a curve corresponding to one tooth on the output gear, and the outer circumferential surface of each output eccentric wheel is in contact with different positions on the curve of the corresponding tooth and is in rolling connection with the corresponding tooth. In the process that the output eccentric wheel is in contact with the gear corresponding to the output gear, the output gear rotates for 1/N1 circles every time the output eccentric wheel rotates for one circle, and then the output eccentric wheel is fitted with the curve corresponding to the next tooth on the output gear and drives the output gear to rotate, so that the aim of speed reduction transmission is fulfilled.
(2) The output gear set formed by overlapping a plurality of output gears is adopted for transmission, the contact parts of the concave-convex edges of the output gears on different layers in the same output gear set and the corresponding output eccentric wheels are different, the transmission stability between the output eccentric wheel set and the output gear set is greatly improved, and the stable and smooth transmission of the output gear set by the output eccentric wheel set is realized.
(3) The input eccentric wheel divergently drives the input gear to form a stable single-stage driving structure, then the input gear is gathered again through the output eccentric wheel and drives back inwards to drive the output gear to rotate, a complete two-stage transmission driving structure is formed, and the whole transmission process of the speed reducer with a large transmission ratio is completed through two transmissions.
(4) The diameter of the driving gear and the driven gear of the speed reducer obtained by adopting the gear transmission structure can be approximately the same, and when one driving wheel transmits N times of gears, the periphery of the driving wheel can simultaneously drive a plurality of N times of gears in a surrounding manner, so that the problem that when the traditional single-stage transmission gear with a gear ratio is transmitted, a single gear cannot simultaneously drive a plurality of large gears on the same plane due to insufficient space around the driving gear is solved; and when the diameter sizes of the driving gear and the driven gear are approximately the same, the purpose of outputting in different transmission ratios can be realized.
(5) The structure of the input eccentric wheel and the structure of the output eccentric wheel are extremely simplified, the structure of the input eccentric wheel and the structure of the output eccentric wheel are eccentric wheels, the processing precision and the strength cost can be well controlled, and the processing problem equal to half of the processing problem in a transmission structure is solved.
(6) The output gear and the input gear are of a polygonal structure with concave edges, are completely different from the existing gear tooth structure in shape, can be directly processed by wire cutting and slow-moving wires, are low in manufacturing cost, are matched with an eccentric driving wheel complete structure with a simple structure, and can be manufactured under the condition of low cost, so that the manufactured speed reducer has a proper economic value.
(7) The input eccentric and the output eccentric are circular and can be seen as only one tooth, and in order to realize continuous and continuous rotation driving of the output gear and the input gear, a multi-layer overlapping structure is required.
(8) The transmission between the input eccentric wheel and the input gear and between the output eccentric wheel and the output gear is rolling friction instead of sliding friction, and the transmission efficiency and precision are further improved and the damage to the driving wheel is reduced through rubbing transmission.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a perspective view of a preferred gear transmission structure of the present invention;
FIG. 2 is a perspective view of a preferred gear transmission structure of the present invention;
FIG. 3 is a perspective view of a preferred gear transmission structure of the present invention;
FIG. 4 is a schematic diagram of the eccentric profile of the preferred output gear of the present invention;
FIG. 5 is a schematic diagram of the eccentric profile of the preferred input gear of the present invention;
FIG. 6 is a schematic diagram of a preferred 2-fold transmission reduction structure of the present invention;
FIG. 7 is a schematic diagram of a preferred 3-fold transmission reduction structure of the present invention;
FIG. 8 is a schematic diagram of a preferred 4-fold transmission reduction structure of the present invention;
FIG. 9 is a schematic diagram of a preferred 5-fold transmission speed reduction structure of the present invention;
FIG. 10 is a schematic diagram of a preferred 6-fold transmission reduction structure of the present invention;
FIG. 11 is a schematic diagram of a preferred 8-fold transmission reduction structure of the present invention;
FIG. 12 is a schematic view of a preferred 10-fold transmission reduction structure of the present invention;
FIG. 13 is a schematic diagram of a preferred 14-fold transmission reduction structure of the present invention;
FIG. 14 is a schematic view of a preferred input assembly of the present invention including 2 input gears;
FIG. 15 is a schematic view of a preferred input assembly of the present invention including 3 input gears;
FIG. 16 is a schematic view of a preferred input assembly of the present invention including 4 input gears;
FIG. 17 is a schematic view of a preferred input assembly of the present invention including 5 input gears;
FIG. 18 is a schematic view of a preferred input assembly of the present invention including 6 input gears;
FIG. 19 is a schematic view of a preferred input assembly of the present invention including 7 input gears;
FIG. 20 is a schematic view of a preferred input assembly of the present invention including 8 input gears;
FIG. 21 is a schematic view of a preferred input assembly of the present invention including 9 input gears;
FIG. 22 is a schematic view of a preferred input assembly of the present invention including 10 input gears.
In the figure: 1. an input component; 11. inputting an eccentric wheel set; 12. an input gear set; 101. inputting an eccentric wheel; 102. an input gear; 103. an input gear eccentric profile curve; 104. inputting a gear profile curve; 111. inputting an eccentric wheel main body; 112. a rolling bearing; 2. an output component; 21. an output gear set; 22. an output eccentric wheel set; 201. an output gear; 202. an output eccentric wheel; 203. an output gear eccentric profile curve; 204. outputting a gear profile curve; 3. and (7) mounting a disc.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The gear transmission structure in the embodiment utilizes the matching between more than two groups of gears, is not limited by the relation of tooth number and diameter, can keep the size of the gear from being synchronously enlarged under the condition of realizing large transmission ratio, and even finally enables the transmission ratio to be unrelated with the size ratio of the gear, thereby achieving the purpose of high-power transmission. The specific implementation content is as follows:
as shown in fig. 1 to 3, the gear transmission structure includes an input assembly 1 and an output assembly 2, and the output assembly 2 includes an output gear 201 and more than two output eccentrics 202 uniformly distributed in the circumferential direction of the output gear 201 and attached to the output gear 201. The output eccentric wheel 202 is attached to the output gear 201 to drive the output gear 201 to move, so that the purpose of gear reduction transmission is achieved.
As shown in FIG. 4, any point M (x) in the output gear eccentric profile curve 203t，yt) The following formula is satisfied:
Figure BDA0002814197480000071
Figure BDA0002814197480000072
where the center of the output gear 201 is the origin, and t is (0, 2N)1π]N1 is the number of teeth of the output gear 201, N1 is an integer greater than 1, a is the axial distance of two wheels, and B1 is the eccentricity of the output eccentric 202.
In a preferred embodiment, output gear profile curve 204 is obtained by equidistant curves of output gear eccentric profile curve 203 inwardly spaced by a radius R1 of output eccentric 202.
Each output eccentric wheel 202 is attached to a curve corresponding to one tooth on the output gear 201, and the outer circumferential surface of the output eccentric wheel 202 is in contact with different positions on the curve of the corresponding tooth and is in rolling connection. In the process that the output eccentric wheel 202 is in contact with the corresponding gear of the output gear 201, every time the output eccentric wheel 202 rotates for one circle, the output gear 201 rotates for 1/N1 circles, and then the output eccentric wheel 202 is attached to the curve corresponding to the next tooth on the output gear 201, so that the purpose of speed reduction transmission is achieved.
The output gear contour curve 204 obtained by adopting the formula can ensure that the outer circumferential surface of the output gear 201 and the output eccentric wheel 202 are always in a fit state, and the output eccentric wheel 202 and the output gear 201 are in rubbing transmission.
As a preferred embodiment, the number of the output eccentrics 202 distributed in the circumferential direction of the output gear 201 can be controlled as required, and the occupied space of the output eccentrics 202 on the outer circumferential surface of the output gear 201, the transmission stability, the transmission efficiency and the like are taken into comprehensive consideration, and several preferred schemes are adopted here.
N1 output eccentric wheels 202 can be uniformly distributed on the circumference of the output gear 201; the number of teeth N1 of the output gear 201 can be 3-21, and preferably, the number of teeth N1 of the output gear 201 can be 4-8.
In the process of operation, it is found that the transmission efficiency is relatively good when the number of teeth N1 of the output gear 201 is 8.
When the circumferential contour surface of the output eccentric 202 is in contact with the concave center of each tooth of the output gear 201, the output gear 201 receives the smallest frictional force of the output eccentric 202, and when the circumferential contour surface of the output eccentric 202 is in contact with the convex center of each tooth of the output gear 201, the output gear 201 receives the largest frictional force of the output eccentric.
It is easily understood that the concave-convex effect of the circumferential surface profile of the output gear 201 is more pronounced as the eccentricity B1 of the output eccentric 202 is larger.
In order to ensure the uniformity of the force applied by the output gear 201 to the output eccentric 202 during the operation, when the peripheral contour surface of one output eccentric 202 is at the concave center position of the teeth on the output gear 201, if the number of the teeth of the output gear 201 is odd, the peripheral contour surface of the output eccentric 202 opposite to the peripheral contour surface is contacted with the convex center of the teeth on the output gear 201; if the number of teeth of the output gear 201 is even, two output eccentric wheels 202 are arranged on the opposite left side and the opposite right side of the output gear in a triangular arrangement to solve the problem of insufficient friction force at the positions.
In the implementation operation process, the number of the output eccentrics 202 has a certain correlation with the number of teeth of the output gear 201, half or equal to the number of teeth of the output gear 201, preferably half of the number of teeth of the output gear 201, for example, when the number of teeth of the output gear 201 is 8, the number of the output eccentrics 202 is preferably 4; if the number of teeth of the output gear 201 is 6, the number of the output eccentric wheels 202 may be 3 or 6.
As a preferred embodiment, as shown in fig. 1 to 3, the transmission structure further includes a mounting plate 3, and the input module 1 and the output module 2 are respectively mounted on two side surfaces of the mounting plate 3.
As a preferred embodiment, the output assembly 2 includes an output gear set 21 formed by overlapping W1 output gears 201 with a central shaft, and more than two sets of output eccentric wheel sets 22 uniformly distributed in the circumferential direction of the output gear set 21, each set of output eccentric wheel sets 22 is formed by rigidly and coaxially connecting W1 output eccentric wheels 202, and W1 is an integer greater than or equal to 2;
each layer of the output eccentric wheels 202 in the output eccentric wheel set 22 are uniformly distributed in the outer circumferential direction of the output gear 201 of the corresponding layer in the output gear set 21 and are attached to the outer circumferential profile of the output gear 201 of the corresponding layer.
In a preferred embodiment, the number of output gears 201 in the output gear set 21, W1, is 3-6.
In the test process, when the number W1 of the output gears 201 in the output gear set 21 is 4, the transmission stability is better.
The output gear set 21 formed by overlapping a plurality of output gears 201 is adopted for transmission, the contact parts of the concave-convex edges on the output gears 201 on different layers in the same output gear set 21 and the corresponding output eccentric wheels 202 are different, the transmission stability between the output eccentric wheel set 22 and the output gear set 21 is greatly improved, and therefore stable and smooth transmission of the output eccentric wheel set 22 to the output gear set 21 is realized.
In a preferred embodiment, the output gear set 21 is located at a position in the circumferential direction of the output gear 201 located at the lower position from top to bottom such that the output gear 201 located at the upper position rotates clockwise around the central axis
Figure BDA0002814197480000091
And obtaining the compound.
In a preferred embodiment, the position of the output gear set 21 in the circumferential direction of the output gear 201 located below from top to bottom is such that the output gear 201 located above is counterclockwise around the central axisNeedle rotation
Figure BDA0002814197480000094
And obtaining the compound.
As a preferred embodiment, as shown in fig. 1, the input assembly 1 comprises an input eccentric 101 and input gears 102 uniformly distributed in the circumferential direction of the input eccentric 101 and conforming to the outer circumferential profile of the input eccentric 101, and the central shaft of each input gear 102 is rigidly and coaxially connected with the central shaft of one output eccentric 202. The input eccentric wheel 101 divergently drives the input gear 102 to form a stable single-stage driving structure, then the input gear 102 is gathered again through the output eccentric wheel 202 and drives back inwards to drive the output gear 201 to rotate, a complete two-stage transmission driving structure is formed, and the whole transmission process of the speed reducer with a large transmission ratio is completed through two transmissions.
As shown in FIG. 5, any point M in the eccentric profile curve 103 of the input gear2(xt，yt) The following formula is satisfied:
Figure BDA0002814197480000092
Figure BDA0002814197480000093
where the center of the input gear 102 is the origin, and t is (0, 2N)2π]N2 is the number of teeth of the input gear 102, N2 is an integer greater than 1, a is the axial distance of two wheels, and B2 is the eccentricity of the input eccentric 101.
In a preferred embodiment, input gear profile 104 is an equidistant curve inward from input gear eccentric profile 103 at radius R3 of input eccentric 101.
In a preferred embodiment, the number of teeth N2 of the input gear 102 is equal to the number of teeth of the output gear 201.
As a preferred embodiment, the input assembly 1 includes an input eccentric wheel set 11 formed by overlapping W2 input eccentric wheels 101 with a central shaft, and two or more input gear sets 12 uniformly distributed in the circumferential direction of the input eccentric wheel set 11, each input gear set 12 is formed by coaxially connecting W2 input eccentric wheel sets 11, and W2 is an integer greater than or equal to 2;
each layer of the input gears 102 in the input gear set 12 is uniformly distributed in the direction of the outer circumference of the input eccentric wheel 101 of the corresponding layer in the input eccentric wheel set 11 and is fitted with the outer circumference profile of the input eccentric wheel 101 of the corresponding layer.
In a preferred embodiment, the circumferential position of the input gear 102 of the input gear set 12 located at the lower position from top to bottom is such that the input gear 102 located at the upper position rotates clockwise around the central axis
Figure BDA0002814197480000101
And obtaining the compound.
In a preferred embodiment, the input gear set 12 is located at a position circumferentially below the input gear 102 from top to bottom such that the input gear located above rotates counterclockwise about a central axis
Figure BDA0002814197480000102
And obtaining the compound.
In a preferred embodiment, each of the input eccentrics 101 of the input eccentric wheel set 11 is composed of an input eccentric wheel body 111 and a rolling bearing 112 disposed around the input eccentric wheel body 111, and the outer diameter of the rolling bearing 112 is equal to the diameter of the input eccentric wheel 101.
As shown in fig. 14-22, the diameter of the driving gear and the driven gear of the speed reducer obtained by the gear transmission structure can be approximately the same, and when one transmission wheel transmits N times of gears, a plurality of N times of gears can be simultaneously driven around the transmission wheel, so that the problem that when the traditional single-stage transmission gear with a large gear ratio is transmitted, a single gear cannot simultaneously drive a plurality of large gears on the same plane due to insufficient space around the driving gear is solved.
As shown in fig. 6-13, the input assembly 1 has 2, 3, 4, 5, 6, 8, 10, 14 input gears 102, the input eccentric 101 fits a curve corresponding to a tooth on each input gear 102, and the outer circumferential surface of the input eccentric 101 contacts and is in rolling connection with different positions on the curve corresponding to the tooth. In the process of corresponding gear contact between the input eccentric wheel 101 and the input gear 102, each input gear 102 rotates for 1/N2 cycle every time the input eccentric wheel 101 rotates for one cycle, so when the number of teeth of the input gear 102 is 2, 3, 4, 5, 6, 8, 10, 14, the input eccentric wheel 101 rotates for one cycle, the input gear 102 rotates for 1/2, 1/3, 1/4, 1/5, 1/6, 1/8, 1/10 or 1/14 cycles, and the purpose of speed reduction transmission is achieved.
When the speed reducer is applied, the input eccentric wheel 101 in the input assembly 1 is controlled to rotate, the input eccentric wheel 101 divergently drives the input gear 102 to form a stable single-stage driving structure, the rotating speed of the driving gear is changed into 1/N2 of the rotating speed of the input eccentric wheel 101, then the input gear 102 is gathered again through the output eccentric wheel 202 and drives the input gear 201 to rotate, and a complete two-stage transmission driving structure is formed, at the moment, the rotating speed of the output gear 201 is 1/(N1N 2) of the rotating speed of the input eccentric wheel 101, the whole transmission process of the speed reducer with a large transmission ratio is completed through two transmissions, the requirement of the periphery of the input eccentric wheel 101 according to the transmission ratio is driven, the two-stage gear transmission in the invention can be changed into three-stage or four-stage transmission and the like, and the space occupied by the transmission structure is greatly saved.
In practical application, the kneading mode is different according to the length relationship between the circumference of the driving eccentric wheel and a section of profile curve corresponding to the driven gear. When the circumference of the driving eccentric wheel is equal to the length between a section of profile curve corresponding to the driven gear, each point of contact is just in a rolling static friction state; when the circumference of the driving eccentric wheel is larger than the length of a section of contour curve corresponding to the driven gear, namely the length of the driving eccentric wheel which rotates for one circle is larger than the length of one section of contour curve of the driven gear, the driven gear is suitable to be driven; when the circumference of the driving eccentric wheel is smaller than the length of a section of contour curve corresponding to the driven gear, namely the length of the driving eccentric wheel which rotates for one circle is smaller than the length of one section of contour curve of the driven gear, the driven gear can also be used as a driving wheel to drive the driving eccentric wheel to rotate, namely the driving eccentric wheel can be driven from the output end to the input end, and the purpose of acceleration is achieved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. 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 (28)

1. A gear transmission structure is characterized by comprising an input assembly and an output assembly, wherein the output assembly comprises an output gear and more than two output eccentric wheels which are distributed in the circumferential direction of the output gear and attached to the outer circumferential surface of the output gear; the output assembly comprises an output gear set formed by superposing W1 output gears with a central shaft and more than two groups of output eccentric gear sets uniformly distributed in the circumferential direction of the output gear set, each group of output eccentric gear sets is formed by rigidly and coaxially connecting W1 output eccentric gears, and W1 is an integer larger than or equal to 2; each layer of output eccentric wheel in the output eccentric wheel set is uniformly distributed in the outer circumferential direction of the output gear of the corresponding layer in the output gear set and is attached to the outer circumferential contour of the output gear of the corresponding layer; any point M (x) in the eccentric profile curve of the output geart，yt) The following formula is satisfied:
Figure FDA0003327650080000011
Figure FDA0003327650080000012
wherein, the center of the output gear is the origin, t is (0, 2N)1π]N1 is the number of output gear teeth, and N1 is greater than1, A is the axle center distance of two wheels, and B1 is the eccentricity of the output eccentric wheel; in the process that the output eccentric wheel is in contact with the gear corresponding to the output gear, the output gear rotates for 1/N1 circles every time the output eccentric wheel rotates for one circle, and the output eccentric wheel is attached to the curve corresponding to the next tooth on the output gear.
2. A gear transmission according to claim 1, wherein said profile curve of said output gear is obtained by inward-taking an equidistant curve of the radius of the output eccentric from the profile curve of said output gear.
3. The gear transmission structure according to claim 1, wherein N1 output eccentric wheels are uniformly distributed in the circumferential direction of the output gear.
4. The gear transmission structure according to claim 1, wherein when the number of output gear teeth N1 is even, N1/2 of said output eccentrics are uniformly distributed in the circumferential direction of said output gear.
5. The gear transmission structure according to claim 1, wherein when the number of output gear teeth N1 is odd, the output gear has (N1+1)/2 or (N1-1)/2 output eccentrics distributed uniformly in the circumferential direction.
6. A gear transmission according to claim 5, wherein 4-8 output eccentric wheels are uniformly distributed in the circumferential direction of the output gear.
7. A gear transmission according to claim 6, wherein 6 output eccentrics are uniformly distributed in the circumferential direction of the output gear.
8. A gear transmission arrangement according to claim 1, wherein the number of teeth N1 of said output gear is 3-21.
9. A gear transmission arrangement according to claim 8, wherein the number of teeth N1 of said output gear is 4-8 teeth.
10. A gear transmission arrangement according to claim 9, wherein the number of teeth N1 of said output gear is 8.
11. A gear transmission arrangement according to any one of claims 1 to 10, wherein the transmission arrangement further includes a mounting plate, the input and output assemblies being mounted on respective sides of the mounting plate.
12. The gear transmission structure according to claim 1, wherein the number of output gears W1 in said output gear set is 3-6.
13. The gear transmission arrangement according to claim 12, wherein the number W1 of output gears in said output gear set is 4.
14. The gear transmission structure according to claim 12, wherein said output gear group is located at a position circumferentially of said output gear located at a lower position from top to bottom, such that said output gear located at an upper position rotates clockwise about a central axis
Figure FDA0003327650080000031
And obtaining the compound.
15. The gear transmission structure according to claim 12, wherein said output gear group is located at a position in a circumferential direction of said output gear located below from top to bottom such that said output gear located above rotates counterclockwise about a central axis
Figure FDA0003327650080000032
And obtaining the compound.
16. A gear transmission according to any one of claims 1-10, 12-15, wherein said input assembly comprises an input eccentric and two or more input gears uniformly distributed in the circumferential direction of said input eccentric and conforming to the outer circumferential profile of said input eccentric, each of said input gear central axes being rigidly and coaxially connected to one of said output eccentric central axes.
17. A gear transmission arrangement according to claim 16, wherein any point M in the eccentric profile curve of the input gear is2(xt，yt) The following formula is satisfied:
Figure FDA0003327650080000033
Figure FDA0003327650080000034
wherein, the input gear center is the origin, t ═ 0, 2N2π]N2 is the number of teeth of the input gear, N2 is an integer greater than 1, A is the axle center distance of two wheels, and B2 is the eccentricity of the input eccentric wheel.
18. A gear transmission according to claim 17, wherein said input gear profile curve is obtained by inward-taking of said input gear profile curve by an equidistant curve of the input eccentric radius.
19. A gearing arrangement according to claim 18, wherein said input gear tooth number N2 is 3-21 teeth.
20. A gearing arrangement according to claim 19, wherein said input gear teeth number N2 is 4-8 teeth.
21. A gearing arrangement according to claim 20, wherein said input gear tooth number N2 is 8 teeth.
22. A gearing arrangement according to claim 17, wherein the input gear tooth number N2 is equal to the output gear tooth number N1.
23. The gear transmission structure according to claim 17, wherein the input assembly comprises an input eccentric wheel set formed by superposing W2 input eccentric wheels with a central shaft and more than two input gear sets uniformly distributed in the circumferential direction of the input eccentric wheel set, each input gear set is formed by coaxially connecting W2 input eccentric wheel sets, and W2 is an integer greater than or equal to 2; and each layer of input gears in the input gear set are uniformly distributed in the direction of the outer circumference of the input eccentric wheel of the corresponding layer in the input eccentric wheel set and are attached to the outer circumference profile of the input eccentric wheel of the corresponding layer.
24. The gear transmission arrangement according to claim 23, wherein the number of input eccentrics in said set of input eccentrics, W2, is 3-6.
25. The gear transmission arrangement according to claim 24, wherein the number of input eccentrics in said set of input eccentrics, W2, is 4.
26. The gear transmission of claim 23, wherein said input gear set is circumferentially positioned with said input gear on top of said input gear set at a lower position such that said input gear on top rotates clockwise about said central axis
Figure FDA0003327650080000041
And obtaining the compound.
27. The gear transmission of claim 23, wherein said input gear set is located circumferentially of said input gear from top to bottom with said input gear being located above with said input gear rotating counterclockwise about said central axis
Figure FDA0003327650080000042
And obtaining the compound.
28. The gear transmission structure according to claim 17, wherein each of the input eccentrics of the input eccentric wheel set is composed of an input eccentric wheel main body and a rolling bearing sleeved on the periphery of the input eccentric wheel main body, and the outer diameter of the rolling bearing is equal to the diameter of the input eccentric wheel.
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