CN202484212U - Novel double oscillating tooth reducer - Google Patents
Novel double oscillating tooth reducer Download PDFInfo
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- CN202484212U CN202484212U CN2012200960426U CN201220096042U CN202484212U CN 202484212 U CN202484212 U CN 202484212U CN 2012200960426 U CN2012200960426 U CN 2012200960426U CN 201220096042 U CN201220096042 U CN 201220096042U CN 202484212 U CN202484212 U CN 202484212U
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- oscillating tooth
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Abstract
The utility model provides a novel double oscillating tooth reducer which comprises a first-grade involute epicyclic gear transmission reducing mechanism and an oscillating tooth transmission reducing mechanism compounded with the involute epicyclic gear transmission reducing mechanism. The novel double oscillating tooth reducer is characterized in that a traditional oscillating tooth transmitted shock wave disc and an oscillating tooth support are combined to form a planetary disc, oscillating teeth are installed on the planetary disc, and the oscillating teeth move along the planetary disc while auto rotating. The oscillating teeth are meshed with tooth profiles on an inner tooth ring, a boss on the planetary disc is contacted with a groove on an output shaft, and the boss on the planetary disc and a rocker arm bearing on an output disc transmit movement and power out. The boss can be formed by a cylindrical or eccentric-shaft-type short shaft, and a sleeve can be arranged on the boss. The novel double oscillating tooth reducer uses the planetary disc which is easy to manufacture to replace the shock wave disc and the oscillating tooth support which are high in accuracy and difficult to manufacture, greatly reduces manufacture difficulties, saves cost, is big in speed ratio, high in accuracy, high in efficiency, high in rigidity, high in bearing capability, long in service life and particularly suitable to heavy load industrial robots.
Description
Technical field
The utility model relates to a kind of novel compound movable teeth reducer, particularly a kind of novel compound movable teeth reducer that is applicable to heavily loaded industrial robot.
Background technique
Oscillating Tooth Gear Reducer is a kind of novel transmission, is characterized in: utilize one group of middle movable to realize the rigid engagement transmission; The distance between contact points changes between adjacent oscillating tooth in engagement process, along the circumferential direction forms the tangential wave of wriggling between these contact pointss, thereby realizes continuous transmission.From the Der Grundsatz der Maschinen angle, Oscillating Tooth Gear Reducer all is to be developed and next new gear transmission by K-H-V-type small teeth number difference planet gear transmission at present, and it utilizes one group of oscillating tooth to realize two between centers transmissions.Typical rolling free gear transmission, promptly the ORT Oscillating Tooth Gear Reducer can realize the transmission of constant speed conjugation exactly, all is in the rolling contact condition basically between the power transmission part simultaneously.More structural type of seeing comprises at present: roller oscillating tooth (osculating circle) transmission, movable sleeve tooth transmission, external wave formula Oscillating Tooth Gear Reducer and Swing Movable Teeth Drive etc.
Classical active-tooth transmission mainly is made up of oscillating tooth, shock wave dish, movable teeth rack, bearing, eccentric shaft and ring gear.Oscillating tooth is done rotation and is radially moved (normally connect to roll to be with and slide) under the promotion of shock wave dish on movable teeth rack.The contact surface of movable teeth rack and oscillating tooth is very high to requirement on machining accuracy.If the machining accuracy of movable teeth rack is low, perhaps the machining accuracy of oscillating tooth is low, and the motion of oscillating tooth will be limited by the both sides movable teeth rack and make friction abrasion aggravation, thus transmission efficiency and life-span that motion has some setbacks and reduces whole retarder.Therefore, highly difficult, the highi degree of accuracy of movable teeth rack, expensive processing be the bottleneck of restriction Oscillating Tooth Gear Reducer development movable teeth rack also increases with the increase difficulty of processing of oscillating tooth number thereupon under the constant situation of overall dimensions in addition, and manufacture cost increases thereupon.Oscillating Tooth Gear Reducer all be unable to do without the support of eccentric rotary arm bearing, and is the same with other transmissions, and people have generally acknowledged that the life-span of rotary arm bearing is the principal element in decision retarder life-span at present.Therefore, reduce the bearing torque of rotary arm bearing, improve its life-span and bearing capacity is the target that people make great efforts always.
Summary of the invention
In order to overcome disadvantages of background technology, the utility model a kind of highi degree of accuracy, high efficiency, high rigidity, high-mechanic are provided and be convenient to process, the novel compound movable teeth reducer of long service life.
The technological scheme that the utility model adopts is: a kind of novel compound movable teeth reducer; Comprise one-level involute planet gear transmission speed reducer structure and Oscillating Tooth Gear Reducer reducing gear, said Oscillating Tooth Gear Reducer reducing gear is mutually compound with said involute planet gear transmission speed reducer structure;
Said involute planet gear transmission speed reducer structure comprises central shaft gear and several same planet involute gear; Said central shaft gear and planet involute gear are meshed, and said planet involute gear circumferentially is uniformly distributed with along said central shaft gear;
Said Oscillating Tooth Gear Reducer reducing gear comprises the quantity eccentric pivoted arm identical with said planetary pinion, two planetary plates, oscillating tooth, ring gear, two output discs; Each said eccentric pivoted arm is made up of the eccentric shaft of two 180 degree that interlace, said eccentric pivoted arm and the interlock of said planet involute gear, and said eccentric pivoted arm is connected on the output disc through respectively establishing a rotary arm bearing at the two ends of this off-centre pivoted arm; Each eccentric shaft that is positioned at the same side is through said planetary plate of roller bearing together support, and said oscillating tooth is between said planetary plate and said ring gear, and said ring gear is fixed on the housing; On said planetary plate, be positioned at said output disc and be provided with several boss in the side in opposite directions, correspondingly on said output disc, be provided with groove, remain Continuous Contact Transmission at boss described in the said planetary plate movement process and said groove.
On the basis of such scheme and as the preferred version of such scheme: the axis of said boss is positioned on the pitch circle of said planetary plate.
On the basis of such scheme and as the preferred version of such scheme: said boss is 3, upwards is uniformly distributed with in the week of pitch circle.
On the basis of such scheme and as the preferred version of such scheme: be provided with sleeve on the said boss.
On the basis of such scheme and as the preferred version of such scheme: the said output disc inboard that is positioned at away from the planet involute gear is provided with several protuberances; Said protuberance passes the through hole that is arranged on planetary plate; Said protuberance is fixedly connected with the said output disc that is positioned near planet involute gear side, and said planetary plate does not contact with said protuberance in movement process all the time.
On the basis of such scheme and as the preferred version of such scheme: the medial axis of said protuberance is on the pitch circle of said output disc, and said protuberance is imitative triangle, and the quantity of said protuberance is 3.
On the basis of such scheme and as the preferred version of such scheme: said Oscillating Tooth Gear Reducer reducing gear is an oscillating tooth pinwheel speed reducer, and said ring gear is made up of the pinwheel that gear pin constitutes.
On the basis of such scheme and as the preferred version of such scheme: said Oscillating Tooth Gear Reducer reducing gear is an oscillating tooth cycloid speed reducer, and said ring gear is formed by the hypocycloid wheel, and the flank profil that said hypocycloid is taken turns adds circular arc line by hypocycloid or hypocycloid and forms.
On the basis of such scheme and as the preferred version of such scheme: decelerating movable teeth mechanism
Be that oscillating tooth sine or cosine speed reducer constitute, said ring gear flank profil is formed by sine or cosine curve, or adds circular arc line by sine or cosine curve and form.
On the basis of such scheme and as the preferred version of such scheme: between said output disc and housing, be provided with bearing.
On the basis of such scheme and as the preferred version of such scheme: said boss is embedded in the planet wheel and with said planet wheel by minor axis and is fixedly connected to form.
The utility model compared with prior art its beneficial effect is: become planetary plate because the shock wave dish of Oscillating Tooth Gear Reducer and movable teeth rack united two into one; Promptly the planetary disk with very easily processing has replaced highi degree of accuracy, unmanageable shock wave dish and movable teeth rack; Not only greatly reduce manufacture difficulty, practiced thrift cost; And have no radially the wearing and tearing of moving to interfere with movable teeth rack because oscillating tooth only rolls, and improved transmission efficiency and life-span greatly, highly beneficial to the industrialization of realization retarder; Structure through protuberance is fixed into one with two output discs and carries and do rigidity and carrying, to be applicable to the load-carrying industrial robot.Moreover, boss all being set on two planetary plates and on two output discs, groove being set, directly transmit output torque through boss and contact grooves, the bearing capacity that has significantly reduced rotary arm bearing has been improved working life stressed, that improved it.Adopt hypocycloid to add the ring gear that circular arc constitutes, increased output torque significantly, further improved bearing capacity.This novel compound movable teeth reducer has obtained " national high-tech research development plan (863 Program) subsidy ".
Description of drawings
Fig. 1 is the plan view of the novel compound movable teeth reducer of the utility model.
Fig. 2 is the rear view of the novel compound movable teeth reducer of the utility model.
Fig. 3 is the sectional view of Fig. 2 along A-A face.
Fig. 4 is the partial sectional view through a boss axis.
Fig. 5 is the sectional view of Fig. 4 along B-B face.
Fig. 6 is the partial sectional view of Fig. 4 along C-C face.
Fig. 7 is the force analysis figure of planet wheel.
Among the figure, 1 central shaft gear, 2 planet involute gears, 3 eccentric pivoted arms, 4 eccentric shafts, 5 roller bearings, 6 two planetary plates, 7 boss, 8 oscillating tooths, 9 ring gears, 10 flank profils, 12 rotary arm bearings, 13 output discs, 14 protuberances, 15 through holes, 16 bearings.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further specified:
A kind of novel compound movable teeth reducer of the utility model comprises one-level involute planet gear transmission speed reducer structure and Oscillating Tooth Gear Reducer reducing gear, and said Oscillating Tooth Gear Reducer reducing gear is mutually compound with said involute planet gear transmission speed reducer structure.Make this decelerating movable teeth device have the characteristics of large speed ratio, highi degree of accuracy, high efficiency, high rigidity, high-mechanic, long service life through this gearing down mode, be particularly suitable for heavily loaded industrial robot.
Like Fig. 1-shown in Figure 6, said involute planet gear transmission speed reducer structure comprises central shaft gear 1 and several same planet involute gear 2; Said central shaft gear 1 is meshed with planet involute gear 2; Preferably, the number of teeth of planet involute gear is more than the number of teeth of central shaft gear; Said planet involute gear 2 circumferentially is uniformly distributed with along said central shaft gear 1.The quantity of planet involute gear can be 2,3 or 4 even more, preferably adopts 3.Said Oscillating Tooth Gear Reducer reducing gear comprises the quantity eccentric pivoted arm identical with said planetary pinion 3, two planetary plates 6, oscillating tooth 8, ring gear 9, two output discs 13; Each said eccentric pivoted arm 3 is made up of the eccentric shaft 4 of two 180 degree that interlace, said eccentric pivoted arm 3 and said planet involute gear 2 interlocks, and said eccentric pivoted arm is connected on the output disc through respectively establishing a rotary arm bearing at the two ends of this off-centre pivoted arm; Each eccentric shaft that is positioned at the same side is through said planetary plate 6 of roller bearing 5 together support, and said oscillating tooth 8 is located between said planetary plate 6 and the said ring gear 9, and said ring gear is fixed on the housing; Ring gear and housing can be integrally formed, also can split form.The work relationship of in the utility model, describing each parts for ease is defined as housing to the parts of locking ring gear.On said planetary plate 6, be positioned at said output disc 13 and be provided with several boss 7 in the side in opposite directions, correspondingly on said output disc 13, be provided with groove 11, remain Continuous Contact Transmission at boss described in the said planetary plate movement process and said groove.Wherein oscillating tooth 8 can be installed on the planet wheel, and the flank profil on oscillating tooth 8 and the ring gear 9 is meshed; Likewise, oscillating tooth 8 also can be installed on the ring gear, is meshed on oscillating tooth and the planet wheel.In order to realize that this purpose should satisfy on the size relationship of boss and groove: the internal diameter of groove equals the external diameter+2E of boss; After boss is set up other part, should with the external diameter of this part benchmark.
Usually, the axis of said boss is positioned on the pitch circle of said planetary plate; The quantity of planet involute gear be 3 and planetary plate pitch circle on be uniformly distributed with.Certainly boss also can be in other position.But the force analysis according to planet wheel is known (as shown in Figure 7) and since planet wheel through boss when output disc transmitting movement and moment, power concentrates on the pitch circle of cycloid wheel, is good on the pitch circle of said cycloid wheel so the axis of said boss is positioned at.The quantity of boss also can adopt 2,4,5 even more.
Said output disc 13 inboards that are positioned at away from the planet involute gear are provided with several protuberances 14; Said protuberance passes the through hole 15 that is arranged on planetary plate; Said protuberance is fixedly connected with the said output disc that is positioned near planet involute gear side, and said planetary plate does not contact with said protuberance in movement process all the time.The utility model is fixed on another output disc on this protuberance through bolt.Likewise, two output discs also can be realized through other mode being rigidly connected, such as directly adopting bolt that two output discs are fixedly connected.
Preferably, the medial axis of said protuberance 14 is on the pitch circle of said output disc 13.The quantity of common said protuberance is 3 and on output disc 13, is uniformly distributed with.Likewise; Protuberance also can be arranged near extending on the output disc of planet involute gear and to the said output disc that is positioned at away from the planet involute gear, is used for being fixedly connected with the output disc that is positioned near planet involute gear place through the said output disc that screw will be positioned at away from the planet involute gear.Protuberance also can be located at other position, and its quantity can be 4,5 even more a plurality of.
In order to reduce the wearing and tearing of boss, on said boss 7, be provided with sleeve.
This is provided with bearing 16 at output disc 13 and housing.
When this novel compound movable teeth reducer is worked; Power is meshed with several same involute planet gear 2 through central shaft gear 1 and is delivered to after once slowing down on the eccentric pivoted arm 3 of decelerating movable teeth part; Eccentric pivoted arm drives planetary plate and rotates; Oscillating tooth 8 is installed on the planetary plate 6; Oscillating tooth 8 on planetary plate 6 only from then do not move radially its be meshed with flank profil 10 on the ring gear 9 transmitting movement and moment, the finally groove 11 on the boss on the planetary plate 7 and output disc 13 and rotary arm bearing 12 will move and power transmission is gone out.
Said Oscillating Tooth Gear Reducer reducing gear can be an oscillating tooth pinwheel speed reducer, and said ring gear is made up of the pinwheel that gear pin constitutes.Likewise, said Oscillating Tooth Gear Reducer reducing gear is an oscillating tooth cycloid speed reducer, and said ring gear is made up of the hypocycloid wheel, and wherein the flank profil of hypocycloid wheel can be made up of hypocycloid, also can be that hypocycloid adds the circular arc line formation.Adopt hypocycloid to add the ring gear that circular arc constitutes, increased output torque significantly, further improved bearing capacity.Said decelerating movable teeth mechanism also can be oscillating tooth sine or cosine speed reducer, and said ring gear flank profil is formed by sine or cosine curve, or adds circular arc line by sine or cosine curve and form.
In the utility model, the cross section of boss and groove is circle.
In the utility model, boss 7 can be integrally formed with planet wheel, also can be to form with the planet wheel split.When forming, split is convenient to make and install.When boss and planet wheel split; On the relevant position of planet wheel, the hole is set; Minor axis is embedded in this hole and minor axis is fixedly connected with planet wheel, and then outwardly directed part forms boss in the planet wheel, and this minor axis can be that cylindrical stub shaft also can be the minor axis of eccentric shaft type.Certainly minor axis also can be provided with sleeve.
Present embodiment should not be regarded as the restriction to the utility model, but any improvement of doing based on the spirit of the utility model, all should be within the protection domain of the utility model.
Claims (11)
1. novel compound movable teeth reducer, it is characterized in that: comprise one-level involute planet gear transmission speed reducer structure and Oscillating Tooth Gear Reducer reducing gear, said Oscillating Tooth Gear Reducer reducing gear is mutually compound with said involute planet gear transmission speed reducer structure;
Said involute planet gear transmission speed reducer structure comprises central shaft gear (1) and several same planet involute gear (2); Said central shaft gear (1) and planet involute gear are meshed, and said planet involute gear circumferentially is uniformly distributed with along said central shaft gear;
Said Oscillating Tooth Gear Reducer reducing gear comprises the quantity eccentric pivoted arm (3) identical with said planetary pinion, two planetary plates (6), oscillating tooth (8), ring gear (9), two output discs; Each said eccentric pivoted arm (3) is made up of the eccentric shaft (4) of two 180 degree that interlace; Said eccentric pivoted arm (3) and said planet involute gear (2) interlock, said eccentric pivoted arm is connected on the output disc through respectively establishing a rotary arm bearing at the two ends of this off-centre pivoted arm; Each eccentric shaft that is positioned at the same side is through roller bearing (a 5) said planetary plate of together support (6), and said oscillating tooth (8) is between said planetary plate (6) and said ring gear (9), and said ring gear is fixed on the housing; On said planetary plate (6), be positioned at said output disc (13) and be provided with several boss (7) in the side in opposite directions; Correspondingly on said output disc (13), be provided with groove (11), remain Continuous Contact Transmission at boss described in the said planetary plate movement process and said groove.
2. novel compound movable teeth reducer according to claim 1 is characterized in that the axis of said boss (7) is positioned on the pitch circle of said planetary plate.
3. novel compound movable teeth reducer according to claim 2 is characterized in that said boss (7) is 3, upwards is uniformly distributed with in the week of pitch circle.
4. novel compound movable teeth reducer according to claim 1 is characterized in that said boss is provided with sleeve.
5. according to each described novel compound movable teeth reducer of claim 1-4; It is characterized in that said output disc (13) inboard that is positioned at away from the planet involute gear is provided with several protuberances (14); Said protuberance passes the through hole (15) that is arranged on planetary plate; Said protuberance is fixedly connected with the said output disc that is positioned near planet involute gear side, and said planetary plate does not contact with said protuberance in movement process all the time.
6. novel compound movable teeth reducer according to claim 5 is characterized in that the medial axis of said protuberance (14) is on the pitch circle of said output disc, and said protruding (14) portion is imitative triangle, and the quantity of said protuberance is 3.
7. according to each described novel compound movable teeth reducer of claim 1-4, it is characterized in that said Oscillating Tooth Gear Reducer reducing gear is an oscillating tooth pinwheel speed reducer, said ring gear is made up of the pinwheel that gear pin constitutes.
8. according to each described novel compound movable teeth reducer of claim 1-4; It is characterized in that said Oscillating Tooth Gear Reducer reducing gear is an oscillating tooth cycloid speed reducer; Said ring gear is formed by the hypocycloid wheel, and the flank profil of said hypocycloid wheel adds circular arc line by hypocycloid or hypocycloid and forms.
9. according to each described novel compound movable teeth reducer of claim 1-4; It is characterized in that said Oscillating Tooth Gear Reducer reducing gear is oscillating tooth sine or cosine speed reducer; Said ring gear flank profil is formed by sine or cosine curve, or adds circular arc line by sine or cosine curve and form.
10. novel compound movable teeth reducer according to claim 1 is characterized in that between said output disc and housing, being provided with bearing (16).
11. novel compound movable teeth reducer according to claim 1 is characterized in that said boss is embedded in the planet wheel and with said planet wheel by minor axis to be fixedly connected to form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200960426U CN202484212U (en) | 2012-03-14 | 2012-03-14 | Novel double oscillating tooth reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200960426U CN202484212U (en) | 2012-03-14 | 2012-03-14 | Novel double oscillating tooth reducer |
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|---|---|
| CN202484212U true CN202484212U (en) | 2012-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012200960426U Expired - Lifetime CN202484212U (en) | 2012-03-14 | 2012-03-14 | Novel double oscillating tooth reducer |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104653716A (en) * | 2015-02-12 | 2015-05-27 | 浙江恒丰泰减速机制造有限公司 | Compound full-tooth driven eccentric movable tooth driving device |
| CN108331895A (en) * | 2018-04-18 | 2018-07-27 | 南京信息工程大学 | Few teeth difference big retarding compares composite speed reducer |
| CN110195767A (en) * | 2019-05-12 | 2019-09-03 | 天津大学 | A kind of closed hypocycloid movable teeth reducer |
| CN111911605A (en) * | 2020-08-07 | 2020-11-10 | 燕山大学 | Planar two-stage sine oscillating tooth speed reducer without oscillating tooth rack |
| CN111911606A (en) * | 2020-08-07 | 2020-11-10 | 燕山大学 | Multi-stage super-large transmission ratio sinusoidal plane oscillating tooth speed reducer without oscillating tooth rack |
| CN111911604A (en) * | 2020-08-07 | 2020-11-10 | 燕山大学 | Planar sinusoidal oscillating tooth speed reducing unit without oscillating tooth rack |
| WO2024114468A1 (en) * | 2022-11-30 | 2024-06-06 | 宁波瀚晟传动技术有限公司 | Transmission mechanism |
-
2012
- 2012-03-14 CN CN2012200960426U patent/CN202484212U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104653716A (en) * | 2015-02-12 | 2015-05-27 | 浙江恒丰泰减速机制造有限公司 | Compound full-tooth driven eccentric movable tooth driving device |
| CN108331895A (en) * | 2018-04-18 | 2018-07-27 | 南京信息工程大学 | Few teeth difference big retarding compares composite speed reducer |
| CN110195767A (en) * | 2019-05-12 | 2019-09-03 | 天津大学 | A kind of closed hypocycloid movable teeth reducer |
| CN111911605A (en) * | 2020-08-07 | 2020-11-10 | 燕山大学 | Planar two-stage sine oscillating tooth speed reducer without oscillating tooth rack |
| CN111911606A (en) * | 2020-08-07 | 2020-11-10 | 燕山大学 | Multi-stage super-large transmission ratio sinusoidal plane oscillating tooth speed reducer without oscillating tooth rack |
| CN111911604A (en) * | 2020-08-07 | 2020-11-10 | 燕山大学 | Planar sinusoidal oscillating tooth speed reducing unit without oscillating tooth rack |
| CN111911606B (en) * | 2020-08-07 | 2022-03-11 | 燕山大学 | Multi-stage super-large transmission ratio sinusoidal plane oscillating tooth speed reducer without oscillating tooth rack |
| CN111911605B (en) * | 2020-08-07 | 2022-03-11 | 燕山大学 | Planar two-stage sine oscillating tooth speed reducer without oscillating tooth rack |
| CN111911604B (en) * | 2020-08-07 | 2022-03-11 | 燕山大学 | Planar sinusoidal oscillating tooth speed reducing unit without oscillating tooth rack |
| WO2024114468A1 (en) * | 2022-11-30 | 2024-06-06 | 宁波瀚晟传动技术有限公司 | Transmission mechanism |
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| GR01 | Patent grant | ||
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Address after: 325000 Wenzhou economic and Technological Development Zone, Zhejiang Binhai Road, No. 1489 Patentee after: Hengfengtai precision machinery Limited by Share Ltd Address before: 325016, Wenzhou, Zhejiang province Ouhai District, Guo Town, Lantau Industrial Zone, No. 2-5 Patentee before: Zhejiang Hengfengtai Reducer MFG Co., Ltd |
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| CX01 | Expiry of patent term |
Granted publication date: 20121010 |
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| CX01 | Expiry of patent term |