CN208831596U - A kind of novel bilateral engagement bi-arc bevel gear nutation reducer - Google Patents
A kind of novel bilateral engagement bi-arc bevel gear nutation reducer Download PDFInfo
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- CN208831596U CN208831596U CN201821457883.9U CN201821457883U CN208831596U CN 208831596 U CN208831596 U CN 208831596U CN 201821457883 U CN201821457883 U CN 201821457883U CN 208831596 U CN208831596 U CN 208831596U
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Abstract
The utility model relates to novel bilaterals to engage bi-arc bevel gear nutation reducer, including cabinet and it is threaded through the input shaft of one middle side part of cabinet, opposed the first nutating set and the second nutating set in input shaft, first nutating, which puts on rotation connection, the first bicircular arcs internal bevel gear, and the outer bevel gear of the first bicircular arcs is fixedly connected on the first bicircular arcs internal bevel gear；Second nutating, which puts on rotation connection, the second bicircular arcs internal bevel gear, and the outer bevel gear of the second bicircular arcs is fixedly connected on the second bicircular arcs internal bevel gear, and the outer bevel gear of the second bicircular arcs engages with the outer bevel gear of the first bicircular arcs；It further include the outer bevel gear of third bicircular arcs and the outer bevel gear of the 4th bicircular arcs, the outer bevel gear of third bicircular arcs connects firmly in cabinet and engages with the first bicircular arcs internal bevel gear, and the outer bevel gear of the 4th bicircular arcs engages with the second bicircular arcs internal bevel gear.The utility model is structurally reasonable, has many advantages, such as that speed ratio is big, bearing capacity is strong, radial dimension is small, precision is high, stable drive.
Description
Technical field:
The utility model relates to a kind of novel bilateral engagement bi-arc bevel gear nutation reducer and its working methods.
Background technique:
Common nutation reducer mostly uses involute profile or cycloidal tooth profile to be driven, but involute profile transmission efficiency
It is low, while the problems such as be easy to appear in nutating structure profile overlap interference, radial interference；Easily there is flank profil mistake in cycloidal tooth profile
It cuts, the problems such as needle tooth is collided；Structure is complicated, manufacture and installation difficulty are larger, quality compared with the planetary reduction gear of large speed ratio for tool satisfaction
It is heavier.RV retarder is higher to required precision, and difficulty of processing is big and at high cost, it is difficult to transmit high torque.In existing twin-stage
Engagement bicircular arcs nutation reducer causes the force of periphery to increase and can not offset since the engagement of two-stage gear is always in the same side,
So that entire cabinet is born biggish used mental and physical efforts, causes that transmission is very unstable, noise also increases with it, whole service life contracting
It is short.The presence of these problems cause existing nutation reducer be difficult to the positions such as the mechanical arm of robot and wrist joint realize subtract
Speed.
Utility model content:
The utility model makes improvement for the above-mentioned problems of the prior art, i.e., skill to be solved in the utility model
Art problem is to provide a kind of novel bilateral engagement bi-arc bevel gear nutation reducer, not only reasonable in design, but also efficiently
It is convenient.
To achieve the goals above, the technical solution adopted in the utility model is: a kind of novel bilateral engagement bicircular arcs cone
Gear nutation reducer, including cabinet and the input shaft for being threaded through one middle side part of cabinet, the input shaft is located in the box body axis
Be equipped with the first nutating set and the second nutating set being oppositely arranged in section, first nutating set and the second nutating set with input
Axis transmission connection, the first nutating, which is put on, has the first bicircular arcs internal bevel gear, the first bicircular arcs inner cone through first bearing connection
The outer bevel gear of the first bicircular arcs is fixedly connected on gear；Second nutating, which is put on, has the second bicircular arcs inner cone through second bearing connection
Gear is fixedly connected with the outer bevel gear of the second bicircular arcs, the outer bevel gear of second bicircular arcs on the second bicircular arcs internal bevel gear
It is engaged with Bevel Gear Transmission outside the first bicircular arcs；The other side of the cabinet is equipped with the outer bevel gear of third bicircular arcs and the 4th pair
The outer bevel gear of circular arc, the outer bevel gear of the third bicircular arcs connect firmly on cabinet and nibble with the transmission of the first bicircular arcs internal bevel gear
Close, the outer bevel gear of the 4th bicircular arcs is connected through 3rd bearing with input shaft, the outer bevel gear of the 4th bicircular arcs with second pair
The transmission engagement of circular arc internal bevel gear, three meshing points occur simultaneously, and two neighboring meshing point is located at the two sides of input shaft；
The outer bevel gear of 4th bicircular arcs is equipped with the mounting hole mutually to connect firmly with power output part in its side.
Further, the axis of the first nutating set and the axis of the second nutating set are located at the axis two of input shaft
Side, and being tilted with the axis of input shaft, the axis of the outer bevel gear of axis, the first bicircular arcs of first nutating set and the
The axis of one bicircular arcs internal bevel gear coincides；The axis of the outer bevel gear of axis, the second bicircular arcs of second nutating set with
And second the axis of bicircular arcs internal bevel gear coincide.
Further, the circumferential part of first nutating set and the second nutating set offers circumferential groove, first bearing with
Second bearing be separately mounted to the first nutating set circumferential groove and the second nutating set circumferential groove, the both ends side of first bearing with
The first positioning retainer ring is arranged between first nutating set, the first bicircular arcs internal bevel gear；The both ends side of second bearing and the
The second positioning retainer ring is arranged between two nutating sets, the second bicircular arcs internal bevel gear.
Further, the first bicircular arcs internal bevel gear passes through the first straight pin and the first soket head cap screw and first pair
The outer bevel gear of circular arc is fixed；The second bicircular arcs internal bevel gear passes through the second straight pin and the second soket head cap screw and second pair
The outer bevel gear of circular arc is fixed.
Further, the left side of the first nutating set is provided with the first axle sleeve, and the first nutating set covers it with the second nutating
Between be provided with the second axle sleeve, third axle sleeve is provided between the second nutating set and 3rd bearing, the first nutating set is via
One axle sleeve and the second axle sleeve realize axially position；It is axial fixed that the second nutating set is realized via the second axle sleeve and third axle sleeve
Position.
Further, right end cap is provided on the outside of the 3rd bearing, 3rd bearing is positioned via third axle sleeve, third
Retaining ring and right end cap realize axially position, and the third soket head cap screw that the right end cap is evenly arranged on its side is fixed on the 4th
On the outer bevel gear of bicircular arcs, there is gap along axial between right end cap and input shaft.
Further, fourth bearing is provided between the input shaft and cabinet, the outside of the fourth bearing is by left end
Lid positioning, the 4th soket head cap screw that the left end cap is evenly arranged on its side are fixed on cabinet.
Further, the 5th soket head cap screw that the outer bevel gear of the third bicircular arcs is evenly arranged on its side is fixed on case
On body, the first washer, the outer bevel gear of third bicircular arcs and the 4th pair of circle are provided between the outer bevel gear of third bicircular arcs and cabinet
Second packing ring is provided between the outer bevel gear of arc.
Further, the input shaft covers driving coupling through flat key and the first nutating set and the second nutating.
Compared with prior art, the utility model has the effect that
(1) the advantages of the utility model is structurally reasonable, combines nutation drive principle and bi-arc bevel gear tooth form, has
The advantages that speed ratio is big, bearing capacity is strong, radial dimension is small, precision is high, stable drive can be used in the mechanical arm and wrist of robot
The deceleration at the positions such as joint may replace planetary reduction gear and RV retarder, have good Social benefit and economic benefit；
(2) increase bevel gear and the second bicircular arcs outer cone tooth outside the first bicircular arcs being meshed in the intermediate of the retarder
Wheel, enables the revolving speed input terminal that truly one-to-one smooth transfer is slowed down to the second level after primary speed-down, thus
So that the transmission ratio of system reaches theoretical value, realize that the second level nutating on engineering significance is slowed down；
(3) the steady bicircular arcs tooth form of this bright use be able to achieve the convex-concave flank of tooth and meanwhile contact, Gear Surface Strength is high, when engaging
Dynamic balance is offset, and the transmission of relatively high power is able to satisfy；
(4) two nutatings being mounted on input shaft cover so that the axis between two bicircular arcs internal bevel gears is formed centainly
Angle, the adjacent two pairs of point of mesh for being effectively guaranteed at any point in time be at it is not ipsilateral, to realize engagement
When the power that generates between balance offset, solve traditional nutation reducer gear engagement always ipsilateral receiving more energetically and nothing
The problem of method balance is offset, the vibration that cabinet is born also reduce therewith with impact, and the stationarity and transmission accuracy being integrally driven are big
Big to improve, noise also decreases, and whole service life is further extended；
(5) two independent nutating sets are used, it is big to solve integral type nutating set difficulty of processing in traditional nutation reducer
The problem of, improve the machining accuracy of nutating set.
Detailed description of the invention:
Fig. 1 is the main view profile construction schematic diagram of the utility model embodiment；
Fig. 2 is the perspective view of the explosion of the utility model embodiment；
Fig. 3 is the organigram one of the first nutating set with the second nutating set；
Fig. 4 is the organigram two of the first nutating set with the second nutating set；
Fig. 5 is the assembling structure schematic diagram of the first bicircular arcs internal bevel gear and the outer bevel gear of the first bicircular arcs；
Fig. 6 is the assembling structure schematic diagram of the second bicircular arcs internal bevel gear and the outer bevel gear of the second bicircular arcs.
In figure:
1- cabinet；The first soket head cap screw of 2-；3- first bearing；The first positioning retainer ring of 4-；The first washer of 5-；6- first axle
Set；7- input shaft；8- flat key；9- fourth bearing；10- left end cap；The 4th soket head cap screw of 11-；12- the first nutating set；13-
One straight pin；The outer bevel gear of the first bicircular arcs of 14-；The outer bevel gear of the second bicircular arcs of 15-；16- the first bicircular arcs internal bevel gear；
17- the second bicircular arcs internal bevel gear；The second straight pin of 18-；The outer bevel gear of the 4th bicircular arcs of 19-；The 5th soket head cap screw of 20-；
The outer bevel gear of 21- third bicircular arcs；22- second packing ring；23- mounting hole；24- second bearing；The second positioning retainer ring of 25-；26-
Three soket head cap screws；27- third positioning retainer ring；28- right end cap；29- third axle sleeve；30- 3rd bearing；31- the second nutating set；
The second axle sleeve of 32-；The second soket head cap screw of 33-.
Specific embodiment:
In order to more clearly explain the utility model, the utility model is done furtherly with embodiment with reference to the accompanying drawing
It is bright, it should be apparent that, draw figures listed below is only some specific embodiments of the utility model.
As shown in figs. 1 to 6, a kind of novel bilateral of the utility model engages bi-arc bevel gear nutation reducer, including case
Body 1 and the input shaft 7 for being threaded through 1 one middle side part of cabinet are equipped on the shaft part that the input shaft 7 is located in cabinet 1 and set in opposite directions
The the first nutating set 12 and the second nutating set 31 set, the first nutating set 12 and the second nutating set 31 are driven with input shaft 7
Connection, the first nutating, which covers on 12, has the first bicircular arcs internal bevel gear 16, the first bicircular arcs inner cone tooth through the connection of first bearing 3
The outer bevel gear 14 of the first bicircular arcs is fixedly connected on wheel 16；There is second pair of circle through the connection of second bearing 24 on the second nutating set 31
Arc internal bevel gear 17, is fixedly connected with the outer bevel gear 15 of the second bicircular arcs on the second bicircular arcs internal bevel gear 17, and described second pair
The outer bevel gear 15 of circular arc engages with outer 14 Bevel Gear Transmissions of the first bicircular arcs；The other side of the cabinet 1 is equipped with the double circles of third
The outer bevel gear 21 of arc and the outer bevel gear 19 of the 4th bicircular arcs, the outer bevel gear 21 of the third bicircular arcs connect firmly on cabinet 1 and with
The transmission engagement of first bicircular arcs internal bevel gear 16, the outer bevel gear 19 of the 4th bicircular arcs is through 3rd bearing 30 and 7 phase of input shaft
Connection, the outer bevel gear 19 of the 4th bicircular arcs engage with the transmission of the second bicircular arcs internal bevel gear 17, and three meshing points occur simultaneously, and
Two neighboring meshing point is located at the two sides of input shaft；The outer bevel gear 19 of 4th bicircular arcs its side be equipped with to
The mounting hole 23 that power output part mutually connects firmly, the mounting hole are screw hole, to realize output of slowing down.
In the present embodiment, the axis of the first nutating set 12 and the axis of the second nutating set 31 are located at input shaft 7
Axis two sides, and with the axis of input shaft 7 tilt, tilt angle be 5 °~7 °；The axis of first nutating set 12, the
The axis of one bicircular arcs outer cone gear 14 and the axis of the first bicircular arcs internal bevel gear 16 coincide；The second nutating set 31
Axis, the outer axis of bevel gear 15 of the second bicircular arcs and the axis of the second bicircular arcs internal bevel gear 17 coincide.I.e. first
The outer bevel gear 14 of axis, the first bicircular arcs between bicircular arcs internal bevel gear 16 and the second bicircular arcs internal bevel gear 17 and second pair
Axis between the outer bevel gear 15 of circular arc is respectively formed certain angle, is effectively guaranteed adjacent two pairs of gears at any point in time
Meshing point is at not ipsilateral, and balance between the power generated when to realizing engagement is offset, and solves traditional nutation reducer
Always in ipsilateral the problem of bearing more energetically and can not balancing counteracting, the vibration and impact that cabinet is born also subtract therewith for gear engagement
Small, the stationarity and transmission accuracy being integrally driven greatly improve, and noise also decreases, and whole service life is further prolonged
It is long.
In the present embodiment, the circumferential part that first nutating set 12 covers 31 with the second nutating offers circumferential groove, and first
Bearing 3 and second bearing 24 are separately mounted to the circumferential groove of the first nutating set 12 and the circumferential groove of the second nutating set 31, first axle
It holds 3 both ends side and the first nutating covers and is arranged with the first positioning retainer ring 4 between the 12, first bicircular arcs internal bevel gear 16, i.e.,
Two the first positioning retainer rings include a hole retaining ring and a shaft block ring；The both ends side of second bearing 24 and the second nutating
The second positioning retainer ring 25 is arranged between the 31, second bicircular arcs internal bevel gear 17 of set, i.e. two the second positioning retainer rings are also packet
Include a hole retaining ring and a shaft block ring.
In the present embodiment, the first bicircular arcs internal bevel gear 16 passes through the first straight pin 13 and the first soket head cap screw 2
It is fixed with bevel gear 14 outside the first bicircular arcs；The second bicircular arcs internal bevel gear 17 passes through in the second straight pin 18 and second six
Angle screw 33 and the outer bevel gear 15 of the second bicircular arcs are fixed.
In the present embodiment, the left side of the first nutating set 12 is provided with the first axle sleeve 6, the first nutating set 12 and chapter 2
It is provided with the second axle sleeve 32 between dynamic set 31, is provided with third axle sleeve 29 between the second nutating set 31 and 3rd bearing 30,
First nutating set 12 realizes axially position via the first axle sleeve 6 and the second axle sleeve 32；The second nutating set 31 is via the second axis
Set 32 realizes axially position with third axle sleeve 29.
In the present embodiment, the outside of the 3rd bearing 30 is provided with right end cap 28, and 3rd bearing 30 is via third axle sleeve
29, third positioning retainer ring 27 and right end cap 28 realize axially position, and the right end cap 28 is through being evenly arranged in the third of its side
Hex screw 26 is fixed on the outer bevel gear 19 of the 4th bicircular arcs；Between having between the right end cap 28 and input shaft 7 along axial direction
Gap, to guarantee input shaft normal rotation.
In the present embodiment, fourth bearing 9, the outside of the fourth bearing 9 are provided between the input shaft 7 and cabinet 1
It is positioned by left end cap 10, the left end cap 10 is evenly arranged on the nail of hexagonal spiral shell 11 in the 4th of its side the and is fixed on cabinet 1.
In the present embodiment, the 5th soket head cap screw 20 that the outer bevel gear 21 of the third bicircular arcs is evenly arranged on its side is solid
It is scheduled on cabinet 1, the first washer 5, the outer bevel gear of third bicircular arcs is provided between the outer bevel gear 19 of third bicircular arcs and cabinet 1
21 and the 4th are provided with second packing ring 22 between the outer bevel gear 19 of bicircular arcs.
In the present embodiment, the input shaft 7 covers 31 driving couplings through flat key 8 and the first nutating set 12 and the second nutating, defeated
Enter that axis 7 is connected by key with the power output shaft of motor or shaft coupling is connect.
In the present embodiment, the first bearing 3, second bearing 24,3rd bearing 30 and fourth bearing 9 are deep-groove ball
Bearing.
For the present embodiment in use, the power output shaft of motor drives the input shaft 7 to rotate, the input shaft 7 drives the
One nutating set 12 and the second nutating cover 31 eccentric rotaries, and the first nutating set 12 and the second nutating set 31 drive first pair respectively
Circular arc internal bevel gear 16 and the second bicircular arcs internal bevel gear 17 carry out beat movement, pass through the first bicircular arcs internal bevel gear 16 and the
The outer bevel gear 21 of three bicircular arcs is meshed, the outer bevel gear 14 of the first bicircular arcs and the second bicircular arcs outside bevel gear 15 be meshed, the
Two bicircular arcs inner cone teeth 17 are meshed with the outer bevel gear 19 of the 4th bicircular arcs, so that the first bicircular arcs internal bevel gear 16 and second pair
The rotation simultaneously of circular arc internal bevel gear 17, is most nibbled through the second bicircular arcs internal bevel gear 17 and 19 phase of bevel gear outside the 4th bicircular arcs afterwards
It closes, realizes output of slowing down.
The above is only the preferred embodiment of the present invention, it is all done according to present utility model application the scope of the patents it is equal
Deng variation and modification, it should all belong to the covering scope of the utility model.
Claims (9)
1. a kind of novel bilateral engages bi-arc bevel gear nutation reducer, it is characterised in that: including cabinet and be threaded through cabinet
The input shaft of one middle side part, the input shaft are located in the box body the first nutating set and second for being equipped with and being oppositely arranged on shaft part
Nutating set, the first nutating set are sequentially connected with input shaft with the second nutating set, and the first nutating is put on to be joined through first bearing
It is connected to the first bicircular arcs internal bevel gear, the outer bevel gear of the first bicircular arcs is fixedly connected on the first bicircular arcs internal bevel gear；It is described
Second nutating, which is put on, has the second bicircular arcs internal bevel gear through second bearing connection, is fixedly connected on the second bicircular arcs internal bevel gear
The outer bevel gear of second bicircular arcs, the outer bevel gear of second bicircular arcs engage with the outer Bevel Gear Transmission of the first bicircular arcs；The case
The other side of body is equipped with the outer bevel gear of third bicircular arcs and the outer bevel gear of the 4th bicircular arcs, the outer bevel gear of the third bicircular arcs
Connect firmly on cabinet and engage with the transmission of the first bicircular arcs internal bevel gear, the outer bevel gear of the 4th bicircular arcs through 3rd bearing and
Input shaft is connected, and the outer bevel gear of the 4th bicircular arcs engages with the transmission of the second bicircular arcs internal bevel gear, and three meshing points go out simultaneously
It is existing, and two neighboring meshing point is located at the two sides of input shaft；The outer bevel gear of 4th bicircular arcs is equipped in its side to be used
With the mounting hole mutually connected firmly with power output part.
2. novel bilateral according to claim 1 engages bi-arc bevel gear nutation reducer, it is characterised in that: described the
The axis of one nutating set and the axis of the second nutating set are located at the axis two sides of input shaft, and incline with the axis of input shaft
Tiltedly, the outer axis of bevel gear of axis, the first bicircular arcs and the axis of the first bicircular arcs internal bevel gear of the first nutating set
It coincides；The axis of the outer bevel gear of axis, the second bicircular arcs of second nutating set and the second bicircular arcs internal bevel gear
Axis coincides.
3. novel bilateral according to claim 1 or 2 engages bi-arc bevel gear nutation reducer, it is characterised in that: institute
It states the first nutating set and the circumferential part of the second nutating set offers circumferential groove, first bearing and second bearing are separately mounted to the
The circumferential groove of one nutating set and the circumferential groove of the second nutating set, the both ends side of first bearing and the first nutating set, first pair of circle
The first positioning retainer ring is arranged between arc internal bevel gear；The both ends side of second bearing and the second nutating set, the second bicircular arcs
The second positioning retainer ring is arranged between internal bevel gear.
4. novel bilateral according to claim 1 engages bi-arc bevel gear nutation reducer, it is characterised in that: described the
One bicircular arcs internal bevel gear is fixed by the first straight pin and the first soket head cap screw with the outer bevel gear of the first bicircular arcs；Described
Two bicircular arcs internal bevel gears are fixed by the second straight pin and the second soket head cap screw with the outer bevel gear of the second bicircular arcs.
5. novel bilateral according to claim 1 engages bi-arc bevel gear nutation reducer, it is characterised in that: described the
The left side of one nutating set is provided with the first axle sleeve, is provided with the second axle sleeve between the first nutating set and the second nutating set, and described the
Third axle sleeve is provided between two nutating sets and 3rd bearing, the first nutating set is realized axial via the first axle sleeve and the second axle sleeve
Positioning；The second nutating set realizes axially position via the second axle sleeve and third axle sleeve.
6. novel bilateral according to claim 5 engages bi-arc bevel gear nutation reducer, it is characterised in that: described the
Right end cap is provided on the outside of three bearings, 3rd bearing is realized axial via third axle sleeve, third positioning retainer ring and right end cap
Positioning, the third soket head cap screw that the right end cap is evenly arranged on its side are fixed on outside the 4th bicircular arcs on bevel gear, right end
There is gap along axial between lid and input shaft.
7. novel bilateral according to claim 1 engages bi-arc bevel gear nutation reducer, it is characterised in that: described defeated
Enter and be provided with fourth bearing between axis and cabinet, the outside of the fourth bearing is positioned by left end cap, and the left end cap is through uniformly distributed
The 4th soket head cap screw in its side is fixed on cabinet.
8. novel bilateral according to claim 1 engages bi-arc bevel gear nutation reducer, it is characterised in that: described the
The 5th soket head cap screw that the outer bevel gear of three bicircular arcs is evenly arranged on its side is fixed on cabinet, the outer bevel gear of third bicircular arcs
It is provided with the first washer between cabinet, is provided with second between the outer bevel gear of third bicircular arcs and the outer bevel gear of the 4th bicircular arcs
Washer.
9. novel bilateral according to claim 1 engages bi-arc bevel gear nutation reducer, it is characterised in that: described defeated
Enter axis and covers driving coupling through flat key and the first nutating set and the second nutating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821457883.9U CN208831596U (en) | 2018-09-06 | 2018-09-06 | A kind of novel bilateral engagement bi-arc bevel gear nutation reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821457883.9U CN208831596U (en) | 2018-09-06 | 2018-09-06 | A kind of novel bilateral engagement bi-arc bevel gear nutation reducer |
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| Publication Number | Publication Date |
|---|---|
| CN208831596U true CN208831596U (en) | 2019-05-07 |
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ID=66312240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821457883.9U Withdrawn - After Issue CN208831596U (en) | 2018-09-06 | 2018-09-06 | A kind of novel bilateral engagement bi-arc bevel gear nutation reducer |
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| CN (1) | CN208831596U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108843743A (en) * | 2018-09-06 | 2018-11-20 | 福州大学 | A kind of novel bilateral engagement bi-arc bevel gear nutation reducer and its working method |
-
2018
- 2018-09-06 CN CN201821457883.9U patent/CN208831596U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108843743A (en) * | 2018-09-06 | 2018-11-20 | 福州大学 | A kind of novel bilateral engagement bi-arc bevel gear nutation reducer and its working method |
| CN108843743B (en) * | 2018-09-06 | 2024-03-19 | 福州大学 | Double-side-meshing double-circular-arc bevel gear nutation speed reducer and working method thereof |
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