WO2018236254A1 - Engrènement à dents trochoïdal et transmission planétaire - Google Patents

Engrènement à dents trochoïdal et transmission planétaire Download PDF

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Publication number
WO2018236254A1
WO2018236254A1 PCT/RU2018/050064 RU2018050064W WO2018236254A1 WO 2018236254 A1 WO2018236254 A1 WO 2018236254A1 RU 2018050064 W RU2018050064 W RU 2018050064W WO 2018236254 A1 WO2018236254 A1 WO 2018236254A1
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WO
WIPO (PCT)
Prior art keywords
wheel
teeth
satellite
centroids
profile
Prior art date
Application number
PCT/RU2018/050064
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English (en)
Russian (ru)
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WO2018236254A9 (fr
Inventor
Анатолий Степанович ТОКАРЬ
Original Assignee
Анатолий Степанович ТОКАРЬ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from RU2017122522A external-priority patent/RU2673574C1/ru
Priority claimed from RU2017144704A external-priority patent/RU2668451C1/ru
Application filed by Анатолий Степанович ТОКАРЬ filed Critical Анатолий Степанович ТОКАРЬ
Publication of WO2018236254A1 publication Critical patent/WO2018236254A1/fr
Publication of WO2018236254A9 publication Critical patent/WO2018236254A9/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • 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

Definitions

  • the invention relates to mechanical transmission to convert
  • rotational motion that uses gearing of wheels with a tooth profile, containing two equidistants of trochoidal curves in combination, and can be used in various gears that previously used gearing with involute and other tooth profiles, as well as to planetary gears with an eccentric carrier containing satellites and central internal gear with a small tooth difference.
  • extended trochoid should be understood cycloidal curves that do not have self-intersections, and the term “shortened trochoid” - cycloidal curves that have self-intersection in the form of loops at the vertices.
  • the closest is a two-way cycloidal pin-coupling of two wheels, in which the heads of the teeth of each wheel have a circular convex profile, and the legs of the teeth of each wheel have an equidistant trochoidal, mostly concave profile, tangentially connected to the profile of the heads.
  • the advantage of this gearing is that it allows to provide a convex-concave contact at the entrance and exit of the teeth from the gearing, which increases the load capacity of the transmission and reduces the noise during operation. (Tokar A.S., international application WO 2017/030471 dated February 23, 2017) (Prototype for the first n. H. N-f-ly).
  • eccentric carrier satellite with two toothed crowns and two central wheels, each engaging one of the satellite crowns, one of which is fixed and the second is connected to the output element
  • This scheme allows to obtain a large gear ratio gearbox using only two pairs of gears.
  • This scheme is characterized by the fact that it uses a “lever effect”: the force that creates torque on the eccentric (tangent), as on the long arm of the lever, is much less than the force that appears on the teeth (as on the short arm of the lever).
  • Known planetary gearbox made according to the scheme of the mechanism of David, comprising a housing, a fixed central wheel connected to the housing, a movable central wheel supported in the annular socket of the satellite coaxially with the drive shaft, the satellite with two toothed crowns arranged coaxially one inside another, eccentric carrier and counterweight.
  • the closest is the planetary gearbox, containing, the drive shaft, at least one satellite and internal gearing gear mounted on the housing coaxially with the drive shaft.
  • the satellite and the internal gearing wheel have, besides the teeth, smooth cylindrical surfaces, external and internal
  • the first object of the invention is to create a new gearing, in which the profile of the teeth of each wheel consists of two interconnected equidistant trochoidal curves, forming one partially or fully concave tooth leg, and the second convex head of the tooth.
  • the junction point of these curves is located on the centroids of each wheel or on other circles aligned with the centroids.
  • the profile of the teeth of each wheel for this engagement is constructed as follows. Set the wheel centroids, the number of teeth on each wheel, two
  • connection is tangential
  • connection point is on the centroid
  • the profile of the tooth foot is obtained by running an equidistant from the trochoid of the foot, starting from the starting point of the head profile on the wheel centroid (from the pole), to the inner side, and before it crosses the wheel centroid on the other side.
  • the value of the equidistant profile of the leg in this case will be equal to the value of the equidistant profile of the head.
  • the normal to the trochoid of the leg in this position, drawn through the point of the pole will be on the same straight line with the above normal to the trochoid of the head, which confirms the connection of the two curves along the tangent.
  • the wheel is turned not by a quarter of the angular pitch (as in the previous case), but by the angle at which the normals through the pole to the trochoids of the head and leg will be on the same straight line.
  • the profiles of the head and the legs are constructed from a point on the centroid that coincides with the pole, or from the intersection point of this normal, which always passes through the pole, with another given circle, coaxial with the centroid, in a similar way.
  • the equidistant values for the head and leg will be different in this case.
  • the second wheel can be both external gearing and internal.
  • the profiles of the teeth of all wheels built on different centroids (i.e., with different number of teeth) using the same auxiliary centroid will be mated to the profile of the teeth of the first wheel, and if the first and second auxiliary centroids are equal and the drawing point on them is the same then mutually interconnected.
  • Trochids used to obtain equidistant profiles of the heads and legs of the teeth of each wheel in the present invention are constructed using one common mathematical formula.
  • the main and sufficient initial parameters that are entered into this formula are:
  • r is the radius of the wheel centroids
  • Rroll is the radius of the auxiliary centroid (for calculating Aw and the coefficient “k”); Rdr - the distance of the drawing point from the center of the auxiliary centroid.
  • This mathematical formula (the equation of the trochoidal curve in rectangular coordinates) has the form:
  • k is the coefficient at the angle of rotation, which is an unambiguous function of the radius of the auxiliary centroid “Rroll” and the radius of the centroid of the “r”.
  • Another important aspect of the present invention is that it allows you to build on the same principle the profiles of the teeth of the wheels, when the auxiliary centroid is a straight line.
  • the necessary shortened and elongated trochoids become shortened and elongated by the involute, for the construction of which the following mathematical formula is used:
  • E is the distance of the drawing point from the line of the auxiliary centroid.
  • the second object of the invention is to create in the planetary gearbox with an eccentric carrier an additional device for neutralizing the radial load from the contacting teeth (distance force), which, firstly, relieves the radial load arising on the satellite teeth from the satellite bearing, and secondly, ensures the exact fixation of the specified axial axis distances
  • the need to obtain the first technical result is caused by the fact that the gearing angle is forcedly increased in the gearing of wheels with a small difference in the teeth, which is caused by the need to avoid interference of the teeth, and this leads to an increase in the radial component of the force at the point of contact of the teeth.
  • the gearbox made according to the scheme of David's mechanism, the load that occurs on the teeth is many times greater than the payload on the satellite bearing, therefore the radial component transmitted to the satellite bearing can significantly exceed the payload, which greatly reduces the durability of work
  • the gearbox includes a housing, in which the central wheels are fixed and the drive shaft is rotatably fixed, on which eccentric elements are mounted, having a sliding fit in the radial direction relative to the shaft.
  • eccentric elements rotationally, on bearings, satellites are fixed. Free radial movement
  • eccentric elements provide a free change in the magnitude of the eccentricity of the satellites or, equivalently, a free change in the center distance of the satellite and the central wheel.
  • New in the present invention is a device for transmitting the radial component of the force arising on the teeth of the satellite, directly to the body. This device perceives the radial load applied to the satellite and transmits it to the body, bypassing the satellite bearing, leaving it completely
  • this device fixes the position of the eccentricity relative to the body, which is equivalent to fixing the eccentricity relative to the drive shaft or fixing the center distance between the satellite and the internal gearing wheel.
  • This device consists of two bearings, the first of which is fixed to the satellite with its inner ring, coaxially with it, and the second with its outer ring in the housing, coaxially with the drive shaft.
  • the outer ring of the first bearing is rigidly connected to the inner ring of the second bearing.
  • the planetary gearbox according to the invention, the satellite and the internal gearing wheel, in addition to the teeth have smooth cylindrical surfaces with diameters equal to their centroid diameters, which run around each other during operation.
  • These cylindrical surfaces besides the fact that they ensure the operation of the gearbox at higher rotational speeds, in combination with the mechanism for adjusting the center distance, ensure that the specified center distance of gears is maintained with great accuracy by selecting all gaps, backlashes and manufacturing inaccuracy. It is enough just to make a smooth cylindrical surface. Setting the exact center distance is done by pressing these cylindrical
  • Figure 1 shows the principle of constructing the profile of the tooth of the first wheel with different auxiliary centroids.
  • FIG. 2 is the same as in figure 1 for the second wheel.
  • FIG. 3 shows the principle of constructing the tooth profile of any wheel with both auxiliary centroids in the form of straight lines.
  • FIG. 4 shows the principle of construction of a non-propagated (i.e. before multiplying the number of teeth) profile of the rack, with auxiliary centroids in the form of straight lines, which corresponds to the original contour for the profile of the teeth in FIG. 3
  • FIG. 5 shows a view of the non-propagated (i.e., until the multiplication of the number of teeth) profiles of the gear wheels with the teeth in FIG. 1 and FIG. 2, rails and internal gear wheels.
  • FIG. 6 shows the profiles of external gearing gears and rails constructed using the same circular auxiliary centroids and multiplied three times according to the number of teeth relative to not multiplied.
  • FIG. 7 is the same as FIG. 6, but using rectilinear
  • FIG. 8 shows the profiles of internal gears for comparison of trochoidal engagement with involute.
  • FIG. 9 shows a longitudinal section of a planetary gearbox according to the invention.
  • FIG. 10 shows a cross section of the gearbox in FIG. 1, taken along the line BB.
  • FIG. 11 shows in isometric the design of the device for neutralizing the radial load from the contacting teeth with the mechanism for adjusting the axial distance.
  • FIG. 1 shows the principle of construction of the tooth profile of the first wheel with different auxiliary centroids.
  • Substituting these values into the formula [1] we obtain the shortened trochoid of the tooth head (1) from the auxiliary centroid of Rroll-1, and fix this trochoid on the first wheel, and from
  • auxiliary centroids Rroll-2 we obtain an elongated trochoid of the tooth legs (2) and fix it on the first wheel with a shift down by half a step, i.e. by 18 °. Turn the wheel to the left by an angle of more than a quarter of a step, for example, by 10 ° and draw the normal (3) through the point of the pole (P) to the trochoid of the head (1), using its upper half-branch. In the same angular position of the wheel, through the point of the pole (P) we draw the normal (4) to the trochoid of the leg (2). At this angular position, the normal (4) did not reach the continuation of the normal line down (3).
  • FIG. 2 shows the second wheel tooth profile constructed in a similar way.
  • the dotted line shows the profile of the teeth of the second wheel, coupled with the profile of the teeth of the first wheel, shown by the dotted line, when the junction points are not located on the centroid, the equidistants for this profile are also equal to the corresponding equidistants of the dotted profile of the teeth of the first wheel.
  • FIG. 3 shows the principle of construction of the tooth profile of the wheel with both
  • FIG. 4 shows the principle of construction of the initial contour or, what is the same, the profile of the teeth of the producing rail with auxiliary centroids in the form of straight lines.
  • the head of the tooth slats is the arc
  • the enlarged view “A” shows the line of engagement (13) for the wheels (11) and (12) and the trochoids of the head (1) and the legs (2) of the first wheel (11).
  • the original contour or profile of the rack (14) associated with the wheel (11) is constructed in this way: the trochoid of the head (15) and the trochoid of the stem (16) are constructed using the equations [2].
  • the equidistant values for the profiles of the head (17) and the legs (18) of the toothed rack (14) are the same as for the profile of the teeth of the second wheel in FIG. 2.
  • the initial contour or the toothed rack mated to the second wheel (12) will be a mirror image of the rack profile (14), as shown in position (19).
  • This figure also shows the internal gearing wheel profile.
  • “B” shows the same as in view “A” for the profiles in FIG. 1 and FIG. 2, shown by a dotted line.
  • FIG. 6 shows the profiles of gears and slats, in size and with wheel centroids as in FIG. 5 constructed using the same circular
  • the profiles of the teeth of the first wheel and the slats before reproduction are shown in FIG. 3 and FIG. four.
  • FIG. 8 shows the profiles of the internal gear wheels with a small tooth difference.
  • Position (21) shows, for comparison, a pair of wheels with involute gear, known from the prior art, developed by JR Colbourne and published in the journal “Gear Technology)), May / June 1990, the article“ The Geometric Design of Internal Gear Pairs ”.
  • FIG. 9 shows a variant of the planetary gearbox according to the invention, made according to the scheme of David's mechanism, including a drive shaft (23), centrally mounted on bearings (24) and (25) in a housing consisting of two parts (26) and (27).
  • the driven gear of the gearbox is the central gearing gear of internal gearing (28) with internal teeth (29), mounted in the housing on non-standard bearings (30).
  • the driven wheel (28) has teeth (31) on its outer surface, which may have, for example, a profile for engagement with another gear wheel, or with a roller chain (not shown).
  • the drive shaft (23) has a section with a rectangular cross section (32) on which two are planted
  • the eccentric (33) is mounted on a roller bearing satellite disk (35), which has an annular ledge (36) at the end to fit the first bearing (37) of the radial load transmission device (38) and the disk part (39) that has an external
  • a two-catenned satellite (40) having two toothed crowns, smaller and larger, is immobile.
  • Large gear rims dvuhventsovyh satellites (40) at the same time engage with the driven central wheel internal gearing (28), one in the upper part, the other in the bottom.
  • FIG. 10 shows a cross section of the gearbox in FIG. 9, taken along the line BB.
  • the central gear wheel of the internal gearing (28) with its teeth (29) meshes with the large gear ring (44) of the two-satellite satellite (40).
  • FIG. 11 shows a device for neutralizing radial load from
  • the device (48) consists of two bearings, the first (37) of which is fixed on the annular ledge (36) of the satellite disk (35) with its inner ring, coaxially with it, and the second (41) with its outer ring in the housing (26), coaxially with drive shaft.
  • the outer ring of the first bearing (37) is rigidly connected to the inner ring of the second bearing (41) by a connecting element consisting of two disco rings, the first (50), in which the outer ring of the first bearing (37) and the second (51) are fixed, on which the inner ring of the second bearing (41) is fixed.
  • These disco-rings are movable relative to each other within the oval holes (52) on the disco-ring (50).
  • the device (48) contains a mechanism for adjusting the center distance (49), consisting of two wedges (53) and two guides (54).
  • the adjustment is made as follows: loosen the screws (55), move the wedges (53), fix the new position by tightening the screws (55).
  • the invention can be used in mechanical engineering.

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  • General Engineering & Computer Science (AREA)
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Abstract

L'engrènement à dents non évolutif dans lequel il existe à l'entrée et à la sortie des dents de l'engrènement un rayon de courbure de contact induit sensiblement plus important que celui dans un engrènement évolutif, et dont la valeurs comparable dans le pôle d'engrènement à celui évolutif et qui, tout comme dans l'engrènement évolutif, ne présente pas de changement brusque dans le pôle d'engrènement. Les phases d'engrènement des bords peuvent être complètement éliminées. Le profil du contour producteur peut être exempt de courbes complexes mais être constitué de deux cercles reliés en tangente. Le réducteur planétaire comprend un dispositif qui décharge entièrement le palier du satellite de la force d'écartement radiale qui se forme au niveau des dents.
PCT/RU2018/050064 2017-06-21 2018-06-16 Engrènement à dents trochoïdal et transmission planétaire WO2018236254A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
RU2017122522 2017-06-21
RU2017122522A RU2673574C1 (ru) 2017-06-21 2017-06-21 Трохоидальное зубчатое зацепление
RU2017144704A RU2668451C1 (ru) 2017-12-15 2017-12-15 Планетарная передача с устройством нейтрализации радиальной нагрузки от контактирующих зубьев
RU2017144704 2017-12-15

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WO2018236254A1 true WO2018236254A1 (fr) 2018-12-27
WO2018236254A9 WO2018236254A9 (fr) 2019-03-14

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110929352A (zh) * 2019-11-25 2020-03-27 重庆大学 一种磨削摆线齿轮的成形砂轮廓型设计方法
CN112464481A (zh) * 2020-12-02 2021-03-09 华北水利水电大学 机器人用摆线针轮减速机的动态传动精度数值计算方法
CN112883485A (zh) * 2021-01-22 2021-06-01 燕山大学 非圆面齿轮限滑差速器及脱困操作方法
CN112984104A (zh) * 2019-12-12 2021-06-18 现代自动车株式会社 用于线控换挡***的致动器
CN113090716A (zh) * 2021-03-25 2021-07-09 郑州爱丁宝机电科技有限公司 一种齿盘固定少齿差减速传动装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3073184A (en) * 1960-05-10 1963-01-15 Brarern Rudolf Planetary gear
RU2233394C2 (ru) * 2001-07-02 2004-07-27 Ижевское открытое акционерное общество "Редуктор" Зубчатая планетарная передача
US7086304B2 (en) * 2002-04-11 2006-08-08 Ballard Richard N Roller cam assembly
RU2015136203A (ru) * 2015-08-14 2017-02-20 Анатолий Степанович Токарь Двухстороннее цевочно-циклоидальное зацепление двух колес и механизм с зубчатыми колесами

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3073184A (en) * 1960-05-10 1963-01-15 Brarern Rudolf Planetary gear
RU2233394C2 (ru) * 2001-07-02 2004-07-27 Ижевское открытое акционерное общество "Редуктор" Зубчатая планетарная передача
US7086304B2 (en) * 2002-04-11 2006-08-08 Ballard Richard N Roller cam assembly
RU2015136203A (ru) * 2015-08-14 2017-02-20 Анатолий Степанович Токарь Двухстороннее цевочно-циклоидальное зацепление двух колес и механизм с зубчатыми колесами

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110929352A (zh) * 2019-11-25 2020-03-27 重庆大学 一种磨削摆线齿轮的成形砂轮廓型设计方法
CN110929352B (zh) * 2019-11-25 2024-03-08 重庆大学 一种磨削摆线齿轮的成形砂轮廓型设计方法
CN112984104A (zh) * 2019-12-12 2021-06-18 现代自动车株式会社 用于线控换挡***的致动器
CN112984104B (zh) * 2019-12-12 2024-04-26 现代自动车株式会社 用于线控换挡***的致动器
CN112464481A (zh) * 2020-12-02 2021-03-09 华北水利水电大学 机器人用摆线针轮减速机的动态传动精度数值计算方法
CN112464481B (zh) * 2020-12-02 2024-04-16 华北水利水电大学 机器人用摆线针轮减速机的动态传动精度数值计算方法
CN112883485A (zh) * 2021-01-22 2021-06-01 燕山大学 非圆面齿轮限滑差速器及脱困操作方法
CN112883485B (zh) * 2021-01-22 2022-04-01 燕山大学 非圆面齿轮限滑差速器及脱困操作方法
CN113090716A (zh) * 2021-03-25 2021-07-09 郑州爱丁宝机电科技有限公司 一种齿盘固定少齿差减速传动装置

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