WO2020238816A1

WO2020238816A1 - Co-located differential reducer

Info

Publication number: WO2020238816A1
Application number: PCT/CN2020/091966
Authority: WO
Inventors: 周承岗
Original assignee: 周承岗
Priority date: 2019-05-28
Filing date: 2020-05-24
Publication date: 2020-12-03
Also published as: CN112013094A

Abstract

A co-located differential reducer, comprising an input element, an output element and a transmission gear. The transmission gear comprises a co-located differential gear train, the co-located differential gear train is provided with two co-located transmission gear groups, and every two transmission gears in either of the two groups are in a pairwise correspondence as a co-located group; two transmission gears of one co-located group are able to synchronously rotate, revolve, make a flat turn, or rotate and revolve simultaneously, this co-located group is referred to as a synchronous group, the transmission gears of the other group which is in pair transmission with the synchronous group have a common shaft or parallel shafts, and one of the transmission gears is fixedly mounted as a stator, and the other thereof is rotatably mounted as a rotor, and this co-located group is referred to as a differential group; the synchronous group and the differential group are in direct transmission or are in transmission by means of an intermediate gear; the co-located differential gear train uses the synchronous group as the input element and uses the rotor as the output element for reduction transmission, and can also perform acceleration transmission in reverse.

Description

同位差动减速器Co-position differential reducer

技术领域Technical field

本发明涉及一种减速器，特别是与超大减速比、零侧隙等较为极端的技术特征相关的减速器。The invention relates to a speed reducer, in particular to a speed reducer related to more extreme technical features such as ultra-large reduction ratio and zero backlash.

背景技术Background technique

减速器作为一种在动力机械领域不可或缺的传动装置，伴随着世界工业文明数百年的发展，已经演化出非常多的结构类型，在航空航天、自动化、机器人等领域高速发展的今天，又迎来了新一轮的发展机遇，同时，在传动比、回差、精度和强度等多方面也面临着更高的要求。现有的同轴减速器技术类型主要包括行星、针轮摆线、旋转矢量RV和谐波，传动方式都是齿传动，其中，作为用途最广的一种类型，行星减速器的减速比由传动副组件本身的直径、齿数等几何参数的倍数关系来决定，整个传动结构也依照倍数逻辑来设计，这个基本变速原理成就了行星减速器，但本身也成了阻碍其性能进一步提高的掣肘因素——由于受限于材料强度和正确啮合条件，传动副的小齿轮的几何参数很容易达到最小极限，要得到较大传动比就得加大大齿轮的直径、齿数或者增加传动级数，从而使结构变得更为复杂，体积、重量和制造成本也随之增加，更重要的是，侧隙逐级累增使得回差变大，因此不适合在机器人等要求体积小、精度高的领域应运用。针轮摆线减速器、旋转矢量RV减速器和谐波减速器的有较高的传动精度，但采用的是少齿差减速原理，传动比的大小决定于齿数差和大齿轮齿数，齿数差太小或大齿轮的齿数太少都容易产生干涉，需要大传动比的时候也会面临着大齿轮不够大、齿数差不够小的境况，为避免干涉，齿轮往往还需要修型而使得制造和维护不方便，此外，相对于行星减速器结构较为复杂、薄弱，使载荷能力受限。不同的技术类型各有优劣，一种类型的减速器很难同时满足多方面严苛的要求。As an indispensable transmission device in the field of power machinery, with the development of the world's industrial civilization for hundreds of years, the reducer has evolved a lot of structural types. Today, with the rapid development in the fields of aerospace, automation, and robotics, It has ushered in a new round of development opportunities. At the same time, it is also facing higher requirements in terms of transmission ratio, hysteresis, precision and strength. The existing coaxial reducer technology types mainly include planetary, pinwheel cycloid, rotation vector RV and harmonics. The transmission mode is gear transmission. Among them, as the most widely used type, the reduction ratio of planetary reducer is determined by The diameter of the transmission assembly itself, the number of teeth and other geometric parameters are determined by the multiple relationship. The entire transmission structure is also designed according to the multiple logic. This basic speed change principle has made the planetary reducer, but it has also become an elusive factor hindering the further improvement of its performance. ——Because of the limitation of material strength and correct meshing conditions, the geometric parameters of the pinion gear of the transmission pair can easily reach the minimum limit. To obtain a larger transmission ratio, the diameter and the number of teeth of the big gear or the number of transmission stages must be increased. The structure becomes more complicated, and the volume, weight and manufacturing cost also increase. More importantly, the gradual increase in backlash makes the backlash larger. Therefore, it is not suitable for applications in robots and other fields that require small size and high precision. use. Pinwheel cycloid reducer, rotation vector RV reducer and harmonic reducer have higher transmission accuracy, but adopt the principle of small tooth difference reduction. The size of the transmission ratio is determined by the difference between the number of teeth and the number of teeth of the large gear. If the gear is too small or the number of teeth is too small, it is easy to cause interference. When a large transmission ratio is required, it will also face the situation that the large gear is not large enough and the number of teeth difference is not small enough. To avoid interference, the gear often needs to be modified, which makes manufacturing and Maintenance is inconvenient. In addition, the structure of the planetary reducer is relatively complex and weak, which limits the load capacity. Different types of technology have their own advantages and disadvantages, and it is difficult for one type of reducer to meet stringent requirements in many aspects at the same time.

发明内容Summary of the invention

本发明的目的主要是提供一种带有同位差动轮系的减速器，结合差数逻辑和倍数逻辑对传动结构进行设计，使两个传动轮组的减速比的差值跟减速器的输出结果关联，从而更容易获得较宽的输出范围和较大的减速比，或者在同样的减速比之下有较小的体积或较大的载荷能力。在此基础上，通过采用多种缩减齿轮侧隙的办法来减少回差，以及配合其它多种技术手段来获得更优越的综合性能和更大的应用范围。The purpose of the present invention is mainly to provide a reducer with a co-located differential gear train, which combines difference logic and multiple logic to design the transmission structure so that the difference between the reduction ratios of the two transmission wheel sets and the output of the reducer The results are correlated, making it easier to obtain a wider output range and a larger reduction ratio, or a smaller volume or larger load capacity under the same reduction ratio. On this basis, a variety of methods to reduce the gear backlash are used to reduce the backlash, as well as other technical means to obtain a better comprehensive performance and a larger application range.

本发明的传动轮包括同位差动轮系；一个基本结构的同位差动轮系带有两个同位传动轮组，彼此的传动轮两两对应为同位组，其中一个组的两个传动轮可以同步自转、公转、平转或同时自转和公转，该同位组称为同步组，与其配对传动的另一组的传动轮具有共轴或平行轴，其中一个固定安装作为定子，另一个转动安装作为转子，该同位组称为差动组；同步组和差动组之间直接传动或通过中间轮传动；同位差动轮系以同步组作为输入元件，以转子作为输出元件进行减速传动，也可以反过来进行加速传动；传动轮的类型是齿轮、链轮、带轮、柔轮、摩擦轮或磁轮。The transmission wheel of the present invention includes a co-position differential gear train; a basic structure of the co-position differential gear train has two co-position transmission wheel groups, and the two transmission wheels corresponding to each other are co-position groups, and the two transmission wheels of one group can Synchronous rotation, revolution, translation, or simultaneous rotation and revolution. This co-position group is called a synchronous group. The transmission wheels of the other group that are paired with it have coaxial or parallel shafts. One of them is fixed and installed as a stator, and the other is installed as a stator. Rotor, the same group is called a differential group; the synchronous group and the differential group are directly driven or driven by an intermediate wheel; the same-position differential gear train uses the synchronization group as the input element and the rotor as the output element for deceleration transmission. In turn, the acceleration transmission is carried out; the type of transmission wheel is gear, sprocket, belt wheel, flexible wheel, friction wheel or magnetic wheel.

本发明的同步组和差动组之间直接传动，差动组是两个同轴外环或太阳轮，同步组是复合行星轮或平转轮组，中轴是动力轴，同步组与中轴之间的连接方式为——有转臂或偏心轮与中轴固定连接，复合行星轮转动安装在转臂上或平转轮组与偏心轮转动连接；或者，中轴和复合行星轮或平转轮之间通过前级减速机构连接；或者，中轴是一种空心轴，复合行星轮直接在中轴的非同轴位置上转动安装。The direct transmission between the synchronous group and the differential group of the present invention, the differential group is two coaxial outer rings or sun gears, the synchronous group is a compound planetary gear or a flat runner group, the central axis is the power shaft, and the synchronous group and the central The connection between the shafts is: there is a rotating arm or an eccentric wheel and the central shaft are fixedly connected, the compound planetary wheel is rotatably installed on the rotating arm or the flat runner group is rotatably connected with the eccentric wheel; or, the central shaft and the compound planetary wheel or The flat runners are connected by a front-stage reduction mechanism; or, the middle shaft is a hollow shaft, and the compound planetary gear is directly installed on the non-coaxial position of the middle shaft.

本发明的同位差动轮系采用同步组分组消隙的方式来传动，同步组单元分成两组分别只在不同的方向工作，一个组工作的时候，另一个组处在比该组更接近另一个方向的工作位置，具体方法包括但不限于“轮齿错位法”、“超越离合法”和“反向周向力法”。The co-position differential gear train of the present invention adopts the synchronization group group to eliminate the backlash for transmission. The synchronization group unit is divided into two groups and only works in different directions. When one group is working, the other group is closer to the other than the group. The working position in one direction, the specific methods include but are not limited to "tooth dislocation method", "exceeding separation method" and "reverse circumferential force method".

本发明的同位差动轮系采用现有的消隙齿轮来进行零侧隙传动，包括但不限于非标齿廓齿轮、分层错位齿轮、轴向错位人字齿轮，或者采用啮合方向预压力安装方式来消除侧隙。The co-located differential gear train of the present invention uses existing anti-backlash gears for zero backlash transmission, including but not limited to non-standard tooth profile gears, layered misaligned gears, axially misaligned herringbone gears, or pre-pressure in the meshing direction Installation method to eliminate backlash.

本发明的差动组的两个传动轮分处在轴向不同位置，不占用彼此的径向外侧空间，或者，没有别的组件占用定子或转子的径向外侧空间，因而它们的传动点都可以安排在整体结构中较为远离中心的位置，从而使侧隙回程角较小。The two transmission wheels of the differential group of the present invention are located at different positions in the axial direction, and do not occupy the radial outer space of each other, or no other components occupy the radial outer space of the stator or rotor, so their transmission points are all It can be arranged farther away from the center in the overall structure, so that the backlash return angle is smaller.

本发明的传动轮在中轴的轴向传动，同步组的两个同位轮结合成阶梯轮，差动组在径向相互套叠，转子直接以定子作为回转支承，或隔着具有运动减阻作用或承受轴向力作用的支承装置。The transmission wheel of the present invention is driven in the axial direction of the central shaft, the two in-position wheels of the synchronization group are combined into a stepped wheel, the differential group is nested in the radial direction, and the rotor directly uses the stator as a slewing support, or has a movement reduction A supporting device that acts or bears axial force.

本发明带有轴向位置调节装置及其控制装置，可以用来调节传动轮侧隙大小，或者平衡传动轮轴向力，或者调节传动摩擦力，可以手动或自动控制。The invention has an axial position adjusting device and its control device, which can be used to adjust the size of the backlash of the transmission wheel, or balance the axial force of the transmission wheel, or adjust the transmission friction force, which can be controlled manually or automatically.

本发明带有一体化动力装置，同位差动轮系的输入部件同时也是动力装置的输出部件，或者，同位差动轮系的定子直接安装在动力装置的固定部件上，或者，同位差动轮系与动力装置在径向套叠分布。The present invention has an integrated power device. The input component of the co-located differential gear train is also the output component of the power device, or the stator of the co-located differential gear train is directly installed on the fixed component of the power device, or the co-located differential gear The system and the power unit are telescopically distributed in the radial direction.

本发明的同位差动轮系包括有不对称齿轮，其齿廓为左右不对称形状，或者，其左、右齿面具有不同的机理结构、粗糙度或物理性能。The co-position differential gear train of the present invention includes asymmetric gears, the tooth profile of which has a left-right asymmetrical shape, or the left and right tooth surfaces have different mechanism structures, roughness or physical properties.

本发明的同一个同位差动轮系中混合使用不同模数的齿轮，使其传动轮组乃至整个同位差动轮系在同一量级尺寸下有更为丰富的传动比选择。In the present invention, gears of different modules are mixed in the same co-located differential gear train, so that the transmission wheel set and the entire co-located differential gear train have a richer selection of transmission ratios under the same magnitude.

积极效果Positive effect

同位差动轮系的减速比的大小与差动组的两个对照转速的差值的大小负相关，而这个差值可以从正、负两个方向无限接近于零，所以同位差动轮系的减速比也可以趋向无穷大或无穷小，减速比能有多大不决定一个传动轮组的组件之间几何参数的倍数能有多大，而是决定于两个传动轮组的几何参数的倍数能有多接近，减弱了传动轮尺寸对减速比的制约程度，在尺寸大小相当的情况下能得到较宽的输出范围和较大的减速比，或者在同样的减速比之下有较小的体积或较大的载荷能力。以一个基本结构为例子，在0.5模数的109齿对37齿以及0.6模数的91齿对31齿两个传动轮组构成的同位差动轮系中，37齿和31齿为同步组，109齿和91齿为差动组；同步组作为输入元件主动公转对差动组传动，91齿固定，109齿作为输出元件；同步组在每1公转中自转2.94周，每自转1周，91齿和109齿的角位移的差值只有0.0012周，整个轮系总的减速比是283：1，在齿数较少的条件得到较大的减速比，而且远远还没达到极限，这是其它减速器在单级减速结构下难以做到的；在常规的应用场合，减速比一般只有100以内，传动轮需要的齿数更少一些，可以保持同样模数而使齿轮体积更小，也可以采用更大模数使轮齿变大来提高载荷能力。同位差动轮系至少有两个传动轮组的四个传动轮参与传动，看起来传动轮数量比较多，但传动比范围却得到了极大的扩展，也正因为传动轮数量较多，影响输出结果的变量就多，加上不同模数的应用，可选择的输出结果也更为丰富，因而应用范围更广。通常情况下，传动链越长精度就越差，但由于同位差动轮系的两个传动轮组是同位关系，所以没有加大整体尺寸中齿轮径向间隙总量和精度控制的难度，在有的实施例中，例如同步组与转子同向运动的结构，影响回差大小的齿轮侧隙也只来自侧隙较大的那一个传动轮组，而一个传动轮组的侧隙环节可以只有一个，当我们在最短传动链的基础上把传动点设置在直径较大的位置或者结合零侧隙传动方式，再加上齿轮传动本身的高刚性特点，就可以把回差控制在很小的范围，这也是优秀的减速器应该具备的重要特征。同位差动轮系的传动轮只需要标准渐开线齿轮就可以达到前述大减速比、零侧隙等性能，***具有传动可靠、抗冲击力强、受力平衡、使用寿命长、制造成本低等优点，当采用摩擦轮或磁轮的实施例则结构更为简单，在低精度、低载荷、免维护、柔性静音、微型轻量、过载保护等应用场合也很有价值。同位差动轮系采用相交轴或相错轴的传动结构时，可以通过啮合副之间的在轴向或偏置方向的位移来调节侧隙，差动组可以径向套叠来节省空间，同步组的分布半径可以比在平行轴结构中更小，因而径向尺寸和运动惯量更小。在零侧隙传动的实施例中，左齿面和右齿面一个为工作面，另一个为非工作面，有针对性地采用非对称齿廓形状以及不同的材料、加工方法或加工精度而使它们具有不同的机理结构、粗糙度或物理性能，可以使不同齿面满足不同的要求或节省成本。减速传动***与动力装置一体化结合，可以使整体结构更为紧凑，有利于简化结构、减小体积和降低成本。The size of the reduction ratio of the co-located differential gear train is negatively related to the magnitude of the difference between the two control speeds of the differential group, and this difference can be infinitely close to zero from the positive and negative directions, so the co-located differential gear train The reduction ratio can also tend to infinity or infinitely small. How big the reduction ratio can be does not determine how large the multiples of the geometric parameters between the components of a transmission wheel set can be, but determine how much the multiples of the geometric parameters of the two transmission wheel sets can be It is close, which weakens the restriction of the transmission wheel size on the reduction ratio. In the case of the same size, a wider output range and a larger reduction ratio can be obtained, or a smaller volume or a larger reduction ratio can be obtained under the same reduction ratio. Large load capacity. Taking a basic structure as an example, in a co-located differential gear train composed of two transmission wheel sets of 109 teeth to 37 teeth of 0.5 module and 91 teeth to 31 teeth of 0.6 module, 37 teeth and 31 teeth are synchronous sets. 109 teeth and 91 teeth are the differential group; the synchronous group is used as the input element and the active revolution is transmitted to the differential group, 91 teeth are fixed, and 109 teeth are used as the output element; the synchronization group rotates 2.94 times in every revolution, and every 1 revolution, 91 The difference in angular displacement between teeth and 109 teeth is only 0.0012 cycles. The total reduction ratio of the entire gear train is 283:1. A larger reduction ratio can be obtained when the number of teeth is small, and it is far from reaching the limit. This is other The reducer is difficult to achieve under the single-stage reduction structure; in conventional applications, the reduction ratio is generally less than 100, and the transmission wheel needs fewer teeth, which can maintain the same modulus and make the gear smaller. It can also be used The larger modulus makes the gear teeth bigger to improve the load capacity. The co-location differential gear train has at least four transmission wheels of two transmission wheel sets involved in transmission. It seems that the number of transmission wheels is relatively large, but the transmission ratio range has been greatly expanded. It is also because of the large number of transmission wheels that affect There are more variables in the output result, and with the application of different modulus, the selectable output results are also more abundant, so the application range is wider. Under normal circumstances, the longer the transmission chain, the worse the accuracy, but because the two transmission wheel sets of the co-located differential gear train are in the same position, there is no increase in the overall size of the gear radial clearance and the difficulty of precision control. In some embodiments, such as the structure of the synchronous group and the rotor moving in the same direction, the gear backlash that affects the backlash is only from the transmission wheel group with the larger backlash, and the backlash link of a transmission wheel group can only be One, when we set the transmission point at a position with a larger diameter on the basis of the shortest transmission chain or combine the zero-backlash transmission mode, coupled with the high rigidity of the gear transmission itself, the backlash can be controlled to a small Range, this is also an important feature that a good reducer should have. The transmission wheels of the co-position differential gear train only need standard involute gears to achieve the aforementioned large reduction ratio, zero backlash and other performances. The system has reliable transmission, strong impact resistance, balanced force, long service life, and low manufacturing cost. Other advantages, when the friction wheel or the magnetic wheel is used, the structure is simpler, and it is also very valuable in applications such as low precision, low load, maintenance-free, flexible and silent, miniature and lightweight, and overload protection. When the co-located differential gear train adopts a transmission structure with intersecting or staggered shafts, the backlash can be adjusted by the displacement between the meshing pairs in the axial or offset direction, and the differential group can be telescoped radially to save space. The distribution radius of the synchronization group can be smaller than in the parallel axis structure, so the radial size and the movement inertia are smaller. In the embodiment of zero-backlash transmission, one of the left tooth surface and the right tooth surface is a working surface, and the other is a non-working surface. The asymmetric tooth profile shape and different materials, processing methods or processing accuracy are used in a targeted manner. Making them have different mechanism structures, roughness or physical properties can make different tooth surfaces meet different requirements or save costs. The integrated combination of the reduction transmission system and the power plant can make the overall structure more compact, which is beneficial to simplify the structure, reduce the volume and reduce the cost.

附图说明Description of the drawings

图1是同步组为行星轮组的实施例；Figure 1 is an embodiment where the synchronization group is a planetary gear set;

图2是同步组为太阳轮的实施例；Figure 2 is an embodiment where the synchronization group is a sun wheel;

图3是同步组为平转轮的实施例；Figure 3 is an embodiment where the synchronization group is a flat runner;

图4是平转轮二级减速实施例；Figure 4 is a two-stage deceleration embodiment of a flat runner;

图5是行星轮二级减速实施例；Figure 5 is a two-stage deceleration embodiment of the planetary gear;

图6是空心轴实施例；Figure 6 is a hollow shaft embodiment;

图7是同步组分组消隙方法一；Figure 7 is the first method of synchronizing group anti-backlash;

图8是同步组分组消隙方法二；Figure 8 is the second method of synchronization group anti-backlash;

图9是同步组分组消隙方法三；Figure 9 is the third method of synchronization group anti-backlash;

图10是伞齿轮径向套叠实施例；Figure 10 is an embodiment of the radial telescopic bevel gear;

图11是减速机构和动力装置一体化实施例。Figure 11 is an embodiment of the integration of the reduction mechanism and the power unit.

具体实施方式Detailed ways

本发明的传动轮包括同位差动轮系；一个基本结构的同位差动轮系带有两个同位传动轮组，彼此的传动轮两两对应为同位组，其中一个组的两个传动轮可以同步自转、公转、平转或同时自转和公转，该同位组称为同步组，与其配对传动的另一组的传动轮具有共轴或平行轴，其中一个固定安装作为定子，另一个转动安装作为转子，该同位组称为差动组；同步组和差动组之间直接传动或通过中间轮传动；同位差动轮系以同步组作为输入元件，以转子作为输出元件进行减速传动，也可以反过来进行加速传动；传动轮的类型是齿轮、链轮、带轮、柔轮、摩擦轮或磁轮。同位传动轮组指的是这样的两个传动轮组——其中一个传动轮组的传动轮和另一个传动轮组的传动轮在安装方位或传动关系上两两对应，有公共的或互相平行的公转轴或自转轴，在各自的组内至少有一方处在相同的传动方位，例如双方都是太阳轮、行星轮或外环，或者它们的传动对象都是太阳轮、行星轮或外环；相互对应的传动轮即为同位轮，同位轮的对应方式可以是主动轮与主动轮对应以及从动轮与从动轮对应，也可以是主动轮与从动轮交叉对应，如果是带有中间轮的传动轮组，中间轮之间也相互对应，与通常的情形有所不同的是，中间轮处在传动链的中间，但不必只是起到变向作用，在传动角色上也可以作为主动轮、从动轮或支点轮。在本发明的同位传动轮组中，有一组同位轮同步运动，又称同步轮，它们的组合即为同步组，相互之间以相同或相反的角速度公转、自转或同时公转和自转，结合的具体形式包括但不限于阶梯轮、共轴轮，另外的两个同位轮不同步运动，称为差动轮，其中一个可以转动，称为转子，另一个固定安装作为参考系，称为定子，它们的组合为差动组。参考图1，中轴6与底座12通过轴套13转动连接，转臂5与中轴6固定连接并通过轴承3与转轴4转动连接，行星轮2和行星轮10通过转轴4固定连接成同步组，可以同步自转和公转，有两个以上这样的同步组在周向均布；外环9固定安装在底座12上，外环1以固定在外环9端面的轴承8为转动支承，外环1也可以只以行星轮2作为浮动支承；外环1和外环9以中轴6为共同轴心组成差动组，分别与行星轮2和行星轮10传动，形成两个同位传动轮组，这就是一个基本结构的同位差动轮系。当动力从中轴6输入来驱动同步组公转时，外环1以外环9为参照的转速大小与两个同位传动轮组的传动比的差的大小正相关，而整个同位差动轮系的传动比的大小与外环1以外环9为参照的转速大小负相关，两个传动轮组的传动比的差值越小，整个同位差动轮系的传动比的值越大，当两个传动轮组的传动比的差为零时，传动比为无穷大或无穷小。同位差动轮系以外环1作为输出元件进行减速传动，或者以外环1作为输入元件进行加速传动，可以通过改变两个传动轮组的传动比的差来获得不同的传动比。为了使轴承3受力平衡，可以设置与中轴6活动连接的太阳轮来平衡行星轮2和行星轮9受到的径向力。同位差动轮系的传动轮可采用的类型包括但不限于齿轮、链轮、带轮、柔轮、摩擦轮、磁轮和其它封闭回转的挠性件，其在结构中的作用包括但不限于内环、外环、太阳轮、行星轮、滚轮、平转轮和旋转矢量RV轮。当传动轮为齿轮时，其类型包括但不限于圆柱直齿轮、圆柱斜齿轮、圆锥齿轮、伞齿轮或端面齿轮，其齿廓类型包括但不限于渐开线、圆弧、摆线或抛物线，不同的传动轮组优先采用相同的模数，为了获得更适用的传动比也可以采用不同的模数。图1的实施例中，同步轮和差动轮直接传动，也可以设置中间轮来传动，如图2所示的实施例，太阳轮20和太阳轮21与中轴22固定连接组成同步组，通过中间轮17和中间轮18固定连接组成的中间轮组对差动组的外环15和外环16传动，与通常的情形有所不同的是，中间轮不必只是起到变向作用，在传动角色上也可以作为主动轮或从动轮，在作用上也可以作为同步组而成为同位差动轮系的输入轮或输出轮。图3是同步组为平转轮的实施例——平转轮26和平转轮32通过多个小曲拐27转动连接，并通过轴套28和偏心轮30与中轴29转动连接，由此形成可以偏心平转的同步组，分别与差动组的外环25和外环31传动。同位差动轮系还可以带有变速装置成为二级变速结构，如图4实施例，外环35和外环39为差动组，平转轮36和平转轮41为同步组，与平转轮36和平转轮41转动连接的小曲拐37通过减速轮40和42与中轴38连接，又如图5实施例，外环43和外环49为差动组，行星轮44和行星轮50组成同步组并通过减速轮组45和48与中轴47连接。在需要一套装置有多个输出结果的场合，同位差动轮系可以采用复合结构，带有多个传动轮组、同步组、差动组、定子或转子，通过切换输出挡位来选定不同的工作组合。The transmission wheel of the present invention includes a co-position differential gear train; a basic structure of the co-position differential gear train has two co-position transmission wheel groups, and the two transmission wheels corresponding to each other are co-position groups, and the two transmission wheels of one group can Synchronous rotation, revolution, translation, or simultaneous rotation and revolution. This co-position group is called a synchronous group. The transmission wheels of the other group that are paired with transmission have coaxial or parallel shafts. One of them is fixedly installed as a stator, and the other is installed as a stator. Rotor, the same group is called a differential group; the synchronous group and the differential group are directly driven or transmitted through an intermediate wheel; the same position differential gear train uses the synchronous group as the input element, and the rotor as the output element for deceleration transmission. In turn, the acceleration transmission is carried out; the type of transmission wheel is gear, sprocket, belt wheel, flexible wheel, friction wheel or magnetic wheel. The co-located transmission wheel group refers to such two transmission wheel groups-the transmission wheel of one transmission wheel group and the transmission wheel of the other transmission wheel group correspond to each other in terms of installation orientation or transmission relationship, and they are common or parallel to each other. At least one of the revolution axis or rotation axis of each group is in the same transmission orientation, for example, both of them are sun gears, planet wheels or outer rings, or their transmission objects are sun gears, planet wheels or outer rings ; The mutually corresponding transmission wheels are the same wheels. The corresponding ways of the same wheels can be the driving wheel and the driving wheel and the driven wheel and the driven wheel. It can also be the driving wheel and the driven wheel. If there is an intermediate wheel In the transmission wheel set, the intermediate wheels also correspond to each other. The difference from the usual situation is that the intermediate wheel is in the middle of the transmission chain, but it does not have to only play a role in changing direction. It can also be used as a driving wheel in the transmission role. Driven wheel or pivot wheel. In the co-position transmission wheel set of the present invention, there is a group of co-position wheels that move synchronously, also called synchronous wheels. Their combination is a synchronous group, which revolves and rotates at the same or opposite angular speeds, or revolves and rotates at the same time, combined Specific forms include, but are not limited to, stepped wheels and coaxial wheels. The other two co-located wheels move asynchronously and are called differential wheels. One of them can rotate and is called a rotor, and the other is fixedly installed as a reference system, called a stator. Their combination is a differential group. 1, the center shaft 6 and the base 12 are rotatably connected by a sleeve 13, the rotating arm 5 is fixedly connected with the center shaft 6 and is rotatably connected with the shaft 4 through a bearing 3, and the planetary gear 2 and the planetary gear 10 are fixedly connected by the shaft 4 to be synchronized. The group can rotate and revolve synchronously. There are more than two such synchronous groups uniformly distributed in the circumferential direction; the outer ring 9 is fixedly installed on the base 12, and the outer ring 1 is supported by a bearing 8 fixed on the end surface of the outer ring 9 for rotation. It is also possible to use only the planetary gear 2 as a floating support; the outer ring 1 and the outer ring 9 use the central shaft 6 as the common axis to form a differential group, which is respectively transmitted with the planetary gear 2 and the planetary gear 10 to form two co-located transmission wheel sets. This is a co-position differential gear train with a basic structure. When the power is input from the central shaft 6 to drive the synchronous group to revolve, the speed of the outer ring 1 and the outer ring 9 is positively related to the difference in the transmission ratio of the two co-located transmission wheel sets, and the transmission of the entire co-located differential gear train The size of the ratio is negatively related to the speed of the outer ring 1 and the outer ring 9. The smaller the difference between the transmission ratios of the two transmission wheel sets, the greater the transmission ratio of the entire co-location differential gear train. When the difference in the transmission ratio of the wheels is zero, the transmission ratio is infinite or infinitely small. In the co-located differential gear train, the outer ring 1 is used as the output element for deceleration transmission, or the outer ring 1 is used as the input element for acceleration transmission. Different transmission ratios can be obtained by changing the difference between the transmission ratios of the two transmission wheel sets. In order to balance the forces on the bearing 3, a sun gear movably connected with the central shaft 6 can be provided to balance the radial forces received by the planetary gear 2 and the planetary gear 9. The types that can be used for the transmission wheels of the co-position differential gear train include but are not limited to gears, sprockets, belt wheels, flexsplines, friction wheels, magnetic wheels, and other closed-rotating flexible parts. Their functions in the structure include but not Limited to inner ring, outer ring, sun gear, planetary wheel, roller, flat runner and rotating vector RV wheel. When the transmission wheel is a gear, its type includes but not limited to cylindrical spur gear, cylindrical helical gear, bevel gear, bevel gear or face gear, and its tooth profile type includes but not limited to involute, arc, cycloid or parabola, Different transmission wheel sets prefer to use the same modulus, and different moduli can also be used in order to obtain a more suitable transmission ratio. In the embodiment of FIG. 1, the synchronous wheel and the differential wheel are directly driven, and an intermediate wheel may also be provided for transmission. In the embodiment shown in FIG. 2, the sun wheel 20 and the sun wheel 21 are fixedly connected with the central shaft 22 to form a synchronization group. The intermediate wheel set formed by the fixed connection of the intermediate wheel 17 and the intermediate wheel 18 transmits the outer ring 15 and the outer ring 16 of the differential group. The difference from the usual situation is that the intermediate wheel does not have to only play a role in changing direction. The transmission role can also be used as a driving wheel or a driven wheel, and in function, it can also be used as a synchronization group to become the input wheel or output wheel of the co-located differential gear train. Figure 3 is an embodiment where the synchronization group is a flat runner-the flat runner 26 and the flat runner 32 are rotatably connected by a plurality of small cranks 27, and are rotatably connected with the central shaft 29 through the sleeve 28 and the eccentric 30, thereby forming The synchronizing group, which can be eccentrically rotated, is respectively driven with the outer ring 25 and the outer ring 31 of the differential group. The co-position differential gear train can also be equipped with a speed change device to form a two-stage speed change structure, as shown in the embodiment of Figure 4, the outer ring 35 and the outer ring 39 are differential groups, and the flat runner 36 and the flat runner 41 are synchronized groups, and The small crank 37 rotatably connected with the wheel 36 and the flat runner 41 is connected to the central shaft 38 through the

reduction wheels

40 and 42. In the embodiment shown in FIG. 5, the outer ring 43 and the outer ring 49 are differential sets, and the planetary gear 44 and the planetary gear 50 The synchronization group is formed and connected to the central shaft 47 through the

reduction wheel groups

45 and 48. Where a set of equipment is required to have multiple output results, the co-located differential gear train can adopt a composite structure, with multiple transmission wheel sets, synchronization sets, differential sets, stators or rotors, which can be selected by switching the output gears Different work combinations.

同步组和差动组之间直接传动，差动组是两个同轴外环或太阳轮，同步组是复合行星轮或平转轮组，有中轴作为动力轴，同步组与中轴之间的连接方式为——有转臂或偏心轮与中轴固定连接，复合行星轮转动安装在转臂上或平转轮组与偏心轮转动连接，如前述图1和图3实施例；或者，为了降低组件的转速或 ***的运动惯量，中轴和复合行星轮或平转轮之间通过前级减速机构连接，如前述图4和图5实施例；或者，中轴是一种空心轴，复合行星轮直接在中轴非中心位置上转动安装，如图6所示，同步组是由行星轮52和行星轮55组成的复合行星轮，直接转动安装在空心轴56的非同轴上，空心轴56与动力装置上在同一径向位置上的输出元件连接，或本身是动力装置的输出元件。Direct transmission between the synchronization group and the differential group. The differential group is two coaxial outer rings or sun gears. The synchronization group is a compound planetary gear or a flat runner group. The central shaft is used as the power shaft. The connection method is as follows: a rotating arm or an eccentric wheel is fixedly connected to the central shaft, a compound planetary wheel is rotatably mounted on the rotating arm or a flat runner group is rotatably connected to the eccentric wheel, as shown in the embodiment of Figure 1 and Figure 3; or , In order to reduce the rotational speed of the components or the movement inertia of the system, the middle shaft and the compound planetary gear or the flat runner are connected by a front-stage reduction mechanism, as shown in the embodiment of Figure 4 and Figure 5; or, the middle shaft is a hollow shaft , The compound planetary gear is directly installed on the non-central position of the central shaft, as shown in Figure 6, the synchronization group is a compound planetary gear composed of planetary gear 52 and planetary gear 55, directly rotating and installed on the non-coaxial hollow shaft 56 , The hollow shaft 56 is connected to the output element of the power plant at the same radial position, or is the output element of the power plant itself.

参照图7，同位差动轮系采用同步组分组消隙的方式来传动——点划线描绘的外环57和外环58为差动组，外环57为定子，外环58为转子，它们以O点为中心，实线描绘的行星轮59和行星轮60组成复合行星轮作为同步组；行星轮59对外环57传动，行星轮60对外环58传动，通过选择两个传动轮组的传动比的大小关系，使外环58的自转方向与复合行星轮的公转方向相反，在同一时间，外环57和外环58的工作面朝向相反，同一个复合行星轮单元的两个传动轮的工作面朝向也相反；有两个以上的复合行星轮单元分成两组，为了受力平衡，每组的复合行星轮单元数量以偶数为宜，它们在周向同组均布或混合均布；不同组的复合行星轮单元的两个传动轮的相对角度不同，使得一个组的行星轮59只在顺时针方向工作，行星轮60只在逆时针方向工作，而另一个组的行星轮59只在逆时针方向工作，行星轮60只在顺时针方向工作，当一个组工作的时候，另一个组处在比该组更接近另一个方向的工作位置，与差动组的工作齿面保持不接触或无压力接触，或者，与差动组的非工作齿面可以无载荷接触或保留有不影响正常传动的较小侧隙，由此以普通齿轮就可以实现零侧隙传动，该方法为“轮齿错位法”。传动中的零侧隙指的并非绝对没有侧隙，而是在传动得以正常进行的情况下，其侧隙趋近于理想条件下的最小侧隙。同步组分组消隙也可以通过图8所示的“超越离合法”来实现——图8在图5的基础上增加了超越离合器85、磁环86和行星架87；通过选择两个传动轮组的传动比的大小关系，使外环43的自转方向与复合行星轮的公转方向相同，在同一时间，外环43和外环49的工作面朝向相同，同一个复合行星轮单元的两个传动轮的工作面朝向也相同；每一个复合行星轮的转轴都与行星架87转动连接，并且都装有超越离合器85，磁环87固定在47上，超越离合器85的外环是可以与与磁环86通过磁力作用来传动的磁环；有多个复合行星轮单元分成A和B两个组，每组两个以上为宜，两个组的超越离合器85的安装方向相反；传动轮48对传动轮45的传动比大于超越离合器85对磁环86的传动比，当中轴47带动传动轮48朝一个方向转动时，A组的超越离合器85处于分离状态，对复合行星轮单元的状态无影响，而B组的超越离合器85处于结合状态使得与之相连的复合行星轮单元以比工作转速更快的转速离开工作位置，最终到达另一个方向的工作位置并保持预备状态，这时候，其上的超越离合器85的外环与磁环86之间的磁力远小于传动轮组之间的刚性阻力而相互打滑转动，当中轴47带动传动轮48反向转动时，B组工作而A组处于预备状态，由此，传动轮48和传动轮45之间的侧隙被消除掉；磁环86和超越离合器85的位置可以互换，磁环86和超越离合器85的外环也可以用摩擦环替代；图1实施例的同步组和差动组之间的侧隙也可以采取同样的原理来消除。还可以采用“反向周向力法”，如图9，同一组的复合行星轮单元88两两对置，同时与簧片90两端的齿轮89啮合，在簧片90的作用下齿轮89向中心收紧，不同组的复合行星轮单元88分别被施加反向周向力而处在不同方向的工作位置。实现分组消隙的具体方法不局限于以上所列举。Referring to Fig. 7, the co-located differential gear train adopts the synchronous group group anti-backlash method to drive-the outer ring 57 and outer ring 58 depicted by the dashed line are the differential group, the outer ring 57 is the stator, and the outer ring 58 is the rotor. They are centered at point O. The planetary gear 59 and planetary gear 60 depicted by the solid line form a composite planetary gear as a synchronous group; the planetary gear 59 transmits to the outer ring 57, and the planetary wheel 60 transmits to the outer ring 58. By selecting the two transmission wheel sets The relationship between the size of the transmission ratio is such that the rotation direction of the outer ring 58 is opposite to the revolution direction of the compound planetary gear. At the same time, the working surfaces of the outer ring 57 and the outer ring 58 face oppositely. The two transmission wheels of the same compound planetary gear unit The working surface is also opposite; there are more than two compound planetary gear units divided into two groups, in order to balance the force, the number of compound planetary gear units in each group should be an even number, and they are evenly distributed in the same group or mixed uniformly in the circumferential direction; different The relative angles of the two transmission wheels of the compound planetary gear unit of the group are different, so that the planetary gear 59 of one group only works in the clockwise direction, the planetary gear 60 only works in the counterclockwise direction, and the planetary gear 59 of the other group only works in the counterclockwise direction. Working in a counterclockwise direction, the planetary gear 60 only works in a clockwise direction. When one group is working, the other group is in a working position closer to the other direction than the group, and keeps out of contact with the working tooth surface of the differential group. Or there is no pressure contact, or, the non-working tooth surface of the differential group can be in contact with no load or has a small backlash that does not affect the normal transmission, so that the ordinary gear can achieve zero backlash transmission. The method is " Gear tooth dislocation method". Zero backlash in transmission does not mean that there is absolutely no backlash, but when the transmission can be carried out normally, the backlash is close to the minimum backlash under ideal conditions. Synchronous group anti-backlash can also be achieved through the "overrunning separation method" shown in Figure 8-Figure 8 adds an overrunning clutch 85, a magnetic ring 86 and a planet carrier 87 on the basis of Figure 5; by selecting two drive wheels The relationship between the transmission ratio of the group is such that the rotation direction of the outer ring 43 is the same as the revolution direction of the compound planetary gear. At the same time, the working surfaces of the outer ring 43 and the outer ring 49 face the same. The working surface of the transmission wheel faces the same; the rotating shaft of each compound planetary wheel is rotatably connected with the planet carrier 87, and is equipped with an overrunning clutch 85. The magnetic ring 87 is fixed on 47. The outer ring of the overrunning clutch 85 can be connected with The magnetic ring 86 is a magnetic ring that is driven by magnetic force; there are multiple composite planetary gear units divided into two groups A and B, each group of two or more is suitable, the installation direction of the overrunning clutch 85 of the two groups is opposite; the transmission wheel 48 The transmission ratio of the transmission wheel 45 is greater than the transmission ratio of the overrunning clutch 85 to the magnetic ring 86. When the intermediate shaft 47 drives the transmission wheel 48 to rotate in one direction, the overrunning clutch 85 of group A is in the disengaged state, and the state of the compound planetary gear unit is not affected. As the overrunning clutch 85 of Group B is in the engaged state, the compound planetary gear unit connected to it leaves the working position at a speed faster than the working speed, and finally reaches the working position in the other direction and maintains the ready state. At this time, its The magnetic force between the outer ring of the upper overrunning clutch 85 and the magnetic ring 86 is much smaller than the rigid resistance between the transmission wheel sets and slips against each other. When the middle shaft 47 drives the transmission wheel 48 to rotate in the opposite direction, group B works and group A is in In the ready state, the backlash between the transmission wheel 48 and the transmission wheel 45 is eliminated; the positions of the magnetic ring 86 and the overrunning clutch 85 can be interchanged, and the outer ring of the magnetic ring 86 and the overrunning clutch 85 can also be a friction ring Alternative; the backlash between the synchronization group and the differential group in the embodiment of FIG. 1 can also be eliminated by the same principle. The "reverse circumferential force method" can also be used, as shown in Figure 9, the same group of composite planetary gear units 88 are placed opposite each other and mesh with the gears 89 at both ends of the reed 90. The gear 89 retracts toward the center under the action of the reed 90. Tightly, the compound planetary gear units 88 of different groups are respectively applied with reverse circumferential force to be in working positions in different directions. The specific method for achieving packet clearance is not limited to the above-listed.

除了同步组分组消隙的方式，同位差动轮系还可以采用现有的消隙齿轮来进行零侧隙传动，包括但不限于非标齿廓齿轮、分层错位齿轮、轴向错位人字齿轮。非标齿廓齿轮的轮齿在经过特别修型、研磨后在可以零侧隙传动；分层错位齿轮是圆柱直齿轮、圆柱斜齿轮或伞齿轮，在轴向分成两个相互在周向错开一个微小角度的薄片齿轮，伞齿轮也可以在径向分层，分层错位齿轮与不分层的齿轮配对来使整个齿宽上的侧隙变小；轴向错位人字齿轮指的是两个可以正确啮合的人字斜齿轮相互在轴向位移，使人字形轮齿两段中的一段后撤离开工作位置，从而使整个齿宽上的侧隙变小。此外，还可以采用在啮合方向施加预压力的安装方式，在安装的时候不留侧隙，尤其适合摆线轮和针轮啮合副。In addition to the synchronization group anti-backlash method, the co-located differential gear train can also use existing anti-backlash gears for zero backlash transmission, including but not limited to non-standard tooth profile gears, layered misaligned gears, and axial misaligned herringbone. gear. The teeth of non-standard profile gears can be transmitted with zero backlash after being specially modified and ground; the layered misaligned gears are cylindrical spur gears, cylindrical helical gears or bevel gears, which are divided into two in the axial direction and staggered in the circumferential direction. A thin-angled thin-film gear, the bevel gear can also be layered in the radial direction. The layered misaligned gear is matched with the non-layered gear to reduce the backlash on the entire tooth width; the axial misaligned herringbone gear refers to two The two herringbone helical gears that can be correctly meshed are mutually displaced in the axial direction, so that one of the two segments of the herringbone tooth is withdrawn from the working position, so that the backlash on the entire tooth width is reduced. In addition, the installation method of applying pre-pressure in the meshing direction can also be used, and there is no backlash during installation, which is especially suitable for the meshing pair of cycloid and pin wheel.

参照图1，差动组的外环1和外环9分处在轴向不同位置，不占用彼此的径向外侧空间，它们与轴承8的连接位置也是在端面方向，***中也没有外壳或别的组件占用外环1或外环9的径向外侧空间，因而它们的传动点都可以安排在整体结构中远离中心的位置，从而使侧隙回程角较小。Referring to Figure 1, the outer ring 1 and the outer ring 9 of the differential group are at different positions in the axial direction, and do not occupy each other's radial outer space. The connection position between them and the bearing 8 is also in the end face direction, and there is no housing or Other components occupy the radial outer space of the outer ring 1 or the outer ring 9, so their transmission points can be arranged far away from the center in the overall structure, so that the backlash return angle is small.

如图10的实施例，传动轮是在轴向传动的伞齿轮、端面齿轮或螺旋齿轮，也可以是摩擦轮或磁轮，差动组由外环67和内环69组成，一个为定子，另一个为转子；同步组由传动轮61和传动轮63固定连接而组成；转轴62与固定在中轴65上的连接块64转动连接，中轴65与内环69转动连接；外环67和内环69中间隔着轴套68，作为转子的一方也可以直接以作为定子的一方作为回转支承，或者，轴套68是一种复合结构，同时也能作为轴向支承。这种径向套叠的结构可以节省轴向空间，为了别的设计意图也可以在同步组的轴向两侧对置。In the embodiment shown in Figure 10, the transmission wheel is a bevel gear, a face gear or a helical gear that drives in the axial direction, or a friction wheel or a magnetic wheel. The differential group is composed of an outer ring 67 and an inner ring 69, one of which is a stator. The other is the rotor; the synchronization group is composed of the transmission wheel 61 and the transmission wheel 63 fixedly connected; the rotating shaft 62 is rotatably connected with the connecting block 64 fixed on the central shaft 65, the central shaft 65 is rotatably connected with the inner ring 69; the outer ring 67 and A sleeve 68 is interposed between the inner ring 69, and the side as the rotor can also directly use the side as the stator as a slewing support, or the sleeve 68 is a composite structure and can also serve as an axial support. This radial telescopic structure can save axial space, and can also be opposite to the axial sides of the synchronization group for other design purposes.

参照图10，螺套66在不同的方向转动时，可以顺着中轴65的外螺纹段在轴向移动，可以用来调节齿轮侧隙大小，或者平衡传动轮轴向力，或者调节传动摩擦力。螺套66上还连接有锁紧装置、手动控制装置或自动控制装置。螺套66作为一种位置调节装置，技术类型不局限于螺纹结构，其本身乃至与其配套的控制装置可以采用的技术类型包括但不限于杠杆、拉索、偏心轮、楔块等机械装置以及液、气、声、光、磁、电、热或前述各种类型的组合。10, when the screw sleeve 66 rotates in different directions, it can move in the axial direction along the external thread section of the central shaft 65, which can be used to adjust the gear backlash, or balance the axial force of the transmission wheel, or adjust the transmission friction . The screw sleeve 66 is also connected with a locking device, a manual control device or an automatic control device. As a position adjustment device, the screw sleeve 66 is not limited to the threaded structure. The technical types that can be used for the screw sleeve 66 itself and the supporting control device include but are not limited to levers, cables, eccentric wheels, wedges and other mechanical devices and hydraulic , Air, sound, light, magnetism, electricity, heat or a combination of the foregoing various types.

为提高集成度，同位差动轮系可以与电动机、发动机或其它类型的动力装置一体化结合，同位差动轮系的输入部件同时也是动力装置的输出部件，或者，同位差动轮系的定子直接安装在动力装置的固定部件上，或者，同位差动轮系与动力装置在径向套叠分布。如图11实施例，差动组由外环70和外环78组成，同步组由行星轮72和行星轮80通过转轴73固定连接而组成，转轴73通过轴承71与固定在电机的外转子76上的转臂75转动连接，电机定子77和差动组的外环78都固定在底座81上。In order to improve the degree of integration, the co-located differential gear train can be integrated with the electric motor, engine or other types of power devices. The input component of the co-located differential gear train is also the output component of the power device, or the stator of the co-located differential gear train It is directly installed on the fixed part of the power plant, or the co-located differential gear train and the power plant are telescopically distributed in the radial direction. In the embodiment shown in Figure 11, the differential group is composed of an outer ring 70 and an outer ring 78, and the synchronous group is composed of planetary gears 72 and planetary gears 80 fixedly connected by a rotating shaft 73. The rotating shaft 73 is fixed to the outer rotor 76 of the motor through a bearing 71. The upper rotating arm 75 is rotatably connected, and the motor stator 77 and the outer ring 78 of the differential group are both fixed on the base 81.

采用同步组分组消隙结构，或者采用分层错位齿轮、轴向错位人字齿轮来传动的时候，有的传动轮的同一个轮齿只在一个方向承受载荷，承压面需要有较高的硬度以及较好的耐热、抗磨和减摩性能，而非承压面需要有较高的抗压强度和韧性，为了使不同的齿面分别达到不同的要求，可以采用非对称的齿廓形状，例如工作面为标准参数，而非工作面在周向加厚、设置油槽，或者分别采用不同的表面材料或处理方法，使它们具有不同的机理结构、粗糙度或物理性能。When using a synchronized group anti-backlash structure, or using layered misaligned gears or axial misaligned herringbone gears for transmission, the same gear tooth of some transmission wheels only bears the load in one direction, and the pressure bearing surface needs to have a higher Hardness and better heat resistance, anti-wear and anti-friction properties. The non-pressure bearing surface needs to have higher compressive strength and toughness. In order to make different tooth surfaces meet different requirements, asymmetric tooth profiles can be used The shape, for example, the working surface is a standard parameter, while the non-working surface is thickened in the circumferential direction, oil grooves are set, or different surface materials or treatment methods are used, so that they have different mechanism structures, roughness or physical properties.

同一个同位差动轮系中混合使用不同模数的齿轮，不同的传动轮组采用不同的模数，使其传动轮组乃至整个同位差动轮系在同一量级尺寸下有更为丰富的传动比选择。Gears of different modules are mixed in the same co-located differential gear train, and different transmission wheel sets use different moduli, so that the transmission wheel set and the entire co-located differential gear train have more abundant dimensions under the same magnitude Transmission ratio selection.

Claims

同位差动减速器，包括输入元件、输出元件和传动轮，直接安装在别的物体上或者还带有底座或中轴，其特征在于传动轮包括同位差动轮系；一个基本结构的同位差动轮系带有两个同位传动轮组，彼此的传动轮两两对应为同位组，其中一个组的两个传动轮可以同步自转、公转、平转或同时自转和公转，该同位组称为同步组，与其配对传动的另一组的传动轮具有共轴或平行轴，其中一个固定安装作为定子，另一个转动安装作为转子，该同位组称为差动组；同步组和差动组之间直接传动或通过中间轮传动；同位差动轮系以同步组作为输入元件，以转子作为输出元件进行减速传动，也可以反过来进行加速传动；传动轮的类型是齿轮、链轮、带轮、柔轮、摩擦轮或磁轮。Co-position differential reducer, including input element, output element and transmission wheel, directly mounted on other objects or with a base or bottom axle, characterized in that the transmission wheel includes a co-position differential gear train; a basic structure of co-position difference The driving gear train is equipped with two co-located transmission wheel groups. The transmission wheels corresponding to each other are co-located groups. The two transmission wheels of one group can rotate, revolve, and rotate simultaneously or rotate and revolve simultaneously. The co-located group is called Synchronous group, the transmission wheels of the other group that is paired with it have coaxial or parallel shafts, one of which is fixedly installed as a stator, and the other is installed as a rotor in rotation. This in-position group is called a differential group; between the synchronous group and the differential group Direct transmission or transmission through intermediate wheels; in-position differential gear trains use synchronization group as input element, rotor as output element for deceleration transmission, or vice versa for acceleration transmission; transmission wheels are gears, sprockets, and pulleys , Flexible wheel, friction wheel or magnetic wheel.
根据权利要求1所述的同位差动减速器，其特征在于同步组和差动组之间直接传动，差动组是两个同轴外环或太阳轮，同步组是复合行星轮或平转轮组，中轴是动力轴，同步组与中轴之间的连接方式为——有转臂或偏心轮与中轴固定连接，复合行星轮转动安装在转臂上或平转轮组与偏心轮转动连接；或者，中轴和复合行星轮或平转轮之间通过前级减速机构连接；或者，中轴是一种空心轴，复合行星轮直接在中轴的非同轴位置上转动安装。The co-position differential reducer according to claim 1, characterized in that there is a direct transmission between the synchronization group and the differential group, the differential group is two coaxial outer rings or sun gears, and the synchronization group is a compound planetary gear or a pan In the wheel set, the central axis is the power shaft. The connection between the synchronization group and the central axis is: a rotating arm or an eccentric wheel is fixedly connected to the central axis, and the compound planetary wheel is mounted on the rotating arm or a flat runner and the eccentric The wheel is connected in rotation; or, the middle shaft and the compound planetary gear or the flat runner are connected by a front-stage reduction mechanism; or, the middle shaft is a hollow shaft, and the compound planetary gear is directly installed on the non-coaxial position of the middle shaft. .
根据权利要求2所述的同位差动减速器，其特征在于同位差动轮系采用同步组分组消隙的方式来传动，同步组单元分成两组分别只在不同的方向工作，一个组工作的时候，另一个组处在比该组更接近另一个方向的工作位置，具体方法包括但不限于“轮齿错位法”、“超越离合法”和“反向周向力法”。The co-located differential reducer according to claim 2, characterized in that the co-located differential gear train adopts a synchronized group anti-backlash method for transmission, and the synchronized group unit is divided into two groups and only works in different directions, and one group works At that time, the other group is in a working position closer to the other direction than the group. The specific methods include but are not limited to "tooth dislocation method", "overstepping method" and "reverse circumferential force method".
根据权利要求2所述的同位差动减速器，其特征在于同位差动轮系采用现有的消隙齿轮来进行零侧隙传动，包括但不限于非标齿廓齿轮、分层错位齿轮、轴向错位人字齿轮，或者采用啮合方向预压力安装方式来消除侧隙。The co-located differential reducer according to claim 2, characterized in that the co-located differential gear train uses existing anti-backlash gears for zero backlash transmission, including but not limited to non-standard tooth profile gears, layered misaligned gears, Axial misalignment of herringbone gears, or pre-pressure installation in the meshing direction to eliminate backlash.
根据权利要求1、2、3或4所述的同位差动减速器，其特征在于差动组的两个传动轮分处在轴向不同位置，不占用彼此的径向外侧空间，或者，没有别的组件占用定子或转子的径向外侧空间，因而它们的传动点都可以安排在整体结构中较为远离中心的位置，从而使侧隙回程角较小。The co-position differential reducer according to claim 1, 2, 3 or 4, characterized in that the two transmission wheels of the differential group are located at different axial positions and do not occupy the radial outer space of each other, or there is no Other components occupy the radial outer space of the stator or rotor, so their transmission points can be arranged farther from the center in the overall structure, so that the backlash return angle is smaller.
根据权利要求1、2、3或4述的同位差动减速器，其特征在于传动轮在中轴的轴向传动，同步组的两个同位轮结合成阶梯轮，差动组在径向相互套叠，转子直接以定子作为回转支承，或隔着具有运动减阻作用或承受轴向力作用的支承装置。The co-located differential reducer according to claim 1, 2, 3 or 4, characterized in that the transmission wheel is driven in the axial direction of the central shaft, the two co-located wheels of the synchronization group are combined into a stepped wheel, and the differential group is mutually in the radial direction. Telescopic, the rotor directly uses the stator as a slewing support, or is separated by a support device that has the effect of reducing movement or bearing axial force.
根据权利要求6所述的同位差动减速器，其特征在于带有轴向位置调节装置及其控制装置，可以用来调节传动轮侧隙大小，或者平衡传动轮轴向力，或者调节传动摩擦力，可以手动或自动控制。The co-position differential reducer according to claim 6, characterized in that it has an axial position adjustment device and its control device, which can be used to adjust the backlash of the transmission wheel, or balance the axial force of the transmission wheel, or adjust the transmission friction , Can be controlled manually or automatically.
根据权利要求1、2、3、4或7或所述的同位差动减速器，其特征在于带有一体化动力装置，同位差动轮系的输入部件同时也是动力装置的输出部件，或者，同位差动轮系的定子直接安装在动力装置的固定部件上，或者，同位差动轮系与动力装置在径向套叠分布。The co-located differential reducer according to claim 1, 2, 3, 4 or 7, characterized in that it has an integrated power device, and the input component of the co-located differential gear train is also the output component of the power device, or, The stator of the co-located differential gear train is directly installed on the fixed part of the power device, or the co-located differential gear train and the power device are arranged in a telescopic radial direction.
根据权利要求8所述的同位差动减速器，其特征在于同位差动轮系包括有不对称齿轮，其齿廓为左右不对称形状，或者，其左、右齿面具有不同的机理结构、粗糙度或物理性能。The co-location differential reducer according to claim 8, characterized in that the co-location differential gear train includes asymmetric gears, the tooth profile of which is left and right asymmetrical, or the left and right tooth surfaces have different mechanism structures, Roughness or physical properties.
根据权利要求1、2、3、4、7或9所述的同位差动减速器，其特征在于同一个同位差动轮系中混合使用不同模数的齿轮，使其传动轮组乃至整个同位差动轮系在同一量级尺寸下有更为丰富的传动比选择。The co-located differential reducer according to claim 1, 2, 3, 4, 7 or 9, characterized in that gears of different modules are mixed in the same co-located differential gear train to make the transmission wheel set and even the entire co-location Differential gear trains have a richer selection of transmission ratios in the same order of magnitude.