WO2024119529A1 - 一种组合式二级减速装置 - Google Patents

一种组合式二级减速装置 Download PDF

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Publication number
WO2024119529A1
WO2024119529A1 PCT/CN2022/138680 CN2022138680W WO2024119529A1 WO 2024119529 A1 WO2024119529 A1 WO 2024119529A1 CN 2022138680 W CN2022138680 W CN 2022138680W WO 2024119529 A1 WO2024119529 A1 WO 2024119529A1
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Prior art keywords
tooth
combined
wheel
gear
reduction device
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PCT/CN2022/138680
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English (en)
French (fr)
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刘大猷
谢桂平
夏挺
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浙江夏厦精密制造股份有限公司
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Publication of WO2024119529A1 publication Critical patent/WO2024119529A1/zh

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  • the invention relates to the technical field of gear reduction devices, in particular to a combined two-stage reduction device.
  • the deceleration structure based on the principle of small tooth difference deceleration is relatively mature in the prior art.
  • a combined reducer provides a structure that is transmitted through rolling meshing, which includes a base, an input plane impeller, an output plane gear, a movable tooth assembly and a compression spring.
  • the input plane impeller is used to drive the movable tooth assembly to fluctuate up and down, thereby pushing the output plane gear to perform a deceleration motion, wherein the input plane impeller is provided with a circumferentially arranged corrugated structure, and the lower surface of the corrugated structure rolls with the upper end of the movable tooth assembly.
  • the lower surface of the corrugated structure pushes the movable tooth assembly to form continuous fluctuations in the circumferential direction, and the lower end of the movable tooth assembly rolls and meshes with the teeth of the output plane gear.
  • the reducer adopting the movable tooth structure eliminates the interference problem of rigid meshing between existing teeth, improves the stability of force transmission, and realizes the balanced output of torque and power; at the same time, since the interference problem of tooth meshing is eliminated, the difficulty of tooth modification is also reduced.
  • the gear ring on the above-mentioned output plane gear is directly processed, it has great advantages if used as a small reduction device.
  • it is necessary to process a number of teeth on the large gear, and the pitch and tooth shape between the teeth have very high requirements.
  • the existing gear manufacturing equipment and process have many restrictions and difficulties, resulting in low manufacturing precision of the gear ring and affecting the transmission effect.
  • the technical problem to be solved by the present invention is to provide a combined two-stage reduction device which is convenient for machining and manufacturing large gear rings and has high tooth pitch and tooth shape precision, thereby improving the transmission effect.
  • a combined two-stage reduction device comprising:
  • An input wheel rotatably disposed on the top of the base body, and used to connect with the driving mechanism
  • An output wheel rotatably disposed at the bottom of the base body, and used to connect with the device to be driven;
  • a first reduction transmission structure transmission-connected between the input wheel and the output wheel
  • the driving mechanism is connected to the input wheel through a second reduction transmission structure, the input wheel and the output wheel are provided with gear rings that receive power through meshing structures respectively, and a plurality of teeth are detachably assembled to form corresponding gear rings.
  • the upper surface of the input wheel is provided with a first gear ring with tooth ends facing upward, and the first gear ring includes a plurality of first teeth arranged in sequence along the circumference of the input wheel.
  • the first gear ring is spliced with a plurality of first teeth, and large and super-large reduction gears can be manufactured using general equipment without the need for dedicated large-scale gear-making equipment, which has very important practical and economic significance for the manufacture of large-scale reduction gears.
  • the first tooth includes a first cylindrical portion, a sector portion, and a first tooth portion connected in sequence from bottom to top
  • the upper surface of the input wheel is provided with an annular groove arranged in the circumferential direction
  • the bottom wall of the annular groove is provided with a first insertion hole for the first cylindrical portion to be inserted therein
  • the sector portion is accommodated in the annular groove and is larger outside and smaller inside in the radial direction of the annular groove so as to match the inner and outer side walls of the annular groove
  • the first tooth portion is exposed above the annular groove
  • a tooth groove is formed between the first tooth portions of two adjacent first teeth.
  • the annular groove is filled with epoxy resin for filling the gap.
  • the driving member is operated to use the meshing transmission between the driving member and the first gear ring to trim the meshing surface. If the existing gear making equipment is used to manufacture the first gear ring, it is actually very difficult to trim the teeth accurately.
  • the present invention uses the gap between the spliced first gear rings (there is a certain degree of adjustability between the first teeth).
  • the driving member is operated to use the meshing transmission between the output gear on the driving member and the first gear ring to trim the meshing surface, thereby achieving a high-precision tooth trimming effect.
  • the solidified epoxy resin fixes the first gear ring as a whole, which has good reliability.
  • the driving mechanism includes at least two independent driving members, which are arranged beside the input wheel and the output shaft extends radially from the input wheel to the top of the first gear ring.
  • the output shaft of the driving member is connected with a gear that can mesh with the first gear ring for transmission, and the gear and the first gear ring together constitute the second reduction transmission structure.
  • Existing large-scale reduction devices must be equipped with large-scale power equipment. It is not only difficult to manufacture a single large-scale power equipment, but also the preparation cost is very high.
  • the present invention uses multiple independent driving members to drive the input wheel to rotate through the reduction transmission structure, which is not only convenient for one-stage reduction, but also reduces the requirements for power equipment and manufacturing costs.
  • the upper surface of the output wheel is provided with a second gear ring with the tooth end facing upward, and the second gear ring includes a plurality of second teeth arranged in sequence along the circumference of the output wheel.
  • the second tooth includes a second cylindrical portion and a second tooth-shaped portion connected in sequence from bottom to top, the upper surface of the output wheel is provided with a second insertion hole for the second cylindrical portion to be inserted therein, the second tooth-shaped portion is located on the upper surface of the output wheel, and a tooth groove is formed between the second tooth-shaped portions of two adjacent second teeth.
  • a sliding sleeve is provided in the second socket and inserted into the second socket close to the inner wall thereof, and the second cylindrical part is inserted into the sliding sleeve.
  • the second cylindrical part is inserted into the sliding sleeve.
  • the inner circumferential wall of the sliding sleeve is provided with a plurality of recesses spaced circumferentially and extending radially, and a convex ridge that can cooperate with the outer wall of the second cylindrical portion is formed between two adjacent recesses.
  • This structure is conducive to improving the constraint accuracy of the sliding sleeve on the second tooth.
  • the second cylindrical part is provided with a notch extending upward from the bottom wall, and the bottom of the second insertion hole is provided with an elastic member in an inverted U-shaped structure, the upper part of the elastic member is accommodated in the notch and the closed end of the U-shaped structure is against the top of the notch, and the lower end of the elastic member is constrained by the bottom wall of the second insertion hole.
  • the elastic member can make the second tooth always maintain an axial posture along the second cylindrical part, and when the first reduction transmission structure above the second tooth is engaged with the second tooth, the second tooth is pushed to make a small angle tooth direction deflection, so that the lower end wheel generatrix of the first reduction transmission structure is always in straight line contact with the plane tooth shape of the second tooth, so as to reduce interference and friction and improve the transmission effect.
  • the notch is an inverted V-shaped structure, and the closed end of the V-shaped structure is transitioned through an arc surface.
  • the bottom wall of the second plug hole is provided with a first limiting hole and a second limiting hole arranged at intervals along the radial direction of the output wheel for matching with the open end of the U-shaped structure.
  • a pressure plate for constraining the second tooth on the output wheel is also provided on the upper surface of the output wheel.
  • the pressure plates are arranged in multiple pieces at intervals along the circumference of the output wheel.
  • the side of the second tooth-shaped portion is provided with a pressure edge extending outward.
  • the pressure plate is locked on the output wheel by screws and the inner side of the pressure plate has a clamping groove for clamping the pressure edge.
  • the input wheel is an input plane pulsator, the lower surface of which is provided with a circumferentially arranged and undulating wave structure, the wave structure includes at least two downward protrusions, and the output wheel is an output plane gear.
  • the first reduction transmission structure includes a movable tooth assembly and a compression spring.
  • the movable tooth assembly can be constrained in the base body to move up and down, and the upper end rolls with the lower surface of the corrugated structure, and the lower end rolls with the second gear ring of the output plane gear.
  • the number of movable tooth assemblies is greater than the number of the second teeth on the output plane gear.
  • the compression spring is arranged in the base body so that the movable tooth assembly always maintains a tendency of contacting the upper end with the corrugated structure.
  • the above movable tooth assembly structure allows the movable teeth to roll and mesh with the teeth while maintaining a rigid structure, eliminating the existing meshing interference problem between teeth, thereby improving the load-bearing capacity and achieving a balanced output of torque and power of the reduction device.
  • the present invention combines multiple teeth into a complete gear ring by splicing, and the gear ring is respectively arranged on the input wheel and the output wheel, so as to receive power from the upstream through the meshing structure respectively;
  • the present invention makes the gear ring structure movable by splicing, and does not require special large-scale gear making equipment.
  • Large and extra-large reduction devices can be manufactured using general equipment, which is not only convenient for processing and manufacturing large gear rings, but also beneficial for improving the obtained tooth pitch and tooth shape accuracy; and the driving mechanism adopts multiple independent driving parts for combined driving, which greatly reduces the requirements for power equipment and manufacturing costs.
  • FIG1 is a schematic structural diagram of an embodiment of the present invention.
  • FIG2 is a schematic structural diagram of FIG1 from another angle
  • FIG3 is a cross-sectional view of an embodiment of the present invention.
  • FIG4 is an enlarged view of portion A in FIG3 ;
  • FIG5 is an assembly diagram of the first ring gear and the input wheel in an embodiment of the present invention.
  • FIG6 is an assembly diagram of the second ring gear and the output wheel in an embodiment of the present invention.
  • FIG7 is a schematic diagram of the structure of an input wheel in an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of an input wheel at another angle in an embodiment of the present invention.
  • the combined two-stage reduction device of this embodiment includes a base 1, an input wheel 2, an output wheel 3, a first reduction transmission structure, and a second reduction transmission structure.
  • the input wheel 2 is rotatably arranged on the top of the base 1 for connecting with the driving mechanism
  • the output wheel 3 is rotatably arranged on the bottom of the base 1 for connecting with the device to be driven.
  • the first reduction transmission structure is transmission-connected between the input wheel 2 and the output wheel 3.
  • the driving mechanism includes at least two independent driving members 9, and 6 are arranged in this embodiment.
  • the driving member 9 is connected to the input wheel through the second reduction transmission structure.
  • the input wheel and the output wheel are provided with gear rings that receive power through meshing structures respectively, and a plurality of teeth are assembled in a detachable manner to form corresponding gear rings.
  • the input wheel 2 in this embodiment adopts the input plane wave wheel in the prior application CN202211555299.8 of the present applicant
  • the output wheel 3 adopts the output plane gear in the prior application CN202211555299.8 of the present applicant
  • the first reduction transmission structure adopts the movable tooth assembly 4 and the compression spring 5 in the prior application CN202211555299.8 of the present applicant.
  • the technical concept of the present invention for the movable teeth of the gear ring should be independently realized even when the input plane wave wheel, output plane gear, movable tooth assembly 4 and compression spring 5 of the above structure are not adopted, and the corresponding technical effect is obtained.
  • the upper surface of the input wheel 2 is provided with a first gear ring 21' with the tooth end facing upward, and the first gear ring 21' includes a plurality of first teeth 211' arranged in sequence along the circumference of the input wheel 2.
  • the first tooth 211' includes a first cylindrical portion 2111, a sector portion 2112, and a first tooth portion 2113 connected in sequence from bottom to top.
  • the upper surface of the input wheel 2 is provided with an annular groove 22' arranged in the circumferential direction.
  • the bottom wall of the annular groove 22' is provided with a first insertion hole 221' for the first cylindrical portion 2111 to be inserted therein.
  • the sector portion 2112 is accommodated in the annular groove 22' and is larger outside and smaller inside in the radial direction of the annular groove 22' so as to match the inner and outer side walls of the annular groove 22'.
  • the first tooth portion 2113 is exposed above the annular groove 22', and a tooth groove is formed between the first tooth portions 2113 of two adjacent first teeth 211'.
  • the annular groove 22' is filled with epoxy resin for filling the gap.
  • the driving member 9 is operated to use the meshing transmission between the driving member and the first gear ring 21' to trim the meshing surface. If the existing gear making equipment is used to manufacture the first gear ring, it is actually very difficult to trim the teeth accurately. However, the present invention uses the gap between the spliced first gear rings (there is a certain degree of adjustability between the first teeth). Before the annular resin is solidified, the driving member is operated to use the meshing transmission between the output gear on the driving member and the first gear ring to trim the meshing surface, thereby achieving a high-precision tooth trimming effect. At the same time, after the tooth trimming is completed, the solidified epoxy resin fixes the first gear ring as a whole, which has good reliability.
  • the driving member 9 of this embodiment is a motor, which is arranged beside the input wheel 2 and the output shaft 91 extends radially toward the first gear ring 21' above the input wheel 2.
  • the output shaft 91 of the driving member 9 is connected with a gear 92 that can mesh with the first gear ring 21' for transmission.
  • the gear 92 and the first gear ring 21' together constitute a second reduction transmission structure.
  • the upper surface of the output wheel 3 is provided with a second gear ring 31' with the tooth end facing upward, and the second gear ring 31' includes a plurality of second teeth 311' arranged in sequence along the circumference of the output wheel 3.
  • the second gear ring 31' is assembled by a plurality of second teeth 311', and large and super-large reduction gears can be manufactured using general equipment without the need for dedicated large-scale gear-making equipment, which has very important practical and economic significance for the manufacture of large-scale reduction gears.
  • the second tooth 311' includes a second cylindrical portion 3111 and a second tooth-shaped portion 3112 connected in sequence from bottom to top.
  • the upper surface of the output wheel 3 is provided with a second insertion hole 32' for the second cylindrical portion 3111 to be inserted therein.
  • the second tooth-shaped portion 3112 is located on the upper surface of the output wheel 3.
  • a tooth groove is formed between the second tooth-shaped portions 3112 of two adjacent second teeth 311'.
  • the second insertion hole 32' is provided with a sliding sleeve 33' inserted into the second insertion hole 32' close to the inner wall thereof, and the second cylindrical portion 3111 is inserted into the sliding sleeve 33'.
  • the second teeth 311' In the assembled state, there is a gap between the inner wall of the sliding sleeve 33' and the outer wall of the second cylindrical portion 3111. The above gap allows the second teeth 311' to deflect at a small angle to improve the adaptability of the meshing surface, reduce friction, and meet the requirements of large loads.
  • the inner circumferential wall of the sliding sleeve 33' is provided with a plurality of recesses 331' arranged at intervals in the circumferential direction and extending in the radial direction, and a convex ridge 332' is formed between two adjacent recesses 331' to cooperate with the outer wall surface of the second cylindrical portion 3111.
  • This structure is conducive to improving the restraint accuracy of the sliding sleeve 33' on the second tooth 311'.
  • the second cylindrical part 3111 is provided with a notch 3110 extending upward from the bottom wall, and the bottom of the second plug hole 32' is provided with an elastic member 34' in an inverted U-shaped structure, and the elastic member 34' is made of metal wire.
  • the upper part of the elastic member 34' is accommodated in the notch 3110 and the closed end of the U-shaped structure is against the top of the notch 3111, and the lower end of the elastic member 34' is constrained by the bottom wall of the second plug hole 32'.
  • the elastic member 34' can make the second tooth 311' always maintain an axial posture along the second cylindrical part 3111, and when the first reduction transmission structure above the second tooth 311' is engaged with the second tooth 311', the second tooth 311' is pushed to make a small angle of tooth deflection, so that the lower end wheel busbar of the first reduction transmission structure is always in straight line contact with the plane tooth shape of the second tooth 311', so as to reduce interference and friction and improve the transmission effect.
  • the notch 3110 is an inverted V-shaped structure, and the closed end of the V-shaped structure is transitioned through an arc surface.
  • the bottom wall of the second plug hole 32' is provided with a first limiting hole 321' and a second limiting hole 322' arranged radially and spaced apart along the output wheel 2 for matching the open end of the U-shaped structure, so as to improve the limiting effect of the elastic member 34'.
  • a pressure plate 35' for constraining the second tooth 311' on the output wheel 2 is also provided on the upper surface of the output wheel 2.
  • the pressure plate 35' is composed of multiple pieces arranged at intervals along the circumference of the output wheel 2.
  • the side of the second tooth-shaped portion 3112 is provided with a pressure edge 3113 extending outward.
  • the pressure plate 35' is locked on the output wheel 32' by screws and has a clamping groove 351' on the inner side for clamping the pressure edge 3113.
  • the input plane impeller 2 is rotatably arranged on the top of the base 1, the upper surface of the input plane impeller 2 is the power output, and is connected to the driving member 9.
  • the lower surface of the input plane impeller 2 is provided with a circumferentially arranged and undulating wave structure 21, and the wave structure 21 includes three downward protrusions 211.
  • the lower end of the output plane gear 3 is connected to the device body that needs to be decelerated.
  • the movable tooth component 4 can be constrained in the base 1 to move up and down, and the upper end is rollingly matched with the lower surface of the wave structure 21, and the lower end is rollingly engaged with the second gear ring 31' of the output plane gear 3.
  • the number of movable tooth components 4 is greater than the number of the second teeth 311' on the output plane gear 3.
  • the compression spring 5 is arranged in the base 1, so that the movable tooth component 4 always maintains the tendency of the upper end to contact the wave structure 21.
  • the reduction ratio design of the reducer in this embodiment is designed based on the number of waves on the input plane wave wheel 2, that is, the number of waves designed on the input plane wave wheel 2 is the difference between the number of movable tooth components 4 and the number of teeth on the output plane gear 3.
  • the number of wave structures 21 is N
  • the number of movable tooth components 4 is Z1
  • the unfolded waveform line corresponding to the waveform structure 21 of this embodiment includes three interconnected V-shaped bands, that is, one convex portion 211 corresponds to one V-shaped band, and the tip of the V-shaped band and the interval between two adjacent V-shaped bands are smoothly transitioned through the arc segment 212.
  • the angle between the straight segment of the V-shaped band and the original creation plane is the fluctuation angle
  • the arc segment 212 between the two straight segments of the V-shaped band is the transition portion.
  • This structure is conducive to improving the contact stability and reliability between the movable tooth component 4 and the waveform structure 21, and further eliminating the interference between the lower end of the movable tooth component 4 and the second tooth 3111.
  • a laterally arranged assembly block 11 is provided in the middle of the base 1, the central part of the bottom of the input plane pulsator 2 is rotatably connected to the top of the assembly block 11 through the first bearing assembly 100, and the central part of the top of the output plane gear 3 is rotatably connected to the bottom of the assembly block 11 through the second bearing assembly 200, and the assembly block 11 is provided with a plurality of assembly holes 111 arranged at intervals in the circumferential direction and through the upper and lower parts for the movable tooth assembly 4 to pass through.
  • the outer edge of the input plane pulsator 2 extends downward to form a wave structure 21, and the edge of the upper surface of the output plane gear 3 is upwardly provided with a second gear ring 31', and the lower surface of the wave structure 21 corresponds to the assembly hole 111 and the second gear ring 31' from top to bottom.
  • the movable tooth assembly 4 of this embodiment includes a top seat 41, a movable tooth connecting column 42, a tooth seat 43, a roller 44 and a pin 45.
  • the top seat 41 is arranged on the assembly block 11 and the top is rollingly matched with the lower surface of the corrugated structure 21.
  • the movable tooth connecting column 42 can be moved up and down through the assembly hole 111 and the upper end is connected to the top seat 41.
  • the upper end of the movable tooth connecting column 42 is fixedly connected to the bottom of the top seat 41 by interference fit.
  • the tooth seat 43 is connected to the lower end of the movable tooth connecting column 42, and the lower end of the movable tooth connecting column 42 is fixedly connected to the top of the tooth seat 43 by interference fit.
  • the roller 44 can be rotatably arranged at the bottom of the tooth seat 43 to form a rolling fit with the tooth surface between the adjacent two teeth 31, and the pin 45 is used to constrain the roller 44 to the bottom of the tooth seat 43.
  • This structure enables the movable tooth to roll and mesh with the tooth 31 on the basis of maintaining a rigid structure, eliminating the meshing interference problem between existing teeth, so as to improve the bearing capacity and achieve balanced output of torque and power of the reduction device.
  • the upper surface of the assembly block 11 is provided with a mounting groove 112 extending downward and used to accommodate the compression spring 5.
  • the lower part of the compression spring 5 is accommodated in the mounting groove 112, and the upper end is against the top seat 41.
  • the above structure facilitates the installation of the compression spring 5, and the upper end of the movable tooth assembly 4 is always in contact with the lower surface of the corrugated structure 21 through the compression spring 5.
  • an upper cover plate 01 is provided on the top of the base body 1 for enclosing the input wheel 2 and its assembly structure.
  • the driving member 9 is arranged on the outside of the upper cover plate and the output shaft 91 is arranged through the upper cover plate.
  • this embodiment hides a part of the individual teeth and the corresponding sockets in Figures 5 and 6, which is reflected as a spacing between adjacent individual teeth. In fact, there is basically no obvious assembly spacing between the individual teeth of this embodiment, as shown in Figure 3.
  • a plurality of teeth are combined by splicing to form a complete ring gear, and the ring gear is respectively arranged on the input wheel 2 and the output wheel 3, so as to receive power from the upstream through the meshing structure respectively;
  • the ring gear structure is made movable by splicing, and no special large-scale gear manufacturing equipment is required.
  • Large and extra-large reduction devices can be manufactured using general equipment, which is not only convenient for processing and manufacturing large ring gears, but also conducive to improving the obtained tooth pitch and tooth shape accuracy; and the driving mechanism adopts a plurality of independent driving parts for combined driving, which greatly reduces the requirements for power equipment and the manufacturing cost.

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Abstract

本发明涉及一种组合式二级减速装置，包括基体、输入轮、输出轮、第一减速传动结构，驱动机构包括有至少两个独立的驱动件，驱动件通过第二减速传动结构与输入轮相连接，输入轮、输出轮设置有分别通过啮合结构接收动力的齿圈，且若干个个齿脱卸式组装构成相应的齿圈。本发明通过拼接的方式将多个齿组合成完整的齿圈，输入轮、输出轮分别通过啮合结构接收来自上游的动力；通过拼接方式将齿圈结构活齿化，无需专用的大型制齿设备，使用通用的设备即可制造大型、超大型的减速装置，不仅便于对大型齿圈进行加工制造，且有利于提高所得齿距、齿形精度；多个独立的驱动件进行组合驱动，大大降低了对动力设备的要求及制造成本。

Description

一种组合式二级减速装置 技术领域
本发明涉及齿轮减速装置技术领域，具体是一种组合式二级减速装置。
背景技术
目前，基于少齿差减速原理的减速结构在现有技术中已经比较成熟。比如公告号为CN109630633B的《一种章动盘式无级变速传动装置》，和公告号为CN 215733987 U的《减速直驱式章动永磁电机》。
本申请人的在先申请CN202211555299.8《一种组合式减速器》提供了一种通过滚动式啮合传动的结构，其包括基体、输入平面波轮、输出平面齿轮、活齿组件及压簧，利用输入平面波轮驱动活齿组件上下波动从而推动输出平面齿轮做减速运动，其中，输入平面波轮设置有沿周向布置的波形结构，该波形结构的下表面与活齿组件的上端滚动配合，当输入平面波轮转动时，波形结构的下表面推动活齿组件形成在周向上的连续波动，活齿组件的下端与输出平面齿轮的齿滚动啮合。
上述采用活齿结构的减速器消除了现有齿与齿之间刚性啮合的干涉问题，提高了力的传递稳定性，实现了扭矩、功率的均衡输出；同时，由于消除了齿啮合的干涉问题，还降低了齿的修形难度。由于上述输出平面齿轮上的齿圈是直接加工出来的，如果作为小型减速装置使用，其具有很大的优势，但是，当需要制造大型、超大型减速装置时，就要在大型齿轮上加工出若干个个齿，而个齿之间对齿距、齿形都具有很高的要求，现有的齿轮制造装置和工艺存在许多制约和困难，导致齿圈制造精度低、影响传动效果。
因此，对于目前的大型减速结构，有待于做进一步的改进。
发明内容
本发明所要解决的技术问题是针对现有技术的现状，提供一种便于对大型齿圈进行加工制造且所得齿距、齿形精度高从而能提高传动效果的组合式二级减速装置。
本发明解决上述技术问题所采用的技术方案为：
一种组合式二级减速装置，包括：
基体；
输入轮，能转动地设于所述基体顶部，用于与驱动机构相连接；
输出轮，能转动地设于所述基体底部，用于与待驱动设备相连接；
第一减速传动结构，传动连接于所述输入轮与输出轮之间；
还包括：所述驱动机构通过第二减速传动结构与输入轮相连接，所述输入轮、输出轮设置有分别通过啮合结构接收动力的齿圈，且若干个个齿脱卸式组装构成相应的齿圈。
在本发明中，所述输入轮的上表面设置有齿端朝上布置的第一齿圈，该第一齿圈包括有若干个沿输入轮周向依次排布的第一个齿。通过若干个第一个齿拼接出第一齿圈，无需专用的大型制齿设备，使用通用的设备即可制造大型、超大型的减速装置，对大型减速装置的制造有着十分重大的现实意义和经济意义。
优选地，所述第一个齿包括自下而上依次衔接的第一圆柱部分、扇形块部分、第一齿形部分，所述输入轮的上表面开设有沿周向布置的环形槽，所述环形槽的底壁开有供第一圆柱部分插置其中的第一插孔，所述扇形块部分容置在环形槽中且在环形槽径向上外大内小从而与环形槽的内外侧壁相匹配，所述第一齿形部分露出于环形槽之上，相邻两第一个齿的第一齿形部分之间构成齿槽。采用上述结构，可以拼接出整体性好的第一齿圈，以适配输入件的环状结构。
作为改进，所述环形槽中灌装有用于填充缝隙的环氧树脂，在灌装完环氧树脂且未固化状态下，运行驱动件从而利用其与第一齿圈的啮合传动修整啮合面。如果采用现有的制齿设备制造第一齿圈，实际上修齿难度很高，难以做到精准，而本发明利用拼接而成的第一齿圈之间的缝隙(各第一个齿之间有一定的可调度)，在环形树脂未固化之前，运行驱动件从而利用驱动件上的输出齿轮与第一齿圈的啮合传动修整啮合面，达到高精度修齿效果，同时，修齿完毕后，固化的环氧树脂将第一齿圈固定为一个整体，可靠性好。
优选地，所述驱动机构包括有至少两个独立的驱动件，该驱动件设于输入轮的旁侧且输出轴沿输入轮径向向第一齿圈上方延伸，所述驱动件的输出轴上连接有能与第一齿圈啮合传动的齿轮，该齿轮与所述第一齿圈共同构成所述的第二减速传动结构。现有的大型减速装置必须配置大型的动力设备，制造单台的大型动力设备不仅难以实现，且制备成本很高，本发明采用多个独立的驱动件通过减速传动结构驱动输入轮转动，不仅便于进行一级减速，还能降低对动力设备的要求及制造成本。
在本发明中，所述输出轮的上表面设置有齿端朝上布置的第二齿圈，该第二齿圈包括有若干个沿输出轮周向依次排布的第二个齿。通过若干个第二个齿拼接出第二齿圈，无需专用的大型制齿设备，使用通用的设备即可制造大型、超大型的减速装置，对大型减速装置的制造有着十分重大的现实意义和经济意义。
优选地，所述第二个齿包括自下而上依次衔接的第二圆柱部分、第二齿形部分，所述输出轮的上表面开设有供第二圆柱部分插置其中的第二插孔，所述第二齿形部分位于输出轮上表面之上，相邻两第二个齿的第二齿形部分之间构成齿槽。采用上述结构，可以拼接出整体性好的第二齿圈，以适配输出件的环状结构。
作为改进，所述第二插孔中设置有贴近第二插孔内壁插置其中的滑动套，所述第二圆柱部分插置在滑动套中，装配完毕状态下，所述滑动套内壁与第二圆柱部分外壁之间具有间隙。上述间隙允许第二个齿之间做小角度齿向偏转，以提啮合面的适配度，降低摩擦，满足大负载要求。
优选地，所述滑动套的内周壁上开设有多个沿周向间隔排布且沿径向延伸的凹坑，相邻两凹坑之间形成能与第二圆柱部分的外壁面配合的凸棱。该结构有利于提高滑动套对第二个齿的约束精度。
作为改进，所述第二圆柱部分开设有自底壁向上延伸的缺口，所述第二插孔的底部设置有呈倒置U形结构的弹性件，该弹性件上部容置在缺口中且U形结构的封闭端与缺口顶部相抵，所述弹性件的下端约束在第二插孔的底壁。上述弹性件可使第二个齿始终保持沿第二圆柱部分轴向上的姿态，在第二个齿上方的第一减速传动结构与第二个齿啮合时，推动第二个齿做小角度的齿向偏转，使得第一减速传动结构的下端轮母线始终与第二个齿的平面齿形直线接触，以降低干涉与摩擦，提高传动效果。
优选地，所述的缺口呈倒置的V形结构，且该V形结构的封闭端通过圆弧面过渡。所述第二插孔的底壁上开有沿输出轮径向间隔排布的用于与U形结构的开口端相配合的第一限位孔、第二限位孔。上述结构便于提高对弹性件的限位效果。
为了便于对第二个齿的上下位置进行限制，所述输出轮的上表面还设置有用于将第二个齿约束在输出轮上的压板，该压板为多块沿输出轮周向间隔排布，所述第二齿形部分的侧部设置有向外延伸的压边，所述压板通过螺钉锁紧在输出轮上且压板内侧具有将压边夹持其中的夹槽。
在本发明中，所述的输入轮为输入平面波轮，所述输入平面波轮的下表面设置有沿周向布置且高低起伏的波形结构，该波形结构包括有至少两个向下的凸起部分，所述的输出轮为输出平面齿轮。
优选地，所述的第一减速传动结构包括活齿组件及压簧，所述活齿组件能上下移动地约束在基体中且上端与波形结构的下表面滚动配合、下端与输出平面齿轮的第二齿圈滚动啮合，所述活齿组件的数量大于输出平面齿轮上第二个齿的数量；所述压簧设于基体中，使所述活齿组件始终保持上端与波形结构接触的趋势。采用上述活齿组件结构，使活齿在保持刚性结构的基础上，能与齿进行滚动啮合，消除现有齿与齿的啮合干涉问题，以提高承载力，实现减速装置扭矩、功率的均衡输出。
与现有技术相比，本发明的优点在于：本发明通过拼接的方式将多个齿组合成完整的齿圈，该齿圈分别设于输入轮、输出轮上，从而分别通过啮合结构接收来自上游的动力；本发明通过拼接方式将齿圈结构活齿化，无需专用的大型制齿设备，使用通用的设备即可制造大型、超大型的减速装置，不仅便于对大型齿圈进行加工制造，且有利于提高所得齿距、齿形精度；而驱动机构采用多个独立的驱动件进行组合驱动，大大降低了 对动力设备的要求及制造成本。
附图说明
图1为本发明实施例的结构示意图；
图2为图1另一角度的结构示意图；
图3为本发明实施例的剖视图；
图4为图3中A部分的放大图；
图5为本发明实施例中第一齿圈与输入轮的装配图；
图6为本发明实施例中第二齿圈与输出轮的装配图；
图7为本发明实施例中输入轮的结构示意图；
图8为本发明实施例中输入轮另一角度的结构示意图。
具体实施方式
以下结合附图实施例对本发明作进一步详细描述。
如图1～8所示，本实施例的组合式二级减速装置包括基体1、输入轮2、输出轮3、第一减速传动结构、第二减速传动结构。输入轮2能转动地设于基体1顶部，用于与驱动机构相连接，输出轮3能转动地设于基体1底部，用于与待驱动设备相连接，第一减速传动结构传动连接于输入轮2与输出轮3之间。驱动机构包括有至少两个独立的驱动件9，本实施例中设置有6个，驱动件9通过第二减速传动结构与输入轮相连接，输入轮、输出轮设置有分别通过啮合结构接收动力的齿圈，且若干个个齿脱卸式组装构成相应的齿圈。
为了方便说明，本实施例中的输入轮2采用本申请人的在先申请CN202211555299.8中的输入平面波轮，输出轮3采用本申请人的在先申请CN202211555299.8中的输出平面齿轮，第一减速传动结构采用本申请人的在先申请CN202211555299.8中的活齿组件4及压簧5。当然，需要强调的是，本发明对于齿圈活齿化的技术构思，即使在不采用上述结构的输入平面波轮、输出平面齿轮、活齿组件4及压簧5时也应能独立实现，并获得相应的技术效果。
在本实施例中，如图3、5所示，输入轮2的上表面设置有齿端朝上布置的第一齿圈21’，该第一齿圈21’包括有若干个沿输入轮2周向依次排布的第一个齿211’。通过若干个第一个齿211’拼接处第一齿圈21’，无需专用的大型制齿设备，使用通用的设备即可制造大型、超大型的减速装置，对大型减速装置的制造有着十分重大的现实意义和经济意义。
第一个齿211’包括自下而上依次衔接的第一圆柱部分2111、扇形块部分2112、第 一齿形部分2113，输入轮2的上表面开设有沿周向布置的环形槽22’，环形槽22’的底壁开有供第一圆柱部分2111插置其中的第一插孔221’，扇形块部分2112容置在环形槽22’中且在环形槽22’径向上外大内小从而与环形槽22’的内外侧壁相匹配，第一齿形部分2113露出于环形槽22’之上，相邻两第一个齿211’的第一齿形部分2113之间构成齿槽。采用上述结构，可以拼接出整体性好的第一齿圈21’，以适配输入件2的环状结构。
环形槽22’中灌装有用于填充缝隙的环氧树脂，在灌装完环氧树脂且未固化状态下，运行驱动件9从而利用其与第一齿圈21’的啮合传动修整啮合面。如果采用现有的制齿设备制造第一齿圈，实际上修齿难度很高，难以做到精准，而本发明利用拼接而成的第一齿圈之间的缝隙(各第一个齿之间有一定的可调度)，在环形树脂未固化之前，运行驱动件从而利用驱动件上的输出齿轮与第一齿圈的啮合传动修整啮合面，达到高精度修齿效果，同时，修齿完毕后，固化的环氧树脂将第一齿圈固定为一个整体，可靠性好。
如图3所示，本实施例的驱动件9为电机，设于输入轮2的旁侧且输出轴91沿输入轮2径向向第一齿圈21’上方延伸，驱动件9的输出轴91上连接有能与第一齿圈21’啮合传动的齿轮92，该齿轮92与第一齿圈21’共同构成第二减速传动结构。对于大型减速装置来说，采用多个独立的驱动件9通过减速传动结构驱动输入轮转动，不仅便于进行一级减速，还能降低对动力设备的要求及制造成本。
在本实施例中，如图3、6所示，输出轮3的上表面设置有齿端朝上布置的第二齿圈31’，该第二齿圈31’包括有若干个沿输出轮3周向依次排布的第二个齿311’。通过若干个第二个齿311’拼接出第二齿圈31’，无需专用的大型制齿设备，使用通用的设备即可制造大型、超大型的减速装置，对大型减速装置的制造有着十分重大的现实意义和经济意义。
第二个齿311’包括自下而上依次衔接的第二圆柱部分3111、第二齿形部分3112，输出轮3的上表面开设有供第二圆柱部分3111插置其中的第二插孔32’，第二齿形部分3112位于输出轮3上表面之上，相邻两第二个齿311’的第二齿形部分3112之间构成齿槽。采用上述结构，可以拼接出整体性好的第二齿圈31’，以适配输出件3的环状结构。
本实施例的第二插孔32’中设置有贴近第二插孔32’内壁插置其中的滑动套33’，第二圆柱部分3111插置在滑动套33’中，装配完毕状态下，滑动套33’内壁与第二圆柱部分3111外壁之间具有间隙。上述间隙允许第二个齿311’之间做小角度齿向偏转，以提啮合面的适配度，降低摩擦，满足大负载要求。
滑动套33’的内周壁上开设有多个沿周向间隔排布且沿径向延伸的凹坑331’，相邻两凹坑331’之间形成能与第二圆柱部分3111的外壁面配合的凸棱332’。该结构有利于提高滑动套33’对第二个齿311’的约束精度。
第二圆柱部分3111开设有自底壁向上延伸的缺口3110，第二插孔32’的底部设置有呈倒置U形结构的弹性件34’，弹性件34’采用金属钢丝制作。该弹性件34’上部容置 在缺口3110中且U形结构的封闭端与缺口3111顶部相抵，弹性件34’的下端约束在第二插孔32’的底壁。上述弹性件34’可使第二个齿311’始终保持沿第二圆柱部分3111轴向上的姿态，在第二个齿311’上方的第一减速传动结构与第二个齿311’啮合时，推动第二个齿311’做小角度的齿向偏转，使得第一减速传动结构的下端轮母线始终与第二个齿311’的平面齿形直线接触，以降低干涉与摩擦，提高传动效果。
上述缺口3110呈倒置的V形结构，且该V形结构的封闭端通过圆弧面过渡。第二插孔32’的底壁上开有沿输出轮2径向间隔排布的用于对U形结构的开口端相配合的第一限位孔321’、第二限位孔322’，以提高对弹性件34’的限位效果。
为了便于对第二个齿311’的上下位置进行限制，输出轮2的上表面还设置有用于将第二个齿311’约束在输出轮2上的压板35’，该压板35’为多块沿输出轮2周向间隔排布，第二齿形部分3112的侧部设置有向外延伸的压边3113，压板35’通过螺钉锁紧在输出轮32’上且内侧具有将压边3113夹持其中的夹槽351’。
在本实施例中，输入平面波轮2能转动地设于基体1顶部，输入平面波轮2上表面为动力输出处、与驱动件9连接，输入平面波轮2的下表面设置有沿周向布置且高低起伏的波形结构21，该波形结构21包括有三个向下的凸起部分211。输出平面齿轮3的下端连接于需要减速的装置体上。活齿组件4能上下移动地约束在基体1中且上端与波形结构21的下表面滚动配合、下端与输出平面齿轮3的第二齿圈31’滚动啮合，活齿组件4的数量大于输出平面齿轮3上第二个齿311’的数量。压簧5设于基体1中，使活齿组件4始终保持上端与波形结构21接触的趋势。
本实施例减速器的减速比设计以输入平面波轮2上的波数为基数设计，即输入平面波轮2上设计有几个波，活齿组件4的个数与输出平面齿轮3上的齿数差即多少。在本实施例中，波形结构21的数量为N，活齿组件4的数量为Z1，输出平面齿轮3上的齿31的数量为Z2，则N＝(Z1-Z2)，减速比为Z2:(Z1-Z2)。
本实施例的波形结构21所对应的展开波形线包括三个相互衔接的V形波段，即一个凸起部分211对应一个V形波段，该V形波段的尖端处及相邻两V形波段之间均通过圆弧段212平滑过渡。采用这样的结构，V形波段的直线段与原始创建平面之间的夹角为波动角，V形波段的两直线段之间的圆弧段212为过渡部分，该结构有利于提高活齿组件4与波形结构21之间的接触稳定性及可靠性，并进一步消除活齿组件4下端与第二个齿3111之间的干涉。
在本实施例中，基体1的中部设置有横向布置的装配块11，输入平面波轮2底部的中央部位通过第一轴承组件100转动连接于该装配块11的顶部，输出平面齿轮3顶部的中央部位通过第二轴承组件200转动连接于该装配块11的底部，装配块11上开有多个沿周向间隔布置且上下贯通的供活齿组件4穿过的装配孔111。输入平面波轮2的外边缘处向下延伸形成波形结构21，输出平面齿轮3上表面的边缘向上设置第二齿圈 31’，波形结构21的下表面与装配孔111、第二齿圈31’自上而下对应。
本实施例的活齿组件4包括顶座41、活齿连接柱42、齿座43、滚轮44及柱销45。顶座41设于装配块11之上且顶部与波形结构21的下表面滚动配合。活齿连接柱42能上下移动的穿过装配孔111布置且上端与顶座41相连接，活齿连接柱42的上端与顶座41的底部通过过盈静配合方式固定连接，齿座43连接于活齿连接柱42的下端，活齿连接柱42的下端与齿座43的顶部通过过盈静配合方式固定连接。滚轮44能转动地设于齿座43的底部，与相邻两齿31之间形成齿面滚动配合，柱销45用于将滚轮44约束在齿座43的底部。该结构使活齿在保持刚性结构的基础上，能与齿31进行滚动啮合，消除现有齿与齿的啮合干涉问题，以提高承载力，实现减速装置扭矩、功率的均衡输出。装配块11的上表面开设有向下延伸且用于容置压簧5的安装槽112，压簧5的下部容置在该安装槽112中、上端与顶座41相抵。上述结构便于对压簧5进行安装，并通过压簧5使活齿组件4的上端始终与波形结构21的下表面保持接触。
本实施例中活齿组件4的其他细节结构与在先申请CN202211555299.8相同，在此不做赘述。
本实施例基体1的顶部设置有上盖板01，用于将输入轮2及其装配结构包围其中，驱动件9设置在上盖板外侧且输出轴91穿过上盖板布置。
需要说明的是，为了更清楚、直观的体现个齿与相应输入轮2、输出轮3之间的装配关系，本实施例在图5、图6中隐藏了一部分个齿及相应插孔，体现为相邻个齿之间具有间距，而实际上，本实施例的个齿与个齿之间基本不存在明显的装配间距，具体如图3所示。
本实施例通过拼接的方式将多个齿组合形成完整的齿圈，该齿圈分别设于输入轮2、输出轮3上，从而分别通过啮合结构接收来自上游的动力；本实施例通过拼接方式将齿圈结构活齿化，无需专用的大型制齿设备，使用通用的设备即可制造大型、超大型的减速装置，不仅便于对大型齿圈进行加工制造，且有利于提高所得齿距、齿形精度；而驱动机构采用多个独立的驱动件进行组合驱动，大大降低了对动力设备的要求及制造成本。
在本发明的说明书及权利要求书中使用了表示方向的术语，诸如“前”、“后”、“上”、“下”、“左”、“右”、“侧”、“顶”、“底”等，用来描述本发明的各种示例结构部分和元件，但是在此使用这些术语只是为了方便说明的目的，是基于附图中显示的示例方位而确定的。由于本发明所公开的实施例可以按照不同的方向设置，所以这些表示方向的术语只是作为说明而不应视作为限制，比如“上”、“下”并不一定被限定为与重力方向相反或一致的方向。

Claims (15)

  1. 一种组合式二级减速装置，包括：
    基体(1)；
    输入轮(2)，能转动地设于所述基体(1)顶部，用于与驱动机构相连接；
    输出轮(3)，能转动地设于所述基体(1)底部，用于与待驱动设备相连接；
    第一减速传动结构，传动连接于所述输入轮(2)与输出轮(3)之间；
    其特征在于还包括：所述驱动机构通过第二减速传动结构与输入轮(2)相连接，所述输入轮(2)、输出轮(3)设置有分别通过啮合结构接收动力的齿圈，且若干个个齿脱卸式组装构成相应的齿圈。
  2. 根据权利要求1所述的组合式二级减速装置，其特征在于：所述输入轮(2)的上表面设置有齿端朝上布置的第一齿圈(21’)，该第一齿圈(21’)包括有若干个沿输入轮(2)周向依次排布的第一个齿(211’)。
  3. 根据权利要求2所述的组合式二级减速装置，其特征在于：所述第一个齿(211’)包括自下而上依次衔接的第一圆柱部分(2111)、扇形块部分(2112)、第一齿形部分(2113)，所述输入轮(2)的上表面开设有沿周向布置的环形槽(22’)，所述环形槽(22’)的底壁开有供第一圆柱部分(2111)插置其中的第一插孔221’)，所述扇形块部分(2112)容置在环形槽(22’)中且在环形槽(22’)径向上外大内小从而与环形槽(22’)的内外侧壁相匹配，所述第一齿形部分(2113)露出于环形槽(22’)之上，相邻两第一个齿(211’)的第一齿形部分(2113)之间构成齿槽。
  4. 根据权利要求3所述的组合式二级减速装置，其特征在于：所述环形槽(22’)中灌装有用于填充缝隙的环氧树脂，在灌装完环氧树脂且未固化状态下，运行驱动件从而利用其与第一齿圈的啮合传动修整啮合面。
  5. 根据权利要求2所述的组合式二级减速装置，其特征在于：所述驱动机构包括有至少两个独立的驱动件(9)，该驱动件(9)设于输入轮(2)的旁侧且输出轴(91)沿输入轮(2)径向向第一齿圈(21’)上方延伸，所述驱动件(9)的输出轴(91)上连接有能与第一齿圈(21’)啮合传动的齿轮(92)，该齿轮(92)与所述第一齿圈(21’)共同构成所述的第二减速传动结构。
  6. 根据权利要求1～5中任一项所述的组合式二级减速装置，其特征在于：所述输出轮(3)的上表面设置有齿端朝上布置的第二齿圈(31’)，该第二齿圈(31’)包括有若干个沿输出轮(3)周向依次排布的第二个齿(311’)。
  7. 根据权利要求6所述的组合式二级减速装置，其特征在于：所述第二个齿(311’)包括自下而上依次衔接的第二圆柱部分(3111)、第二齿形部分(3112)，所述输出轮(3)的上表面开设有供第二圆柱部分(3111)插置其中的第二插孔(32’)，所述第二齿形部分(3112)位于输出轮(3)上表面之上，相邻两第二个齿(311’)的第二齿形部分(3112)之间构成齿槽。
  8. 根据权利要求7所述的组合式二级减速装置，其特征在于：所述第二插孔(32’)中设置有贴近第二插孔(32’)内壁插置其中的滑动套(33’)，所述第二圆柱部分(3111)插置在滑动套(33’)中，装配完毕状态下，所述滑动套(33’)内壁与第二圆柱部分(3111)外壁之间具有间隙。
  9. 根据权利要求8所述的组合式二级减速装置，其特征在于：所述滑动套(33’)的内周壁上开设有多个沿周向间隔排布且沿径向延伸的凹坑(331’)，相邻两凹坑(331’)之间形成能与第二圆柱部分(3111)的外壁面配合的凸棱(332’)。
  10. 根据权利要求8所述的组合式二级减速装置，其特征在于：所述第二圆柱部分(3111)开设有自底壁向上延伸的缺口(3110)，所述第二插孔(32’)的底部设置有呈倒置U形结构的弹性件(34’)，该弹性件(34’)上部容置在缺口(3110)中且封闭端与缺口(3110)顶部相抵，所述弹性件(34’)的下端约束在第二插孔(32’)的底壁。
  11. 根据权利要求10所述的组合式二级减速装置，其特征在于：所述的缺口(3110)呈倒置的V形结构，且该V形结构的封闭端通过圆弧面过渡。
  12. 根据权利要求10所述的组合式二级减速装置，其特征在于：所述第二插孔(32’)的底壁上开有沿输出轮(3)径向间隔排布的用于与U形结构的开口端相配合的第一限位孔(321’)、第二限位孔(322’)。
  13. 根据权利要求7所述的组合式二级减速装置，其特征在于：所述输出轮(3)的上表面还设置有用于将第二个齿(311’)约束在输出轮(3)上的压板(35’)，该压板(35’)为多块沿输出轮(3)周向间隔排布，所述第二齿形部分(3112)的侧部设置有向外延伸的压边(3113)，所述压板(35’)通过螺钉锁紧在输出轮(3)上且内侧具有将压边(3113)夹持其中的夹槽(351’)。
  14. 根据权利要求6所述的组合式二级减速装置，其特征在于：所述的输入轮(2)为输入平面波轮，所述输入平面波轮的下表面设置有沿周向布置且高低起伏的波形结构(21)，该波形结构(21)包括有至少两个向下的凸起部分(211)，所述的输出轮(3)为输出平面齿轮(92)。
  15. 根据权利要求14所述的组合式二级减速装置，其特征在于：所述的第一减速传动结构包括活齿组件(4)及压簧(5)，所述活齿组件(4)能上下移动地约束在基体(1)中且上端与波形结构(21)的下表面滚动配合、下端与输出平面齿轮(92)的第二齿圈(31’)滚动啮合，所述活齿组件(4)的数量大于输出平面齿轮(92)上第二个齿(311’)的数量；所述压簧(5)设于基体(1)中，使所述活齿组件(4)始终保持上端与波形结构(21)接触的趋势。
PCT/CN2022/138680 2022-12-07 2022-12-13 一种组合式二级减速装置 WO2024119529A1 (zh)

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