CN100360829C - Secondary envelope cycloid planet driving device - Google Patents
Secondary envelope cycloid planet driving device Download PDFInfo
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- CN100360829C CN100360829C CNB2006100542636A CN200610054263A CN100360829C CN 100360829 C CN100360829 C CN 100360829C CN B2006100542636 A CNB2006100542636 A CN B2006100542636A CN 200610054263 A CN200610054263 A CN 200610054263A CN 100360829 C CN100360829 C CN 100360829C
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- cycloid
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Abstract
The present relates to a secondary envelope cycloid planetary transmission device which relates to a small tooth difference planetary speed reducing device. The present invention is applied to the fields of precision and power transmission. The present invention solves the problems of the single-line contact, and the larger bearing reaction of a rotating arm of the current cycloid pin wheel planetary transmission device. The present invention comprises an input shaft, a left and a right disks, cycloid wheels, an inner gear, a connecting shaft, a rolling sliding groove, a floating disc type output mechanism and bearings. The tooth profile of the inner gear of the present invention is formed by the envelope of the planet motion of the cycloid wheels; the tooth profile of each cycloid wheel and the tooth profile of the inner gear form a conjugation engaging pair; a left and a right floating disks which are respectively positioned between a left disk and a left cycloid wheel and between a right cycloid wheel and a right disk form an output mechanism, and the left and the right floating disks are connected by the rolling sliding groove; rolling bodies in radial direction and axial direction spacing arrangement are placed in an integral cage for forming special bearings in the radial direction / the axial direction. The invention has the characteristic of double-line contact and is favorable to improve a bearing capacity, improve lubricating performance, improve transmission accuracy and extend the service lifves of the bearings.
Description
Technical field:
The present invention relates to planetary speed reducer with small tooth number difference, be a kind of precision and actuating unit.
Background technique:
On December 23rd, 2005, University Of Chongqing has proposed application for a patent for invention with " double-disc cycloid planetary driving device " to State Intellectual Property Office, and application number is 200510057463.2.This device comprises pinwheel, is made up of main body and pin tooth and pin gear sleeve; The left and right disk that lays respectively at the left and right end of main body and be connected as a single entity with link, the radial/axial special bearing is housed between left and right disk and the main body, the input shaft that left and right end is supported by the bearing that is positioned at left and right disk endoporus respectively, double-eccentric shaft is housed on the input shaft holds, two cycloid wheel are housed on it.This device solves common cycloid pinwheel Gear Planet Transmission be difficult to bear the problem that adds axial force.This transmission device all has the following disadvantages with common cycloid pinwheel planetary driving device: pinwheel is that single line contacts with a pair of gear teeth meshing of cycloid wheel, and induced normal curvature is bigger, and bearing capacity is not high; The radial force that the pin axle type output mechanism produces has strengthened the stressed of capacity eccentric bearing, influences bearing life; The slip that guide on the link brings is bigger, influences its transmission efficiency; Special bearing radially, axially spacing block is more between the rolling element, will produce bigger cumulative error, causes the assembling difficulty, influences the bearing element performance.
Summary of the invention:
The present invention is directed to above-mentioned the deficiencies in the prior art, provide a kind of and not only had multiple tooth meshing characteristic but also have two-wire contact performance, bearing capacity height, shaft strength is good, transmission efficiency is higher, the special bearing rolling characteristics is good secondary envelope cycloid planet driving device.
For achieving the above object, its technical solution is: the present invention includes internal gear, the left and right disk that is positioned at the left and right end of internal gear and is connected as a single entity with coupling shaft, the radial/axial rolling element is housed between left and right disk and the internal gear, input shaft by the supporting of the bearing of left and right disk endoporus, double-eccentric shaft is housed on the input shaft to be held, two cycloid wheel are housed on it, between left disk and the left sheet cycloid wheel, between right disk and right sheet cycloid wheel, floating disc is arranged, be symmetrically distributed with four square breach on each floating disc; The engagement pair that it is characterized in that transmission device is made of internal gear and cycloid wheel, and the flank profil of cycloid wheel is the first enveloped flank profil, i.e. the equal space line of the curtate epicycloid of pin tooth envelope formation, and its equation is:
The flank profil of internal gear is the twice-enveloping flank profil, is promptly formed by cycloid crop rotation planetary motion envelope, and its tooth profile equation is:
In the formula:
x
*The abscissa of putting on the equidistant curve of the curtate epicycloid of-cycloid wheel
y
*The y coordinate of putting on the equidistant curve of the curtate epicycloid of-cycloid wheel
The y coordinate of putting on the abscissa y-internal gear tooth curve of putting on the x-internal gear tooth curve
R
Z-pinwheel radius -pinwheel is with respect to the corner K of cycloid wheel
1-curtate ratio
The common normal line of putting on the curtate epicycloid of γ-cycloid wheel and the angle of axis of abscissas
Z
b-pin number of teeth r
ZThe corner of-pin gear sleeve radius α-cycloid wheel
On the right side of described left disk, on the left side of right disk, be symmetrically distributed with two square boss on the end face of left and right cycloid wheel, the bi-side of boss are the center line symmetry radially, boss on the right side of left side disk is alternate with the boss on the left and right cycloid wheel with the boss on the left side of right disk to be distributed in the square breach of floating disc symmetrically, the movable roller that cooperates is arranged, formation rolling chute floating disc type output mechanism between the inwall of the bi-side of boss and floating disc breach respectively; The integral cage that ring is arranged between left and right disk and internal gear, be spaced on the one end face He on the inwall, orthogonal groove, the axial rolling element of radial/axial rolling element is packed in the groove on the integral cage end face, the radial rolling body of radial/axial rolling element is packed in the groove on the integral cage inwall, and constitutes the radial/axial special bearing by them.
The present invention compared with prior art, its technique effect is: engagement pair of the present invention had both had the characteristic (total number of teeth in engagement can reach half of total number of teeth simultaneously) of the multiple tooth engagement of common cycloid pinwheel Gear Planet Transmission, and in certain zone, a pair of gear teeth have the two-wire contact performance; Twice-enveloping point of contact induced normal curvature goes to zero, and helps improving bearing capacity and improves lubrication property; Contact is counted to increase and can be given full play to the error leveling effect, improves the precision of transmission; Rolling chute floating disc type output mechanism is stressed to be pure torsion, can significantly reduce the rotary arm bearing counter-force, improves the life-span of bearing; Special bearing is an integral cage, can reduce the cumulative error of special bearing, improves rolling characteristics.
Description of drawings:
Fig. 1 is the A-A sectional view of secondary envelope cycloid planet driving device among Fig. 2.
Fig. 2 is the B-B sectional view of Fig. 1.
Fig. 3 is the three-dimensional cutaway view of secondary envelope cycloid planet driving device.
Fig. 4 is the plan view of left disk.
Fig. 5 is the C-C sectional view of Fig. 4.
Fig. 6 is the plan view of right disk.
Fig. 7 is the D-D sectional view of Fig. 6.
Fig. 8 is the plan view of cycloid wheel.
Fig. 9 is the E-E sectional view of Fig. 8.
Figure 10 is the plan view of integral cage.
Figure 11 is the F-F sectional view of integral cage.
Figure 12 is the comparison diagram of some contact phenomenas of 2 contact phenomenas of secondary envelope cycloid Gear Planet Transmission and common cycloid pinwheel Gear Planet Transmission.
Figure 13 is the local amplification stereogram of cycloid wheel and internal gear two-wire engagement place.
The right disk 9-of the left disk 3-of 1-oil sealing 2-radial/axial rolling element 4-integral cage 5-internal gear 6-integral cage 7-radial/axial rolling element 8-oil sealing 10-oil sealing 11-power shaft 12-bearing 13-floating disc 14-double-eccentric shaft holds 15-Cycloidal Wheel 16-separator 17-Cycloidal Wheel 18-floating disc 19-connecting axle 20-bearing 21-packing ring 22-nut 23-roller 24-pin tooth flank profil 25-contact wire
Embodiment:
Below in conjunction with accompanying drawing, the invention will be further described.
At Fig. 1,2, in 3, the flank profil of internal gear 5 is the secondary action flank of tooth that formed by cycloid crop rotation planetary motion envelope, two cycloid wheel 15,17 double-eccentric shafts that are contained in input shaft 11 middle parts hold on 14, cycloid wheel 15,17 flank profils and internal gear 5 flank profils constitute the conjugation engagement pair, in certain zone, internal gear 5 and cycloid wheel 15,17-produce two Line of contact during to gear teeth meshing, and twice-enveloping point induced normal curvature goes to zero, help improving bearing capacity and improve lubrication property, contact is counted simultaneously increases greatly, can give full play to the error leveling effect, improve the precision of transmission; Left and right disk 2,8 lays respectively at internal gear 5 left and right ends, and 4 uniform identical coupling shafts 19 are connected as a single entity on the circumference with radiuses such as edges; The integral cage 4,6 of radial/axial rolling element 3,7 and ring is housed between left and right disk 2,8 and the internal gear 5, on 4,6 one end faces of integral cage and be spaced on the inwall, orthogonal groove, the axial rolling element of radial/axial rolling element 3,7 is packed in the groove on the integral cage end face, the radial rolling body is packed in the groove on the integral cage inwall, and constitute the radial/axial special bearing by them, integral cage 4,6 can reduce the cumulative error of radial/axial special bearing, improves rolling characteristics; The left and right end of input shaft 11 is respectively by bearing 12 that is positioned at left and right disk 2,8 endoporus and 20 supportings; On the right side of left side disk 2, on the left side of right disk 8, on the left side of left sheet cycloid wheel 15, be symmetrically distributed with two rectangular boss on the right side of right sheet cycloid wheel 17, the bi-side of boss are the center line symmetry radially; Between the left end of the right-hand member of left disk 2 and left sheet cycloid wheel 15, between the right-hand member of the left end of right disk 8 and right sheet cycloid wheel 17, floating disc 13 is arranged respectively, 18, be symmetrically distributed with four square breach on the floating disc, a boss and a left side on the boss on the right side of left side disk 2 and the left side of right disk 8, right cycloid wheel 15, boss on 17 is alternate to be distributed in the square breach of floating disc symmetrically, the movable roller 23 that cooperates is arranged respectively between the inwall of the bi-side of boss and floating disc breach, constitute rolling chute floating disc type output mechanism, this output mechanism is stressed to be pure torsion, can significantly reduce the rotary arm bearing counter-force, improve the life-span of bearing.
In Fig. 4,5, be symmetrically distributed with two rectangular boss on the right side of left disk 2, the bi-side of boss are the center line symmetry radially.
In Fig. 6,7, be symmetrically distributed with two rectangular boss on the left side of right disk 8, the bi-side of boss are the center line symmetry radially.
In Fig. 8,9, be symmetrically distributed with two rectangular boss on the end face of cycloid wheel 15,17, the bi-side of boss are the center line symmetry radially.
In Figure 10,11, on the end face of the integral cage 4,6 of ring and be spaced on the inwall, orthogonal groove.
In Figure 12,13, each pin tooth flank profil 24 of common cycloid pinwheel Gear Planet Transmission produces a point of contact with the engagement of cycloid wheel 15,17 flank profils; In certain zone, produce two Line of contact 25 during a pair of gear teeth meshing of the internal gear 5 of secondary envelope cycloid Gear Planet Transmission and cycloid wheel 15,17, and twice-enveloping point induced normal curvature goes to zero, help improving bearing capacity and improve lubrication property; Contact is counted simultaneously increases greatly, can give full play to the error leveling effect, improves the precision of transmission.
Claims (1)
1, a kind of secondary envelope cycloid planet driving device, comprise internal gear (5), be positioned at internal gear (a 5) left side, a right-hand member and a left side that is connected as a single entity with coupling shaft (19), right disk (2,8), a left side, right disk (2,8) and between the internal gear (5) radial/axial rolling element (3 is housed, 7), by a left side, right disk (2,8) bearing (12 of endoporus, 20) Zhi Cheng input shaft (11), on the input shaft (11) double-eccentric shaft is housed and holds (14), cycloid wheel (15 is housed on it, 17), between left disk (2) and cycloid wheel (15), between right disk (8) and cycloid wheel (17), floating disc (13 is arranged, 18), be symmetrically distributed with four square breach on each floating disc; The engagement pair that it is characterized in that transmission device is made of internal gear (5) and cycloid wheel (15,17), and the flank profil of cycloid wheel is the first enveloped flank profil, i.e. the equal space line of the curtate epicycloid of pin tooth envelope formation, and its equation is:
The flank profil of internal gear is the twice-enveloping flank profil, is promptly formed by cycloid crop rotation planetary motion envelope, and its tooth profile equation is:
In the formula:
x
*The abscissa of putting on the equidistant curve of the curtate epicycloid of-cycloid wheel
y
*The y coordinate of putting on the equidistant curve of the curtate epicycloid of-cycloid wheel
The y coordinate of putting on the abscissa y-internal gear tooth curve of putting on the x-internal gear tooth curve
R
Z-pinwheel radius -pinwheel is with respect to the corner K of cycloid wheel
1-curtate ratio
The common normal line of putting on the curtate epicycloid of γ-cycloid wheel and the angle of axis of abscissas
Z
b-pin number of teeth r
ZThe corner of-pin gear sleeve radius α-cycloid wheel
On the right side of described left disk (2), on the left side of right disk (8), cycloid wheel (15,17) be symmetrically distributed with two square boss on the end face, the bi-side of boss are the center line symmetry radially, boss and cycloid wheel (15 on the boss on the right side of left side disk (2) and the left side of right disk (8), 17) the alternate floating disc (13 that is distributed in symmetrically of the boss on, 18) in the square breach, the bi-side of boss and floating disc (13,18) the movable roller (23) that cooperates is arranged between the inwall of breach respectively, constitute rolling chute floating disc type output mechanism; The integral cage (4,6) that ring is arranged between left and right disk (2,8) and internal gear (5), be spaced on the one end face He on the inwall, orthogonal groove, the axial rolling element of described radial/axial rolling element (3,7) is packed in the groove on integral cage (4, the 6) end face, the radial rolling body of described radial/axial rolling element (3,7) is packed in the groove on integral cage (4, the 6) inwall, and constitutes the radial/axial special bearing by them.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100542636A CN100360829C (en) | 2006-04-30 | 2006-04-30 | Secondary envelope cycloid planet driving device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100542636A CN100360829C (en) | 2006-04-30 | 2006-04-30 | Secondary envelope cycloid planet driving device |
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| CN1844704A CN1844704A (en) | 2006-10-11 |
| CN100360829C true CN100360829C (en) | 2008-01-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102252058A (en) * | 2011-07-01 | 2011-11-23 | 重庆大学 | Cycloid planetary transmission gear based on line-surface conjugation |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101802445B (en) * | 2006-11-03 | 2013-05-01 | 斯皮内阿有限责任公司 | Transmission |
| CN103994184B (en) * | 2014-03-26 | 2017-05-31 | 重庆大学 | Enclosed type cycloid precision speed reduction device |
| CN106352025B (en) * | 2016-11-29 | 2019-02-01 | 李宗翰 | A kind of harmonic speed reducer |
| CN106838266B (en) * | 2017-04-06 | 2023-02-03 | 重庆科谷机械有限公司 | Bearing speed reducer retainer |
| CN111219447B (en) * | 2020-03-17 | 2022-07-19 | 苏州大学 | Cambered surface secondary envelope crown gear nutation transmission device |
| CN116221345A (en) * | 2023-04-04 | 2023-06-06 | 哈尔滨艾拓普科技有限公司 | Compact floating type precise cycloidal reducer |
Citations (6)
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| US5123883A (en) * | 1990-02-21 | 1992-06-23 | Sumitomo Heavy Industries, Ltd. | Internal meshing type planetary gear speed changing device |
| CN1072340C (en) * | 1999-03-22 | 2001-10-03 | 重庆大学 | Cam removable tooth planet drive mechanism |
| DE10028046A1 (en) * | 2000-06-06 | 2001-12-20 | Sew Eurodrive Gmbh & Co | Planetary gear system; has input, output and gear casing parts, bearings, input and output shafts, at least one component with inner teeth, at least one planet gear and sun wheel or eccentric |
| CN1082636C (en) * | 1999-11-01 | 2002-04-10 | 重庆大学 | Space composite cam movable tooth driving device |
| JP2002147546A (en) * | 2000-11-14 | 2002-05-22 | Sumitomo Heavy Ind Ltd | Series of speed increasing/reducing gear |
| CN2550560Y (en) * | 2002-05-31 | 2003-05-14 | 重庆大学 | Cycloid cam movable gear driving device |
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2006
- 2006-04-30 CN CNB2006100542636A patent/CN100360829C/en active Active
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| US5123883A (en) * | 1990-02-21 | 1992-06-23 | Sumitomo Heavy Industries, Ltd. | Internal meshing type planetary gear speed changing device |
| CN1072340C (en) * | 1999-03-22 | 2001-10-03 | 重庆大学 | Cam removable tooth planet drive mechanism |
| CN1082636C (en) * | 1999-11-01 | 2002-04-10 | 重庆大学 | Space composite cam movable tooth driving device |
| DE10028046A1 (en) * | 2000-06-06 | 2001-12-20 | Sew Eurodrive Gmbh & Co | Planetary gear system; has input, output and gear casing parts, bearings, input and output shafts, at least one component with inner teeth, at least one planet gear and sun wheel or eccentric |
| JP2002147546A (en) * | 2000-11-14 | 2002-05-22 | Sumitomo Heavy Ind Ltd | Series of speed increasing/reducing gear |
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Non-Patent Citations (1)
| Title |
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| 摆线行星传动机构齿廓曲线的设计. 张振林，张春丽，王燕，李宗田.机械设计，第19卷第5期. 2002 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102252058A (en) * | 2011-07-01 | 2011-11-23 | 重庆大学 | Cycloid planetary transmission gear based on line-surface conjugation |
| CN102252058B (en) * | 2011-07-01 | 2014-10-08 | 重庆大学 | Cycloid planetary transmission gear based on line-surface conjugation |
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| Publication number | Publication date |
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| CN1844704A (en) | 2006-10-11 |
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Application publication date: 20061011 Assignee: Tailong Decelerating Machine Co., Ltd., Jiangsu Assignor: Chongqing University Contract record no.: 2015320000085 Denomination of invention: Secondary envelope cycloid planet driving device Granted publication date: 20080109 License type: Exclusive License Record date: 20150319 |
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