CN103307214A - Coplaner double-inside engaged gear with few tooth differences and reducer adopting coplaner double-inside engaged gear - Google Patents
Coplaner double-inside engaged gear with few tooth differences and reducer adopting coplaner double-inside engaged gear Download PDFInfo
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- CN103307214A CN103307214A CN2013101939489A CN201310193948A CN103307214A CN 103307214 A CN103307214 A CN 103307214A CN 2013101939489 A CN2013101939489 A CN 2013101939489A CN 201310193948 A CN201310193948 A CN 201310193948A CN 103307214 A CN103307214 A CN 103307214A
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Abstract
The invention provides a coplaner double-inside engaged gear with few tooth differences and a reducer adopting the coplaner double-inside engaged gear. The coplaner double-inside engaged gear comprises two coplaner inside engaged gear pairs, wherein the two coplaner inside engaged gear pairs comprise an outer layer inside gear, an outer layer outside gear, an inner layer inside gear and an inner layer outside gear; the outer layer inside gear and the outer layer outside gear are coplaner and meshed with each other, so are the inner layer inside gear and the inner layer outside gear; the outer layer inside gear, the outer layer outside gear, the inner layer inside gear and the inner layer outside gear are sequentially arranged from outside to inside; and the outer layer outside gear is fixedly connected with the inner layer outside gear. When the coplaner double-inside engaged gear is in use, an eccentric shaft or a tumbler bearing is sleeved with a gear sleeve, the gear sleeve is connected with an input shaft, the input shaft drives the gear sleeve; one gear on the gear sleeve is meshed with the corresponding gear, at the moment, the gear sleeve does planetary motion, another gear on the gear sleeve is meshed with an output gear, and the output gear is connected with an output shaft. The coplaner double-inside engaged gear with few tooth differences enables the system size, particularly the axial dimension to be smaller and the structure to be simpler and more compact, and can greatly reduce the stress of the bearing when used in a reduction mechanism with few tooth differences.
Description
Technical field
The present invention relates to the gear transmission field, relate in particular to coplanar pair of inside engaged gear of a kind of few teeth difference and adopt its retarder.
Background technique
Retarder is a bottleneck that improves the robot performance in the middle of robot or the mechanism hand at present.The heavier joint of load particularly, as knee joint or ankle-joint, the performance of retarder is crucial especially.The retarder that adopts in the joint of robot at present mainly contains harmonic speed reducer and RV retarder.
Harmonic speed reducer has sale in international, Domestic market at present.A flexbile gear is arranged in the harmonic speed reducer, and its rigidity is relatively poor, affects the rigidity in joint, and the tooth problem easily occurs jumping when load is large.RV retarder rigidity and the moment of bearing are all larger, are suitable for doing robot joint speed reducer and use, and still, wherein component are many and require accuracy of manufacturing high, complex process.
Several retarders that current output torque is larger have, and the RV retarder of the three-ring speed reducer that Chinese scholar proposes, internal parallel moving gears reducer and in the world appearance etc. are several.These several retarders all belong to few teeth difference internal gear meshing transmission.Be characterized in that the load that gear can bear is large, but bearing but is weak link, comprises that wherein the best RV retarder of effect also is that so its bearing capacity is subjected to the restriction of bearing load carrying capacity.Patent of nearest domestic appearance, the i.e. two interior engagement solutions of a kind of few teeth difference.Allegedly can solve the excessive problem of shaft strength.But through static analysis, we find, only have its advantage of competence exertion when its axial dimension is larger, otherwise shaft strength are substantially constant, and this scheme can only monolaterally drive, and can not form a couple.
Summary of the invention
The technical problem that the present invention solves is exactly, and proposes coplanar pair of inside engaged gear of a kind of few teeth difference, and two groups of few teeth difference inside engaged gears are coplanar, and axial dimension is little, reduced the axial dimension of retarder; And output torque is large.By coplanar design, shaft strength is less, can be reduced to 1/5th or 1/4th of load, namely in same axis strength situation, has greatly improved load capacity;
Another technical problem that the present invention solves is exactly, proposes a kind of retarder that adopts coplanar pair of inside engaged gear of few teeth difference, reduced the axial dimension of retarder, can the both direction driving, can form a couple.
In order to address the above problem, the invention provides coplanar pair of inside engaged gear of a kind of few teeth difference, comprise two pairs of coplanar internal gear pairs, wherein,
Described two pairs of coplanar interior meshed gears pairs are intermeshing coplanar outer internal gear and outer external gear, internal layer internal gear and internal layer external gear, and outer internal gear, outer external gear, internal layer internal gear and internal layer external gear set gradually from outside to inside;
Described outer external gear is fixedly connected with the internal layer external gear.
As a kind of preferred version of coplanar pair of inside engaged gear of above-mentioned few teeth difference, the tooth curve of described internal gear and external gear is involute curve.
As a kind of preferred version of coplanar pair of inside engaged gear of above-mentioned few teeth difference, the tooth curve of described internal gear and external gear is the equidistant curve of cycloidal curve or curtate cyclod or curtate cyclod.
A kind of retarder, comprise coplanar pair of inside engaged gear of at least one few teeth difference as previously discussed, it is characterized in that, also comprise frame, input eccentric shaft or output shaft, described internal layer outer gear sleeve is connected with annulus by bearing, annulus is installed on the input eccentric shaft by bearing, and one of them is connected described outer internal gear, internal layer internal gear with frame, and another is connected with output shaft.
As a kind of preferred version of above-mentioned retarder, comprise coplanar pair of inside engaged gear of two symmetrically arranged few teeth differences.
As a kind of preferred version of above-mentioned retarder, described input shaft has eccentric shaft or eccentric bushing or the capacity eccentric bearing of two phase phase differences 180 degree, and two internal layer external gears are set in respectively on two eccentric shafts or eccentric bushing, the capacity eccentric bearing by annulus.
As a kind of preferred version of above-mentioned retarder, two described outer internal gears and two internal layer internal gears are integral structure.
As a kind of preferred version of above-mentioned retarder, described outer internal gear is fixed on the frame, and described internal layer external gear is connected with output shaft.
A kind of preferred version as above-mentioned retarder also comprises intermediate support, and described internal layer internal gear is connected with output shaft by intermediate support, and described intermediate support is fixedly connected with the internal layer internal gear.
A kind of preferred version as above-mentioned retarder, also comprise annulus, described annulus comprises interior ring, outer shroud, and the floor that connects interior ring and outer shroud, described outer shroud is connected by sliding bearing or rolling bearing with the internal layer external gear, and described interior ring is connected with the input eccentric shaft by bearing.
Beneficial effect of the present invention is: the present invention is by providing a kind of few teeth difference coplanar pair of inside engaged gear, and it comprises two pairs of coplanar internal gear pairs, and also comprises a geared sleeve, is fixedly connected with by geared sleeve between two external gears or two internal gears; In use, geared sleeve is enclosed within on eccentric shaft or the rotary arm bearing, link to each other with input shaft, input shaft driving gear wheel case, one of them gear and corresponding gear engagement on the geared sleeve, gear interplanting planetary motion this moment, another gear and output gear engagement on the geared sleeve, output gear links to each other with output shaft.Be used in the few teeth difference reducing gear, make system bulk, particularly axial dimension is less, and structure is simpler, compact, minimizing shaft strength that simultaneously can be larger.
Description of drawings
The structural representation of the involute profile of the coplanar pair of inside engaged gear of few teeth difference that Fig. 1 provides for application example of the present invention;
The exploded perspective view of the involute profile of the coplanar pair of inside engaged gear of few teeth difference that Fig. 2 provides for application example of the present invention;
The structural representation of the cycloidal profile of the coplanar pair of inside engaged gear of few teeth difference that Fig. 3 provides for application example of the present invention.
The structural representation of the internal layer internal gear output of the coplanar pair of inside engaged gear of few teeth difference that Fig. 4 provides for application example of the present invention;
The structural representation of the outer internal gear output of the coplanar pair of inside engaged gear of few teeth difference that Fig. 5 provides for application example of the present invention;
The internal structure schematic diagram of the retarder that Fig. 6 provides for application example of the present invention;
The perspective view of the retarder that Fig. 7 provides for application example of the present invention;
The structural representation that the annulus that Fig. 8 provides for application example of the present invention cooperates with external gear;
The structural representation of the intermediate support that Fig. 9 provides for application example of the present invention;
The perspective view of the intermediate support that Figure 10 provides for application example of the present invention;
Figure 11 be among Fig. 9 " A-A " to structural representation;
Wherein:
1: the internal layer internal gear; 2: outer external gear; 3: the internal layer external gear; 4: outer internal gear; 5: geared sleeve; 6: annulus; 7: the input eccentric shaft; 8: intermediate support; 9: output shaft; 10: bearing.
Embodiment
Hereinafter in connection with accompanying drawing embodiments of the invention are elaborated.Need to prove, in the situation that do not conflict, the embodiment among the application and the feature among the embodiment be combination in any mutually.
Extremely shown in Figure 5 such as Fig. 1, mode of execution provides a kind of few teeth difference coplanar pair of inside engaged gear, it comprises two pairs of coplanar internal gear pairs, above-mentioned two pairs of coplanar interior meshed gears pairs are intermeshing coplanar outer internal gear 4 and outer external gear 2, internal layer internal gear 1 and internal layer external gear 3, and outer internal gear 4, outer external gear 2, internal layer internal gear 1 and internal layer external gear 3 set gradually from outside to inside.
And outer external gear 2 is fixedly connected with internal layer external gear 3.Preferably, also be provided with between outer external gear 2 and the internal layer external gear 3 between 5, two external gears of a geared sleeve and be fixedly connected with by geared sleeve 5.Certainly do not get rid of outer external gear 2 and internal layer external gear 3 yet and be the integral type structure.
As shown in Figure 1 and Figure 2, preferred, the tooth curve of above-mentioned internal gear and external gear is involute curve, or the equidistant curve of cycloidal curve as shown in Figure 3 or curtate cyclod or curtate cyclod, and the tooth curve of gear also is not limited only to above-mentioned two kinds of curves certainly.
Coplanar pair of inside engaged gear of the few teeth difference that present embodiment provides, in use, internal layer external gear 3 is set on the input eccentric shaft 7.One of them is connected outer internal gear 4 or internal layer internal gear 1 with frame, and another is connected with output shaft 9.For coplanar pair of inside engaged gear of above-mentioned few teeth difference is described in detail, present embodiment in outer internal gear and the internal layer internal gear one fix another output, two kinds of programmes of work are described in detail:
When the internal layer internal gear was exported, as shown in Figure 4, outer internal gear 4 was fixed with frame, and internal layer internal gear 1 is fixed with output shaft.Internal layer internal gear 1 number of teeth is z
1, the number of teeth of the internal layer external gear 3 that is engaged with is z
2, fixing outer internal gear 4 numbers of teeth of outermost are z
4, outer external gear 2 numbers of teeth that are engaged with are z
3, input shaft H throw of eccentric h, then reduction speed ratio can be expressed as
Suppose z
1=40, z
2=39, z
3=63, z
4=64, i then
1H=1/105, i
H1=105, namely realize larger velocity ratio at very little volume.
When outer internal gear output, as shown in Figure 5, internal layer internal gear 1 is fixed with frame, and outer internal gear 4 is fixed with output shaft.The number of teeth of outer internal gear 4 is z
4, the number of teeth of the outer external gear 2 that is engaged with is z
2, fixing internal layer internal gear 1 number of teeth is z
1, internal layer external gear 3 numbers of teeth that are engaged with are z
3, input shaft H throw of eccentric h, then reduction speed ratio can be expressed as
Suppose z
1=40, z
2=39, z
3=63, z
4=64, i then
4H=-1/104, i
H4=-104, negative sign represents to export sense of rotation and input direction of rotation, namely realizes larger velocity ratio at very little volume.
Extremely shown in Figure 11 such as Fig. 6, present embodiment also provides a kind of retarder that adopts coplanar pair of inside engaged gear of above-mentioned few teeth difference, it comprises frame, input eccentric shaft 7 and output shaft 9, wherein internal layer external gear 3 is set on the input eccentric shaft 7 by annulus, one of them is connected outer internal gear 4, internal layer internal gear 1 with frame, and another is connected with output shaft 9.
In order to improve the stationarity of retarder running, the inertial force that balance gear crop rotation planetary motion brings, present embodiment adopts coplanar pair of inside engaged gear of two symmetrically arranged few teeth differences, need to prove at this no matter retarder adopts coplanar pair of inside engaged gear of a few teeth difference or coplanar pair of inside engaged gear of two symmetrically arranged few teeth differences, its on the motion state of retarder all less than impact.
Above-mentioned input eccentric shaft 7 has eccentric shaft, eccentric bushing or the capacity eccentric bearing of two phase phase differences 180 degree, and two internal layer external tooths 3 are taken turns by annulus and are set in respectively on two eccentric shafts, eccentric bushing or the capacity eccentric bearings.Preferably, above-mentioned input eccentric shaft 7 has the eccentric shaft of two phase phase differences 180 degree, and two internal layer external tooths 3 are taken turns by annulus and are set in respectively on two eccentric shafts.
Preferably, two outer internal gears 4 and internal layer internal gear 1 are integral structure, and integral structure can increase the structural strength of gear, and are convenient to produce and install.And outer internal gear 4 is fixed on the frame, and internal layer internal gear 1 is connected with output shaft 9.
Above-mentioned retarder also comprises intermediate support 8, and internal layer internal gear 1 is connected with output shaft 9 by intermediate support 8, and intermediate support 8 is fixedly connected with internal layer internal gear 1.
Above-mentioned retarder also comprises annulus 6, and this annulus 6 comprises interior ring, outer shroud, and the floor that connects interior ring and outer shroud, and wherein, outer shroud is connected by rolling bearing or sliding bearing with internal layer external gear 3, and interior ring is connected with input eccentric shaft 7 by bearing 10.
Above-mentioned retarder operation state is: power is by 7 inputs of input eccentric shaft, and its axis overlaps with the system centre line, retrains by bearing.Eccentric part on the eccentric shaft, provide power by bearing 10 and annulus 6 for geared sleeve 5 and internal layer external gear 3, internal layer external gear 3 is because the constraint of fixed outer layer internal gear 4, motion state is both around the eccentric shaft center rotating, again around self center rotating, the outer external gear 2 that is connected with geared sleeve 5 also is both aroused in interest in eccentric shaft turns, again around self center rotating, mesh by the internal layer internal gear 1 with fixed-axis rotation, power is passed on the internal layer internal gear 1, internal layer internal gear 1 is fixedly connected with the intermediate support 8 of doing fixed-axis rotation, and outputs power by the output shaft 9 that is fixedly connected with intermediate support 8.
Above-mentioned retarder is output as example with the internal layer internal gear and describes, and outer internal gear output is similar with said structure, does not just do detailed discussion at this.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. coplanar pair of inside engaged gear of a few teeth difference comprises two pairs of coplanar internal gear pairs, it is characterized in that,
Described two pairs of coplanar interior meshed gears pairs are intermeshing coplanar outer internal gear and outer external gear, internal layer internal gear and internal layer external gear, and outer internal gear, outer external gear, internal layer internal gear and internal layer external gear set gradually from outside to inside;
Described outer external gear is fixedly connected with the internal layer external gear.
2. coplanar pair of inside engaged gear of few teeth difference as claimed in claim 1 is characterized in that, the tooth curve of described internal gear and external gear is involute curve.
3. coplanar pair of inside engaged gear of few teeth difference as claimed in claim 1 is characterized in that, the tooth curve of described internal gear and external gear is the equidistant curve of cycloidal curve or curtate cyclod or curtate cyclod.
4. retarder, comprise coplanar pair of inside engaged gear of at least one few teeth difference as claimed in claim 1, it is characterized in that, also comprise frame, input eccentric shaft or output shaft, described internal layer external gear is set on the input eccentric shaft by annulus, one of them is connected described outer internal gear, internal layer internal gear with frame, and another is connected with output shaft.
5. retarder as claimed in claim 4 is characterized in that, comprises coplanar pair of inside engaged gear of two symmetrically arranged few teeth differences.
6. retarder as claimed in claim 5, it is characterized in that, described input shaft has eccentric shaft, eccentric bushing or the capacity eccentric bearing of two phase phase differences, 180 degree, and two internal layer external gears are set on two eccentric shafts, eccentric bushing or the capacity eccentric bearings by annulus respectively.
7. retarder as claimed in claim 6 is characterized in that, two described outer internal gears and two internal layer internal gears are integral structure.
8. retarder as claimed in claim 7 is characterized in that, described outer internal gear is fixed on the frame, and described internal layer external gear is connected with output shaft.
9. retarder as claimed in claim 8 is characterized in that, also comprises intermediate support, and described internal layer internal gear is connected with output shaft by intermediate support, and described intermediate support is fixedly connected with the internal layer internal gear.
10. retarder as claimed in claim 9 is characterized in that, also comprises annulus, described annulus comprises interior ring, outer shroud, and the floor that connects interior ring and outer shroud, described outer shroud is connected by rolling bearing or sliding bearing with the internal layer external gear, and described interior ring is connected with the input eccentric shaft by bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310193948.9A CN103307214B (en) | 2013-05-22 | 2013-05-22 | Coplanar pair of inside engaged gear of a kind of few teeth difference and adopt its decelerator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310193948.9A CN103307214B (en) | 2013-05-22 | 2013-05-22 | Coplanar pair of inside engaged gear of a kind of few teeth difference and adopt its decelerator |
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| Publication Number | Publication Date |
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| CN103307214A true CN103307214A (en) | 2013-09-18 |
| CN103307214B CN103307214B (en) | 2016-07-06 |
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| CN201310193948.9A Active CN103307214B (en) | 2013-05-22 | 2013-05-22 | Coplanar pair of inside engaged gear of a kind of few teeth difference and adopt its decelerator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104196964A (en) * | 2014-08-01 | 2014-12-10 | 哈尔滨工业大学 | Parallel drive-based shoulder joint |
| CN110043606A (en) * | 2019-04-10 | 2019-07-23 | 广西玉柴机器股份有限公司 | The rear power taking structure of high-speed boat rev-happy engine |
| CN110469636A (en) * | 2018-05-10 | 2019-11-19 | 鸿富锦精密电子(郑州)有限公司 | Retarder |
| CN110848334A (en) * | 2019-11-28 | 2020-02-28 | 黄子帅 | Small tooth difference four-gear pair meshing speed reducer |
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| CN87207630U (en) * | 1987-05-06 | 1988-04-20 | 龚振鑫 | Large speed ratio planetary speed reducer free from planetary bearings |
| CN1286361A (en) * | 1999-09-01 | 2001-03-07 | 周永生 | Cycloid gear transmission mechanism and its apparatus |
| US6358177B1 (en) * | 1999-07-07 | 2002-03-19 | New Venture Gear, Inc. | Power transfer assembly equipped with a coplanar gear assembly |
| CN101539186A (en) * | 2008-03-17 | 2009-09-23 | 李忠和 | Method for changing speed by reducing small tooth number difference eccentricity value by half |
| CN202674185U (en) * | 2012-07-20 | 2013-01-16 | 浙江顺天减速机制造有限公司 | Small-tooth-difference engagement type gear speed reducer |
| JP2013040652A (en) * | 2011-08-17 | 2013-02-28 | O-Oka Corp | Synchronous clutch gear for double-cone synchronization |
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2013
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN87207630U (en) * | 1987-05-06 | 1988-04-20 | 龚振鑫 | Large speed ratio planetary speed reducer free from planetary bearings |
| US6358177B1 (en) * | 1999-07-07 | 2002-03-19 | New Venture Gear, Inc. | Power transfer assembly equipped with a coplanar gear assembly |
| CN1286361A (en) * | 1999-09-01 | 2001-03-07 | 周永生 | Cycloid gear transmission mechanism and its apparatus |
| CN101539186A (en) * | 2008-03-17 | 2009-09-23 | 李忠和 | Method for changing speed by reducing small tooth number difference eccentricity value by half |
| JP2013040652A (en) * | 2011-08-17 | 2013-02-28 | O-Oka Corp | Synchronous clutch gear for double-cone synchronization |
| CN202674185U (en) * | 2012-07-20 | 2013-01-16 | 浙江顺天减速机制造有限公司 | Small-tooth-difference engagement type gear speed reducer |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104196964A (en) * | 2014-08-01 | 2014-12-10 | 哈尔滨工业大学 | Parallel drive-based shoulder joint |
| CN110469636A (en) * | 2018-05-10 | 2019-11-19 | 鸿富锦精密电子(郑州)有限公司 | Retarder |
| CN110043606A (en) * | 2019-04-10 | 2019-07-23 | 广西玉柴机器股份有限公司 | The rear power taking structure of high-speed boat rev-happy engine |
| CN110848334A (en) * | 2019-11-28 | 2020-02-28 | 黄子帅 | Small tooth difference four-gear pair meshing speed reducer |
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| Publication number | Publication date |
|---|---|
| CN103307214B (en) | 2016-07-06 |
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Effective date of registration: 20171229 Address after: 519000 Guangdong city of Zhuhai Province Lin Hongqi Town Jinwan District Jinhua Road No. 7 building B room 208 Patentee after: Zhuhai Yihe Polytron Technologies Inc Address before: 100876 Beijing city Haidian District Xitucheng Road No. 10 Patentee before: Beijing University of Posts and Telecommunications |