CN103307214B - Coplanar pair of inside engaged gear of a kind of few teeth difference and adopt its decelerator - Google Patents
Coplanar pair of inside engaged gear of a kind of few teeth difference and adopt its decelerator Download PDFInfo
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- CN103307214B CN103307214B CN201310193948.9A CN201310193948A CN103307214B CN 103307214 B CN103307214 B CN 103307214B CN 201310193948 A CN201310193948 A CN 201310193948A CN 103307214 B CN103307214 B CN 103307214B
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Abstract
The invention provides coplanar pair of inside engaged gear of a kind of few teeth difference and adopt its decelerator, including two pairs of coplanar internal gear pairs, the gear pair of described two pairs of coplanar internal messing is intermeshing coplanar outer layer internal gear and outer layer external gear, internal layer internal gear and internal layer external gear, and outer layer internal gear, outer layer external gear, internal layer internal gear and internal layer external gear set gradually from outside to inside, described outer layer external gear and internal layer external gear are fixed and are connected.In use, geared sleeve is enclosed within eccentric shaft or rotary arm bearing, is connected with power shaft, power shaft drives geared sleeve, and on geared sleeve, one of them gear engages with corresponding gear, now gear interplanting planetary motion, on geared sleeve, another gear engages with output gear, and output gear is connected with output shaft.Being used in 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 bigger.
Description
Technical field
The present invention relates to gear drive field, particularly relate to coplanar pair of inside engaged gear of a kind of few teeth difference and adopt its decelerator.
Background technology
In the middle of current robot or mechanical hand, decelerator is the bottleneck improving robot performance.Particularly heavier loads joint, as knee joint or ankle joint, the performance of decelerator is crucial especially.The decelerator adopted in current joint of robot mainly has harmonic speed reducer and RV decelerator.
Harmonic speed reducer has sale in international, domestic market at present.Having a flexbile gear in harmonic speed reducer, its rigidity is poor, affects the rigidity in joint, and easily occurs when load is big jumping tooth problem.RV decelerator rigidity and the moment born are all relatively big, are suitable to do robot joint speed reducer and use, but, wherein parts are many and require that the accuracy of manufacture is high, complex process.
Several decelerators that current output torque is bigger have, and three-ring speed reducer, internal parallel moving gears reducer and the RV decelerator that occurs in the world etc. that Chinese scholar proposes are several.These several decelerators broadly fall into few teeth difference internal gear meshing transmission.Being characterized in that the load that gear can bear is big, but bearing is but weak link, is also such including the RV decelerator that wherein effect is best, its bearing capacity is by the restriction of bearing load carrying capacity.One patent of nearest domestic appearance, the i.e. double; two internal messing solution of a kind of few teeth difference.It is said that the problem that shaft strength is excessive can be solved.But through static analysis, it has been found that only its advantage of competence exertion when its axial dimension is bigger, otherwise shaft strength is basically unchanged, and the program can only monolateral drive, it is impossible to form a couple.
Summary of the invention
The technical problem that this invention address that is exactly, it is proposed to a kind of coplanar pair of inside engaged gear of few teeth difference, two groups of few teeth difference inside engaged gears are coplanar, and axial dimension is little, reduce the axial dimension of decelerator；And output torque is big.By coplanar design, shaft strength is less, can be reduced to 1/5th or 1/4th of load, namely in same axis holding capacity situation, substantially increases load capacity；
Another technical problem that this invention address that is exactly, it is proposed to a kind of decelerator adopting coplanar pair of inside engaged gear of few teeth difference, reduces the axial dimension of decelerator, it is possible to both direction drives, it is possible to form a couple.
In order to solve the problems referred to above, the present invention provides a kind of coplanar pair of inside engaged gear of few teeth difference, including two pairs of coplanar internal gear pairs, wherein,
The gear pair of described two pairs of coplanar internal messing is intermeshing coplanar outer layer internal gear and outer layer external gear, internal layer internal gear and internal layer external gear, and outer layer internal gear, outer layer external gear, internal layer internal gear and internal layer external gear set gradually from outside to inside；
Described outer layer external gear and the fixing connection of 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 cycloidal curve or the equidistant curve of curtate cyclod or curtate cyclod.
A kind of decelerator, including coplanar pair of inside engaged gear of at least one few teeth difference as described above, it is characterized in that, also include frame, input eccentric shaft or output shaft, described internal layer outer gear sleeve is connected with annulus by bearing, annulus by bearing be installed in input eccentric shaft on, described outer layer internal gear, internal layer internal gear one of them be connected with frame, another is connected with output shaft.
As a kind of preferred version of above-mentioned decelerator, including coplanar pair of inside engaged gear of two symmetrically arranged few teeth differences.
As a kind of preferred version of above-mentioned decelerator, described power shaft has the eccentric shaft of two phase 180 degree or eccentric bushing or capacity eccentric bearing, and two internal layer external gears are respectively sleeved on two eccentric shafts or eccentric bushing, capacity eccentric bearing by annulus.
As a kind of preferred version of above-mentioned decelerator, two described outer layer internal gears and two internal layer internal gears are integral structure.
As a kind of preferred version of above-mentioned decelerator, described outer layer internal gear is fixed in frame, and described internal layer external gear is connected with output shaft.
As a kind of preferred version of above-mentioned decelerator, also including intermediate support, described internal layer internal gear is connected with output shaft by intermediate support, and described intermediate support is fixed with internal layer internal gear and is connected.
A kind of preferred version as above-mentioned decelerator, also including annulus, described annulus includes internal ring, outer shroud, and connects the floor of internal ring and outer shroud, described outer shroud is connected by sliding bearing or rolling bearing with internal layer external gear, and described internal ring is connected with input eccentric shaft by bearing.
The invention have the benefit that the present invention passes through to provide a kind of coplanar pair of inside engaged gear of few teeth difference, it includes two pairs of coplanar internal gear pairs, and also includes a geared sleeve, two external gears or connect by geared sleeve is fixing between two internal gears；In use, geared sleeve is enclosed within eccentric shaft or rotary arm bearing, is connected with power shaft, power shaft drives geared sleeve, and on geared sleeve, one of them gear engages with corresponding gear, now gear interplanting planetary motion, on geared sleeve, another gear engages with output gear, and output gear is connected with output shaft.Being used in 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 bigger.
Accompanying drawing explanation
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 layer 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 decelerator that Fig. 6 provides for application example of the present invention；
The perspective view of the decelerator 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 coordinates 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 in Fig. 9 " A-A " to structural representation；
Wherein:
1: internal layer internal gear；2: outer layer external gear；3: internal layer external gear；4: outer layer internal gear；5: geared sleeve；6: annulus；7: input eccentric shaft；8: intermediate support；9: output shaft；10: bearing.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail.It should be noted that when not conflicting, the embodiment in the application and the feature in embodiment can combination in any mutually.
As shown in Figures 1 to 5, embodiment provides a kind of coplanar pair of inside engaged gear of few teeth difference, it includes two pairs of coplanar internal gear pairs, the gear pair of above-mentioned two pairs of coplanar internal messing is intermeshing coplanar outer layer internal gear 4 and outer layer external gear 2, internal layer internal gear 1 and internal layer external gear 3, and outer layer internal gear 4, outer layer external gear 2, internal layer internal gear 1 and internal layer external gear 3 set gradually from outside to inside.
And outer layer external gear 2 and internal layer external gear 3 is fixing connects.Preferably, between outer layer external gear 2 and internal layer external gear 3, it is additionally provided with a geared sleeve 5, connects by geared sleeve 5 is fixing between two external gears.Certainly outer layer external gear 2 and internal layer external gear 3 also it are not excluded for for integral type structure.
As shown in Figure 1 and Figure 2, it is preferred that 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, the tooth curve of certain gear is also not limited to above two curve.
Coplanar pair of inside engaged gear of few teeth difference that present embodiment provides, in use, internal layer external gear 3 is set on input eccentric shaft 7.Outer layer internal gear 4 or internal layer internal gear 1 one of them be connected with frame, another is connected with output shaft 9.In order to coplanar pair of inside engaged gear of above-mentioned few teeth difference is described in detail, present embodiment fixes another output in outer layer internal gear and internal layer internal gear one, and two kinds of programmes of work are described in detail:
When internal layer internal gear exports, as shown in Figure 4, outer layer internal gear 4 and frame are fixed, and internal layer internal gear 1 and output shaft are fixed.Internal layer internal gear 1 number of teeth is z1, the number of teeth of the internal layer external gear 3 being engaged with is z2, outer layer internal gear 4 number of teeth that outermost is fixed is z4, outer layer external gear 2 number of teeth being engaged with is z3, power shaft H eccentric throw h, then speed reducing ratio is represented by
Assume z1=40,z2=39,z3=63,z4=64, then i1H=1/105, iH1=105, namely realize bigger gear ratio at only small volume.
When outer layer internal gear exports, as it is shown in figure 5, internal layer internal gear 1 and frame are fixed, outer layer internal gear 4 and output shaft are fixed.The number of teeth of outer layer internal gear 4 is z4, the number of teeth of the outer layer external gear 2 being engaged with is z2, fixing internal layer internal gear 1 number of teeth is z1, internal layer external gear 3 number of teeth being engaged with is z3, power shaft H eccentric throw h, then speed reducing ratio is represented by
Assume z1=40,z2=39,z3=63,z4=64, then i4H=-1/104, iH4=-104, negative sign represents that output rotation direction is contrary with input rotation direction, namely realizes bigger gear ratio at only small volume.
As shown in Fig. 6 to Figure 11, present embodiment additionally provides a kind of decelerator adopting coplanar pair of inside engaged gear of above-mentioned few teeth difference, it includes frame, input eccentric shaft 7 and output shaft 9, wherein internal layer external gear 3 is set on input eccentric shaft 7 by annulus, outer layer internal gear 4, internal layer internal gear 1 one of them be connected with frame, another is connected with output shaft 9.
In order to improve the stationarity of decelerator operating, the inertia 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, it should be noted that at this no matter decelerator 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, the kinestate of decelerator is not all affected by it.
Above-mentioned input eccentric shaft 7 has the eccentric shaft of two phase 180 degree, eccentric bushing or capacity eccentric bearing, and two internal layer external tooths 3 are taken turns and are respectively sleeved on two eccentric shafts, eccentric bushing or capacity eccentric bearing by annulus.Preferably, above-mentioned input eccentric shaft 7 has the eccentric shaft of two phase 180 degree, and two internal layer external tooths 3 are taken turns and are respectively sleeved on two eccentric shafts by annulus.
Preferably, two outer layer internal gears 4 and internal layer internal gear 1 are integral structure, and integral structure can increase the structural strength of gear, and is easy to produce and install.And outer layer internal gear 4 is fixed in frame, internal layer internal gear 1 is connected with output shaft 9.
Above-mentioned decelerator also includes intermediate support 8, and internal layer internal gear 1 is connected with output shaft 9 by intermediate support 8, and intermediate support 8 is fixed with internal layer internal gear 1 and is connected.
Above-mentioned decelerator also includes annulus 6, and this annulus 6 includes internal ring, outer shroud and the floor of connection internal ring and outer shroud, and wherein, outer shroud is connected by rolling bearing or sliding bearing with internal layer external gear 3, and internal ring is connected with input eccentric shaft 7 by bearing 10.
Above-mentioned retarder operation state is: power inputs by inputting eccentric shaft 7, and its axis overlaps with system centre line, is retrained by bearing.Eccentric part on eccentric shaft, power is provided for geared sleeve 5 and internal layer external gear 3 by bearing 10 and annulus 6, internal layer external gear 3 is due to the constraint of fixed outer layer internal gear 4, kinestate is both around eccentric shaft center rotating, rotate around its center again, the outer layer external gear 2 connected with geared sleeve 5 is also both aroused in interest in eccentric shaft turns, rotate around its center again, engaged by the internal layer internal gear 1 with fixed-axis rotation, power is passed on internal layer internal gear 1, internal layer internal gear 1 is fixing with the intermediate support 8 doing fixed-axis rotation to be connected, and by outputing power with the fixing output shaft 9 being connected of intermediate support 8.
Above-mentioned decelerator is output as example with internal layer internal gear and illustrates, and the output of outer layer internal gear is similar with said structure, is not just discussed in detail at this.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (10)
1. coplanar pair of inside engaged gear of few teeth difference, including two pairs of coplanar internal gear pairs, it is characterised in that
The gear pair of described two pairs of coplanar internal messing is intermeshing coplanar outer layer internal gear and outer layer external gear, internal layer internal gear and internal layer external gear, and outer layer internal gear, outer layer external gear, internal layer internal gear and internal layer external gear set gradually from outside to inside；
Described outer layer external gear and the fixing connection of internal layer external gear.
2. coplanar pair of inside engaged gear of few teeth difference as claimed in claim 1, it is characterised 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, it is characterised in that the tooth curve of described internal gear and external gear is cycloidal curve or the equidistant curve of curtate cyclod or curtate cyclod.
4. a decelerator, including coplanar pair of inside engaged gear of at least one few teeth difference as claimed in claim 1, it is characterized in that, also include frame, input eccentric shaft or output shaft, described internal layer external gear is set on input eccentric shaft by annulus, described outer layer internal gear, internal layer internal gear one of them be connected with frame, another is connected with output shaft.
5. decelerator as claimed in claim 4, it is characterised in that include coplanar pair of inside engaged gear of two symmetrically arranged few teeth differences.
6. decelerator as claimed in claim 5, it is characterised in that described power shaft has the eccentric shaft of two phase 180 degree, eccentric bushing or capacity eccentric bearing, and two internal layer external gears are set on two eccentric shafts, eccentric bushing or capacity eccentric bearing respectively through annulus.
7. decelerator as claimed in claim 6, it is characterised in that two described outer layer internal gears and two internal layer internal gears are integral structure.
8. decelerator as claimed in claim 7, it is characterised in that described outer layer internal gear is fixed in frame, and described internal layer external gear is connected with output shaft.
9. decelerator as claimed in claim 8, it is characterised in that also include intermediate support, described internal layer internal gear passes through intermediate support and is connected with output shaft, and described intermediate support is fixed with internal layer internal gear and is connected.
10. decelerator as claimed in claim 9, it is characterised in that also include annulus, described annulus includes internal ring, outer shroud, and the floor of connection internal ring and outer shroud, described outer shroud is connected by rolling bearing or sliding bearing with internal layer external gear, and described internal ring is connected with input eccentric shaft by bearing.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| 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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| CN103307214A CN103307214A (en) | 2013-09-18 |
| CN103307214B true CN103307214B (en) | 2016-07-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104196964B (en) * | 2014-08-01 | 2017-02-15 | 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 |
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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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5701180B2 (en) * | 2011-08-17 | 2015-04-15 | 大岡技研株式会社 | Synchronous clutch gear for double cone sync |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
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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 |
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