CN104500661A - Composite high-order cycloidal planetary transmission device - Google Patents

Abstract

The invention discloses a composite high-order cycloidal planetary transmission device which comprises a box body and a planetary carrier. The planetary carrier is arranged on the box body through a supporting bearing. An input shaft and a plurality of planetary shafts are arranged on the planetary carrier, the planetary shafts are evenly distributed around the input shaft, and the planetary shafts and the input shaft are fixed to the planetary carrier through bearing supports. Involute planetary wheels and high-order cycloidal planetary wheels are fixed to the planetary shafts, sun wheels are correspondingly fixed to the input shaft, gear rings are correspondingly fixed to the box body, the involute planetary wheels are meshed with the sun wheels, and the high-order cycloidal planetary wheels are meshed with the gear rings. The composite high-order cycloidal planetary transmission device has the advantages of being compact in structure, high in bearing capacity, high in contact strength, low in sliding rate, high in torsion rigidity, good in impact resisting performance and the like, and the defects of application limitation in the prior art are overcome.

Description

Complex higher order gerotor type planetary driving device

Technical field

The invention belongs to retarder field, be specifically related to a kind of complex higher order gerotor type planetary driving device.

Background technique

Along with the development of modern industry, improving constantly of mechanization and automatization level, each industrial department needs increasing retarder, and proposes that volume is little, lightweight, velocity ratio is large, efficiency is high, bearing capacity is large, running is reliable to retarder and the requirement such as the life-span is long.Though existing retarder is of a great variety, all there is larger narrow limitation: the volume as common cylinder gear reducer is large, structure bulky; The problem of inefficiency is there is in typical turbine retarder when big speed ratio; And involute planetary very easily produces various interference, occur for avoiding interference situation, gear pair need adopt larger modification coefficient and transmission working pressure angle, therefore quite loaded down with trivial details to the selection and calculation work of gear geometry parameter in the design process, also higher to the required precision of output mechanism, in addition, because such large power gearbox many places are in theory stage, practical experience is few, and practical application remains in certain difficulty; Though cycloidal pinwheel planetary gear speed reducer can meet requirement set forth above, its cog machining difficulty, precision is difficult to be guaranteed, and its processing cost is higher, is unfavorable for large-scale application; For cycloid drive, have that rotary arm bearing life-span low, gear pin is uniform requires the problems such as high, fan shaped borehole output mechanism machining accuracy is high, in addition, manufacturing this mechanism also needs to use special device manufacture, improves manufacture cost greatly.

Summary of the invention

In view of this, the object of the present invention is to provide a kind of complex higher order gerotor type planetary driving device, this transmission device has that structure is simple, bearing capacity is strong, transmission efficiency is high, the advantage of stable movement.

For achieving the above object, the invention provides following technological scheme: a kind of complex higher order gerotor type planetary driving device, comprise casing and planet carrier, described planet carrier is arranged on casing by spring bearing; Described planet carrier is provided with input shaft and several planet axis, and each planet axis is evenly distributed on around input shaft, and described planet axis and input shaft are all fixed on planet carrier by bearings; Each planet axis is fixed with involute planetary wheel and high-order cycloid in planet wheel, on described input shaft, correspondence is fixed with sun gear, on described casing, correspondence is fixed with gear ring, and described involute planetary wheel is meshed with sun gear, and described high-order cycloid in planet wheel is meshed with gear ring.

Further, the tooth profile equation of described high-order cycloid in planet wheel is:

$\left\{\begin{array}{c}{x}_1\left(\mathrm{\α}\right)=\frac{m{z}_1}{2}\cos \mathrm{\α}-l_1\cos (z_1-1)\mathrm{\α}-l_1\cos (z_1+1)\mathrm{\α}-l_2\cos (2z_1-1)\mathrm{\α}+l_2\cos (2z_1+1)\mathrm{\α}\\ -...-l_{n/2}\cos (\frac{{\mathrm{nz}}_1}{2}-1)\mathrm{\α}+l_{n/2}\cos (\frac{{\mathrm{nz}}_1}{2}+1)\mathrm{\α}\\ y_1\left(\mathrm{\α}\right)=\frac{{\mathrm{mz}}_1}{2}\sin \mathrm{\α}+l_1\sin (z_1-1)\mathrm{\α}-l_1\sin (z_1+1)\mathrm{\α}+l_2\sin (2z_1-1)\mathrm{\α}+l_2\sin (2z_1+1)\mathrm{\α}\\ +...+l_{n/2}\sin (\frac{n{z}_1}{2}-1)\mathrm{\α}+l_{n/2}\sin (\frac{{\mathrm{nz}}_1}{2}+1)\mathrm{\α}\end{array}\right.;$

The tooth profile equation of described gear ring is:

In formula:

X ₁in-high-order cycloid in planet wheel flank profil, certain is a bit at system of coordinates O ₁x ₁y ₁in abscissa;

Y ₁in-high-order cycloid in planet wheel flank profil, certain is a bit at system of coordinates O ₁x ₁y ₁in y coordinate;

X ₂in-gear ring flank profil, certain is a bit at system of coordinates O ₂x ₂y ₂in abscissa;

Y ₂in-gear ring flank profil, certain is a bit at system of coordinates O ₂x ₂y ₂in y coordinate;

Z ₁for high-order cycloid in planet tooth number; z ₂for the gear ring number of teeth; M is the modulus of high-order cycloid in planet wheel and gear ring; r ₁for standard pitch circle in high-order cycloid in planet wheel and joint radius of a circle; r ₂for standard pitch circle in gear ring and joint radius of a circle; α is profile of tooth parameter; for the conjugation of high-order cycloid in planet wheel flank profil and gear ring flank profil engages corner; z ₁, z ₂, m and l _n/2for specific design parameter; 0 < α < 2 π; $r_1=\frac{{\mathrm{mz}}_1}{2},r_2=\frac{{\mathrm{mz}}_2}{2};$ e＝r ₁+r ₂； $l_n\&le;\frac{{\mathrm{mz}}_1}{z_1^n}$ And $l_n\&le;\frac{n-1}{z_1(z_1+1)}{l}_{n-1}.$

Further, described planet axis has three, and each planet axis is all fixed with two involute planetary wheels and a high-order cycloid in planet wheel, described high-order cycloid in planet wheel is between two involute planetary wheels.

Beneficial effect of the present invention is: high-order cycloid in planet wheel and gear ring adopt the engagement of high-order cycloid conjugation, and this conjugation contacting profile is the contact of convex-concave arc, contact and flexural strength high, sliding ratio is minimum, and fatigue life is long; Planet axis compound involute planetary wheel and high-order cycloid in planet take turns transmission, the drive mechanism of planet carrier two end supports coupling output has that structure is simple, torsional stiffness is large, transmission accuracy is high, stable movement, shock resistance are good, assembling is easy, cost is low.

Accompanying drawing explanation

In order to make object of the present invention, technological scheme and beneficial effect clearly, the invention provides following accompanying drawing and being described:

Fig. 1 is structural representation of the present invention;

Fig. 2 is that the A-A of Fig. 1 is to sectional view;

Fig. 3 is that the B-B of Fig. 1 is to sectional view;

Fig. 4 is the system of coordinates figure of high-order cycloidal profile;

Fig. 5 is the A portion enlarged view of Fig. 4;

Fig. 6 is the spread schematic diagram of high-order cycloidal profile.

Embodiment

Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.

As shown in the figure, the complex higher order gerotor type planetary driving device in the present embodiment, comprises casing 1 and planet carrier 2, and described planet carrier 2 is arranged on casing 1 by spring bearing 3; Described planet carrier 2 is provided with input shaft 4 and several planet axis 5, and each planet axis 5 is evenly distributed on around input shaft 4, and described planet axis 5 is all supported and fixed on planet carrier 2 by bearing 6 with input shaft 4; Each planet axis 5 is fixed with involute planetary wheel 7 and high-order cycloid in planet wheel 8, on described input shaft 4, correspondence is fixed with sun gear 9, on described casing 1, correspondence is fixed with gear ring 10, and described involute planetary wheel 7 is meshed with sun gear 9, and described high-order cycloid in planet wheel 8 is meshed with gear ring 10.

In the present embodiment, the spring bearing 3 at planet carrier 2 two ends supports and is arranged on casing 1 respectively, and involute planetary wheel 7 and high-order cycloid in planet wheel 8 all connect firmly in planet axis 5 by spline 11, and sun gear 9 is connected firmly on input shaft 4 by spline 11.When input shaft 4 rotates, the sun gear 9 connected firmly on input shaft 4 rotates thereupon, and the involute planetary be meshed with sun gear 9 is taken turns 7 and rotated, and the involute planetary wheel 7 of rotation drives planet axis 5 to rotate by spline 11; Meanwhile, the high-order cycloid in planet wheel 8 connected firmly in planet axis 5 rotates, and high-order cycloid in planet wheel 8 is meshed with gear ring 10, and gear ring 10 is fixed on casing 1, and by the compound action of planet axis 5, the coupling rotational realizing planet carrier 2 exports.This drive mechanism has that structure is simple, torsional stiffness is large, transmission accuracy is high, stable movement, shock resistance are good, assembling is easy, low cost and other advantages, solves the defect of existing retarder application limitation.

As the further improvement of such scheme, the tooth profile equation of described high-order cycloid in planet wheel is:

$\left\{\begin{array}{c}{x}_1\left(\mathrm{\&alpha;}\right)=\frac{m{z}_1}{2}\cos \mathrm{\&alpha;}-l_1\cos (z_1-1)\mathrm{\&alpha;}-l_1\cos (z_1+1)\mathrm{\&alpha;}-l_2\cos (2z_1-1)\mathrm{\&alpha;}+l_2\cos (2z_1+1)\mathrm{\&alpha;}\\ -...-l_{n/2}\cos (\frac{{\mathrm{nz}}_1}{2}-1)\mathrm{\&alpha;}+l_{n/2}\cos (\frac{{\mathrm{nz}}_1}{2}+1)\mathrm{\&alpha;}\\ y_1\left(\mathrm{\&alpha;}\right)=\frac{{\mathrm{mz}}_1}{2}\sin \mathrm{\&alpha;}+l_1\sin (z_1-1)\mathrm{\&alpha;}-l_1\sin (z_1+1)\mathrm{\&alpha;}+l_2\sin (2z_1-1)\mathrm{\&alpha;}+l_2\sin (2z_1+1)\mathrm{\&alpha;}\\ +...+l_{n/2}\sin (\frac{n{z}_1}{2}-1)\mathrm{\&alpha;}+l_{n/2}\sin (\frac{{\mathrm{nz}}_1}{2}+1)\mathrm{\&alpha;}\end{array}\right.;$

The tooth profile equation of described gear ring is:

In formula:

X ₁in-high-order cycloid in planet wheel flank profil, certain is a bit at system of coordinates O ₁x ₁y ₁in abscissa;

Y ₁in-high-order cycloid in planet wheel flank profil, certain is a bit at system of coordinates O ₁x ₁y ₁in y coordinate;

X ₂in-gear ring flank profil, certain is a bit at system of coordinates O ₂x ₂y ₂in abscissa;

Y ₂in-gear ring flank profil, certain is a bit at system of coordinates O ₂x ₂y ₂in y coordinate;

Z ₁for high-order cycloid in planet tooth number; z ₂for the gear ring number of teeth; M is the modulus of high-order cycloid in planet wheel and gear ring; r ₁for standard pitch circle in high-order cycloid in planet wheel and joint radius of a circle; r ₂for standard pitch circle in gear ring and joint radius of a circle; α is profile of tooth parameter; for the conjugation of high-order cycloid in planet wheel flank profil and gear ring flank profil engages corner; z ₁, z ₂, m and l _n/2for specific design parameter; 0 < α < 2 π; $r_1=\frac{{\mathrm{mz}}_1}{2},r_2=\frac{{\mathrm{mz}}_2}{2};$ e＝r ₁+r ₂； $l_n\&le;\frac{{\mathrm{mz}}_1}{z_1^n}$ And $l_n\&le;\frac{n-1}{z_1(z_1+1)}{l}_{n-1}.$

Concrete, as shown in Figure 4: system of coordinates OXY is the fixed coordinate system of true origin in gear ring 10 center, system of coordinates O ₂x ₂y ₂for the system of coordinates that true origin connects firmly at gear ring 10 center and with gear ring 10, system of coordinates O ₁x ₁y ₁take turns 8 centers for true origin at high-order cycloid in planet and take turns with high-order cycloid in planet the system of coordinates be connected.According to the normal method principle of gear conjugation contacting profile, conjugation contacting profile curve can carry out transformation of coordinates by primitive curve and given angle relation and obtain.

The path curves of multi link has concave-convex arc characteristic, identical with the concave-convex arc characteristic of conjugate curve, and the present invention proposes the tooth curve of high-order cycloid in planet wheel according to the movement locus of multi link, obtains high-order cycloid in planet wheel tooth profile equation:

$\left\{\begin{array}{c}{x}_1\left(\mathrm{\&alpha;}\right)=\frac{m{z}_1}{2}\cos \mathrm{\&alpha;}-l_1\cos (z_1-1)\mathrm{\&alpha;}-l_1\cos (z_1+1)\mathrm{\&alpha;}-l_2\cos (2z_1-1)\mathrm{\&alpha;}+l_2\cos (2z_1+1)\mathrm{\&alpha;}\\ -...-l_{n/2}\cos (\frac{{\mathrm{nz}}_1}{2}-1)\mathrm{\&alpha;}+l_{n/2}\cos (\frac{{\mathrm{nz}}_1}{2}+1)\mathrm{\&alpha;}\\ y_1\left(\mathrm{\&alpha;}\right)=\frac{{\mathrm{mz}}_1}{2}\sin \mathrm{\&alpha;}+l_1\sin (z_1-1)\mathrm{\&alpha;}-l_1\sin (z_1+1)\mathrm{\&alpha;}+l_2\sin (2z_1-1)\mathrm{\&alpha;}+l_2\sin (2z_1+1)\mathrm{\&alpha;}\\ +...+l_{n/2}\sin (\frac{n{z}_1}{2}-1)\mathrm{\&alpha;}+l_{n/2}\sin (\frac{{\mathrm{nz}}_1}{2}+1)\mathrm{\&alpha;}\end{array}\right..$

Adopt this curve, the fatigue strength of high-order cycloidal profile can be improved, reduce sliding ratio greatly, promote its bearing capacity.The track of Fig. 6 mid point M is high-order cycloidal profile curve.

Gear ring flank profil 13 is done conjugation engagement normal method by high-order cycloid in planet wheel flank profil 12 and is formed, namely high-order cycloid in planet wheel flank profil 12 meets the point transformation of theory of engagement normal normal equation, just can obtain gear ring flank profil 13, finally obtain the engagement pair be made up of high-order cycloid in planet wheel 8 and gear ring 10.

According to normal method derivation formula:

$\left(1\right)---\tan \mathrm{\&gamma;}\frac{{\mathrm{dy}}_1}{\mathrm{d\&alpha;}}/\frac{{\mathrm{dx}}_1}{\mathrm{d\&alpha;}};$

$\left(2\right)---\cos \mathrm{\&psi;}=\frac{x_1\left(\mathrm{\&alpha;}\right)\cos \mathrm{\&gamma;}+y_1\left(\mathrm{\&alpha;}\right)\sin \mathrm{\&gamma;}}{r_2};$

Successively (1), (2) formula are substituted into (3) formula, then (3) formula are substituted into (4) formula, can derive and draw gear ring tooth profile equation:

Selected concrete gear parameter, to high-order cycloid in planet wheel 8 and gear ring 10 assignment:

n＝4、z ₁＝17、z ₂＝115、m＝2、l ₁＝1.25、l ₂＝0.1；

Obtain high-order cycloid in planet wheel tooth profile equation:

$\left\{\begin{array}{c}{x}_1\left(\mathrm{\&alpha;}\right)=17\cos \mathrm{\&alpha;}-1.25\cos 16\mathrm{\&alpha;}-1.25\cos 18\mathrm{\&alpha;}-0.1\cos 33\mathrm{\&alpha;}+0.1\cos 35\mathrm{\&alpha;}\\ y_1\left(\mathrm{\&alpha;}\right)=17\sin \mathrm{\&alpha;}+1.25\sin 16\mathrm{\&alpha;}-1.25\sin 18\mathrm{\&alpha;}+0.1\sin 33\mathrm{\&alpha;}+0.1\sin 35\mathrm{\&alpha;}\end{array}\right.;$

Obtain gear ring tooth profile equation:

Wherein,

In the present embodiment, described planet axis 5 has three, and each planet axis 5 is all fixed with two involute planetary wheels 7 and a high-order cycloid in planet wheel 8, described high-order cycloid in planet wheel 8 is between two involute planetary wheels 7.In this transmission device, planet axis 5 complex higher order cycloid in planet takes turns 8 transmissions, and flank profil convex-concave arc contacts, and contact strength is high, and sliding ratio is little; Planet carrier 2 two end supports, coupled power exports, and torsional stiffness is large, improves shock resistance; Two sun gear 9 input power is split into six branch roads, compact structure, and bearing capacity is strong.

What finally illustrate is, above preferred embodiment is only in order to illustrate technological scheme of the present invention and unrestricted, although by above preferred embodiment to invention has been detailed description, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from claims of the present invention limited range.

Claims (3)

1. a complex higher order gerotor type planetary driving device, is characterized in that: comprise casing and planet carrier, and described planet carrier is arranged on casing by spring bearing; Described planet carrier is provided with input shaft and several planet axis, and each planet axis is evenly distributed on around input shaft, and described planet axis and input shaft are all fixed on planet carrier by bearings; Each planet axis is fixed with involute planetary wheel and high-order cycloid in planet wheel, on described input shaft, correspondence is fixed with sun gear, on described casing, correspondence is fixed with gear ring, and described involute planetary wheel is meshed with sun gear, and described high-order cycloid in planet wheel is meshed with gear ring.

2. complex higher order gerotor type planetary driving device according to claim 1, is characterized in that: the tooth profile equation of described high-order cycloid in planet wheel is:

$\left\{\begin{array}{c}{x}_1\left(\mathrm{\&alpha;}\right)=\frac{{\mathrm{mz}}_1}{2}\cos \mathrm{\&alpha;}-l_1\cos (z_1-1)\mathrm{\&alpha;}-l_1\cos (z_1+1)\mathrm{\&alpha;}-l_2\cos ({2z}_1-1)\mathrm{\&alpha;}+l_2\cos ({2z}_1+1)\mathrm{\&alpha;}\\ -...-l_{n/2}\cos (\frac{{\mathrm{nz}}_1}{2}-1)\mathrm{\&alpha;}+l_{n/2}\cos (\frac{{\mathrm{nz}}_1}{2}+1)\mathrm{\&alpha;}\\ y_1\left(\mathrm{\&alpha;}\right)=\frac{{\mathrm{nz}}_1}{2}\sin \mathrm{\&alpha;}+l_1\sin (z_1-1)\mathrm{\&alpha;}-l_1\sin (z_1+1)+l_2\sin ({2z}_1-1)\mathrm{\&alpha;}+l_2\sin (2z_1+1)\mathrm{\&alpha;}\\ +...+l_{n/2}\sin (\frac{{\mathrm{nz}}_1}{2}-1)\mathrm{\&alpha;}+l_{n/2}\sin (\frac{{\mathrm{nz}}_1}{2}+1)\mathrm{\&alpha;}\end{array}\right.;$

The tooth profile equation of described gear ring is:

In formula:

X ₁in-high-order cycloid in planet wheel flank profil, certain is a bit at system of coordinates O ₁x ₁y ₁in abscissa;

Y ₁in-high-order cycloid in planet wheel flank profil, certain is a bit at system of coordinates O ₁x ₁y ₁in y coordinate;

X ₂in-gear ring flank profil, certain is a bit at system of coordinates O ₂x ₂y ₂in abscissa;

Y ₂in-gear ring flank profil, certain is a bit at system of coordinates O ₂x ₂y ₂in y coordinate;

Z ₁for high-order cycloid in planet tooth number; z ₂for the gear ring number of teeth; M is the modulus of high-order cycloid in planet wheel and gear ring; r ₁for standard pitch circle in high-order cycloid in planet wheel and joint radius of a circle; r ₂for standard pitch circle in gear ring and joint radius of a circle; α is profile of tooth parameter; for the conjugation of high-order cycloid in planet wheel flank profil and gear ring flank profil engages corner; z ₁, z ₂, m and l _n/2for specific design parameter; 0 < α < 2 π; $r_1=\frac{{\mathrm{mz}}_1}{2},$ $r_2=\frac{{\mathrm{mz}}_2}{2};$ e＝r ₁+r ₂； $l_n\&le;\frac{{\mathrm{mz}}_1}{z_1^n}$ And $l_n\&le;\frac{n-1}{z_1(z_1+1)}{l}_{n-1}.$

3. complex higher order gerotor type planetary driving device according to claim 1, it is characterized in that: described planet axis has three, each planet axis is all fixed with two involute planetary wheels and a high-order cycloid in planet wheel, described high-order cycloid in planet wheel is between two involute planetary wheels.