CN104500661B - Composite high-order cycloidal planetary transmission device - Google Patents

Composite high-order cycloidal planetary transmission device Download PDF

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Publication number
CN104500661B
CN104500661B CN201510022872.2A CN201510022872A CN104500661B CN 104500661 B CN104500661 B CN 104500661B CN 201510022872 A CN201510022872 A CN 201510022872A CN 104500661 B CN104500661 B CN 104500661B
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China
Prior art keywords
planet
alpha
order
gear ring
cycloid
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Expired - Fee Related
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CN201510022872.2A
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Chinese (zh)
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CN104500661A (en
Inventor
石万凯
韩振华
李良军
肖洋轶
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Chongqing University
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Chongqing University
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H2700/00—Transmission housings and mounting of transmission components therein; Cooling; Lubrication; Flexible suspensions, e.g. floating frames

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

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 decelerator field, and in particular to a kind of complex higher order gerotor type planetary driving device.
Background technology
With the continuous improvement of the development of modern industry, mechanization and automatization level, each industrial department needs increasingly Many decelerators, and big small volume, lightweight, gearratio, efficiency high, large carrying capacity, operating reliability are proposed to decelerator And life-span length etc. is required.Though existing decelerator species is various, larger limitation is respectively provided with：As common cylinder gear subtracts The volume of fast device is big, structure bulky；There is inefficiency in big speed ratio in typical turbine decelerator；And involute is few Planetary gear speed reducer easily produces various interference, occurs to avoid interference with situation, and gear pair need to adopt larger modification coefficient With the transmission angle of engagement, it is therefore quite loaded down with trivial details to the selection of gear geometry parameter and evaluation work in the design process, to output machine The required precision of structure is also higher, in addition, because being in theory stage such large power gearbox, practical experience is few, practical application more Remain in certain difficulty；Though cycloidal pinwheel planetary gear speed reducer can meet requirement set forth above, its tooth Profile Machining is difficult, precision It is difficult to be guaranteed, and its processing cost is higher, is unfavorable for large-scale application；For cycloid drive, there is rotary arm bearing The problems such as life-span is low, gear pin uniformly has high demands, scallop hole output mechanism machining accuracy is high, in addition, manufacture the mechanism also needing to Manufactured using special equipment, be greatly improved manufacturing cost.
The content of the invention
In view of this, it is an object of the invention to provide a kind of complex higher order gerotor type planetary driving device, the transmission dress Put and have the advantages that simple structure, bearing capacity be strong, transmission efficiency, stable movement.
To reach above-mentioned purpose, the present invention provides following technical scheme：A kind of complex higher order gerotor type planetary driving device, Including casing and planet carrier, the planet carrier is arranged on casing by spring bearing；The planet carrier be provided with input shaft and Several planet axis, each planet axis are evenly distributed on around input shaft, and the planet axis are solid by bearings with input shaft It is scheduled on planet carrier；Involute planetary wheel and high-order cycloid in planet wheel are fixed with each planet axis, correspondence is solid on the input shaft Surely there is sun gear, correspondence is fixed with gear ring on the casing, and the involute planetary wheel is meshed with sun gear, the high-order pendulum Line planetary gear is meshed with gear ring.
Further, the tooth profile equation of the high-order cycloid in planet wheel is：
The tooth profile equation of the gear ring is：
In formula：
x1Certain point is in coordinate system O on-high-order cycloid in planet tooth profile1X1Y1In abscissa；
y1Certain point is in coordinate system O on-high-order cycloid in planet tooth profile1X1Y1In ordinate；
x2Certain point is in coordinate system O in-gear ring flank profil2X2Y2In abscissa；
y2Certain point is in coordinate system O in-gear ring flank profil2X2Y2In ordinate；
z1For high-order cycloid in planet tooth number；z2For the gear ring number of teeth；M is the modulus of high-order cycloid in planet wheel and gear ring；r1For The radius of reference circle and pitch circle in high-order cycloid in planet wheel；r2For reference circle in gear ring and the radius of pitch circle；α is profile of tooth parameter；ln For profile of tooth adjusting parameter；N is >=1 integer；Conjugation engagement for high-order cycloid in planet tooth profile and gear ring flank profil turns Angle；z1、z2, m and lnFor specific design parameter；The π of 0 ＜ α ＜ 2；E=r1+r2； And
Further, the planet axis have three, and two involute planetary wheels and a high-order are respectively and fixedly provided with each planet axis Cycloid in planet wheel, the high-order cycloid in planet wheel is located between two involute planetary wheels.
The beneficial effects of the present invention is：High-order cycloid in planet wheel and gear ring are using the conjugation engagement of high-order cycloid, the conjugation Contacting profile is the contact of convex-concave arc, contact and bending strength height, and sliding ratio is minimum, and fatigue life is long；Planet axis are combined involute Planetary gear and the transmission of high-order cycloid in planet wheel, planet carrier two ends support the drive mechanism of coupling output to have simple structure, reverse Rigidity is big, high transmission accuracy, stable movement, shock resistance are good, assembling is easy, low cost.
Description of the drawings
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, the present invention provides drawings described below and carries out Explanation：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the A-A of Fig. 1 to sectional view；
Fig. 3 is the B-B direction sectional view of Fig. 1；
Fig. 4 is the coordinate system figure of high-order cycloidal profile；
Fig. 5 is the A portions enlarged drawing of Fig. 4；
Fig. 6 is the spread schematic diagram of high-order cycloidal profile.
Specific embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
As illustrated, the complex higher order gerotor type planetary driving device in the present embodiment, including casing 1 and planet carrier 2, institute State planet carrier 2 to be arranged on casing 1 by spring bearing 3；The planet carrier 2 is provided with input shaft 4 and several planet axis 5, Each planet axis 5 are evenly distributed on around input shaft 4, and the planet axis 5 are supported and fixed on planet with input shaft 4 by bearing 6 On frame 2；Involute planetary wheel 7 and high-order cycloid in planet wheel 8 are fixed with each planet axis 5, correspondence is fixed with the input shaft 4 Sun gear 9, correspondence is fixed with gear ring 10 on the casing 1, and the involute planetary wheel 7 is meshed with sun gear 9, the high-order Cycloid in planet wheel 8 is meshed with gear ring 10.
In the present embodiment, the spring bearing 3 at the two ends of planet carrier 2 is supported and is separately mounted on casing 1, involute planetary Wheel 7 and high-order cycloid in planet wheel 8 are connected firmly in planet axis 5 by spline 11, and sun gear 9 is connected firmly in input shaft by spline 11 On 4.When input shaft 4 is rotated, the concomitant rotation of sun gear 9 on input shaft 4, the involute being meshed with sun gear 9 are connected firmly Planetary gear 7 is rotated, and the involute planetary wheel 7 of rotation drives planet axis 5 to rotate by spline 11；Meanwhile, connect firmly in planet axis 5 High-order cycloid in planet wheel 8 rotate, high-order cycloid in planet wheel 8 is meshed with gear ring 10, and gear ring 10 is fixed on casing 1, is passed through The compound action of planet axis 5, realizes the coupling rotational output of planet carrier 2.The drive mechanism has simple structure, torsional rigidity Greatly, high transmission accuracy, stable movement, shock resistance are good, assembling is easy, low cost and other advantages, and solving existing decelerator should With the defect of limitation.
Used as the further improvement of such scheme, the tooth profile equation of the high-order cycloid in planet wheel is：
The tooth profile equation of the gear ring is：
In formula：
x1Certain point is in coordinate system O on-high-order cycloid in planet tooth profile1X1Y1In abscissa；
y1Certain point is in coordinate system O on-high-order cycloid in planet tooth profile1X1Y1In ordinate；
x2Certain point is in coordinate system O in-gear ring flank profil2X2Y2In abscissa；
y2Certain point is in coordinate system O in-gear ring flank profil2X2Y2In ordinate；
z1For high-order cycloid in planet tooth number；z2For the gear ring number of teeth；M is the modulus of high-order cycloid in planet wheel and gear ring；r1For The radius of reference circle and pitch circle in high-order cycloid in planet wheel；r2For reference circle in gear ring and the radius of pitch circle；α is profile of tooth parameter；ln For profile of tooth adjusting parameter；N is >=1 integer；Conjugation engagement for high-order cycloid in planet tooth profile and gear ring flank profil turns Angle；z1、z2, m and lnFor specific design parameter；The π of 0 ＜ α ＜ 2；E=r1+r2； And
Specifically, as shown in Figure 4：Coordinate system OXY be the origin of coordinates the center of gear ring 10 fixed coordinate system, coordinate system O2X2Y2For the coordinate system that the origin of coordinates is connected firmly at the center of gear ring 10 and with gear ring 10, coordinate system O1X1Y1It is the origin of coordinates in high-order The center of cycloid in planet wheel 8 and the coordinate system being connected with high-order cycloid in planet wheel.It is former according to the normal method that gear is conjugated contacting profile Reason, conjugation contacting profile curve can carry out coordinate transform and obtain by primitive curve and given angle relation.
The path curves of multi link have concavo-convex arc property, identical with the concavo-convex arc property of conjugate curve, this 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 tooth profile side Journey：
Using the curve, the fatigue strength of high-order cycloidal profile can be improved, sliding ratio is greatly reduced, is lifted its carrying energy Power.The track of Fig. 6 midpoints M is high-order cycloidal profile curve.
Gear ring flank profil 13 is done conjugation engagement normal method and is formed by high-order cycloid in planet tooth profile 12, i.e. high-order cycloid in planet wheel Flank profil 12 meets the point transformation of theory of engagement normal normal equation, it is possible to obtain gear ring flank profil 13, finally gives by high-order cycloid The Meshing Pair of planetary gear 8 and the composition of gear ring 10.
According to normal method derivation formula：
(1)
(2)
(3)
(4)
Successively (1), (2) formula are substituted into into (3) formula, then (3) formula is substituted into into (4) formula, you can be derived from gear ring tooth profile equation：
Specific gear parameter is selected, to high-order cycloid in planet wheel 8 and the assignment of gear ring 10：
N=4, z1=17, z2=115, m=2, l1=1.25, l2=0.1；
Obtain high-order cycloid in planet tooth profile equation：
Obtain gear ring tooth profile equation：
Wherein,
In the present embodiment, the planet axis 5 have three, and two involute planetary wheels 7 and are respectively and fixedly provided with each planet axis 5 Individual high-order cycloid in planet wheel 8, the high-order cycloid in planet wheel 8 is located between two involute planetary wheels 7.In this transmission device, The complex higher order cycloid in planet wheel 8 of planet axis 5 is driven, and flank profil convex-concave arc contact, contact strength is high, and sliding ratio is little；The two ends of planet carrier 2 Support, coupled power output, torsional rigidity is big, improves shock resistance；The input power of double sun gears 9 is split into six branch roads, Compact conformation, bearing capacity is strong.
Finally illustrate, preferred embodiment above is only unrestricted to illustrate technical scheme, although logical Cross above preferred embodiment to be described in detail the present invention, it is to be understood by those skilled in the art that can be In form and in details various changes are made to it, without departing from claims of the present invention limited range.

Claims (2)

1. a kind of complex higher order gerotor type planetary driving device, it is characterised in that：Including casing and planet carrier, the planet carrier leads to Cross spring bearing to be arranged on casing；The planet carrier is provided with input shaft and several planet axis, and each planet axis are uniformly distributed Around input shaft, the planet axis are fixed in planet carrier with input shaft by bearings；It is fixed with each planet axis Involute planetary wheel and high-order cycloid in planet wheel, correspondence is fixed with sun gear on the input shaft, and correspondence is fixed on the casing There is gear ring, the involute planetary wheel is meshed with sun gear, and the high-order cycloid in planet wheel is meshed with gear ring；
The tooth profile equation of the high-order cycloid in planet wheel is
x 1 ( α ) = mz 1 2 cos α - l 1 cos ( z 1 - 1 ) α - l 1 cos ( z 1 + 1 ) α - l 2 cos ( 2 z 1 - 1 ) α + l 2 cos ( 2 z 1 + 1 ) α - . . . - l n cos ( nz 1 - 1 ) α + l n cos ( nz 1 + 1 ) α y 1 ( α ) = mz 1 2 sin α + l 1 sin ( z 1 - 1 ) α - l 1 sin ( z 1 + 1 ) α + l 2 sin ( 2 z 1 - 1 ) α + l 2 sin ( 2 z 1 + 1 ) α + . . . + l n sin ( nz 1 - 1 ) α + l n sin ( nz 1 + 1 ) α ;
Correspondingly, the tooth profile equation of the gear ring is：
In formula：
x1Certain point is in coordinate system O on-high-order cycloid in planet tooth profile1X1Y1In abscissa；
y1Certain point is in coordinate system O on-high-order cycloid in planet tooth profile1X1Y1In ordinate；
x2Certain point is in coordinate system O in-gear ring flank profil2X2Y2In abscissa；
y2Certain point is in coordinate system O in-gear ring flank profil2X2Y2In ordinate；
z1For high-order cycloid in planet tooth number；z2For the gear ring number of teeth；M is the modulus of high-order cycloid in planet wheel and gear ring；r1For high-order The radius of reference circle and pitch circle in cycloid in planet wheel；r2For reference circle in gear ring and the radius of pitch circle；α is profile of tooth parameter；lnFor tooth Shape adjusting parameter；N is >=1 integer；Conjugation for high-order cycloid in planet tooth profile and gear ring flank profil engages corner； z1、z2, m and lnFor specific design parameter；The π of 0 ＜ α ＜ 2；E=r1+r2； And
2. complex higher order gerotor type planetary driving device according to claim 1, it is characterised in that：The planet axis have three It is individual, two involute planetary wheels and a high-order cycloid in planet wheel, the high-order cycloid in planet wheel are respectively and fixedly provided with each planet axis Between two involute planetary wheels.
CN201510022872.2A 2015-01-15 2015-01-15 Composite high-order cycloidal planetary transmission device Expired - Fee Related CN104500661B (en)

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CN104500661B true CN104500661B (en) 2017-05-03

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Publication number Priority date Publication date Assignee Title
CN112145630A (en) * 2020-09-26 2020-12-29 南京好龙电子有限公司 Planetary gear reducer with planet carrier positioning mechanism

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* Cited by examiner, † Cited by third party
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CN2037791U (en) * 1988-10-22 1989-05-17 钟建民 Stepless variator
CN2099224U (en) * 1991-07-20 1992-03-18 兰州减速机厂 Stepless epicyclic speed reducer
JP3934336B2 (en) * 2000-12-21 2007-06-20 住友重機械工業株式会社 Method for reducing backlash of simple planetary gear mechanism and method for manufacturing the same
CN1189680C (en) * 2003-05-14 2005-02-16 重庆大学 Conical cycloid wheel planet transmission means
CN100414139C (en) * 2006-06-12 2008-08-27 重庆大学 Planetary balance-wheel speed reducer
CN200985985Y (en) * 2006-10-19 2007-12-05 重庆大学 Multiple angle cranks, low vibrating and few teeth difference speed reducer

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