CN104565218A - RV speed reducer based on CTC (Centralized Traffic Control) circular arc and single circular arc few tooth difference planetary transmission - Google Patents

RV speed reducer based on CTC (Centralized Traffic Control) circular arc and single circular arc few tooth difference planetary transmission Download PDF

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Publication number
CN104565218A
CN104565218A CN201310521538.2A CN201310521538A CN104565218A CN 104565218 A CN104565218 A CN 104565218A CN 201310521538 A CN201310521538 A CN 201310521538A CN 104565218 A CN104565218 A CN 104565218A
Authority
CN
China
Prior art keywords
circular arc
flange
input
ctc
eccentric shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201310521538.2A
Other languages
Chinese (zh)
Inventor
侍威
崔佩娟
亢金涛
赵国平
林晨
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Academy of Launch Vehicle Technology CALT
Beijing Research Institute of Precise Mechatronic Controls
Original Assignee
China Academy of Launch Vehicle Technology CALT
Beijing Research Institute of Precise Mechatronic Controls
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Academy of Launch Vehicle Technology CALT, Beijing Research Institute of Precise Mechatronic Controls filed Critical China Academy of Launch Vehicle Technology CALT
Priority to CN201310521538.2A priority Critical patent/CN104565218A/en
Publication of CN104565218A publication Critical patent/CN104565218A/en
Pending legal-status Critical Current

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed 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
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/023Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H2057/02039Gearboxes for particular applications
    • F16H2057/02069Gearboxes for particular applications for industrial applications
    • F16H2057/02073Reduction gearboxes for industry
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H2057/02086Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H2057/02091Measures for reducing weight of gearbox

Abstract

The invention belongs to a speed reducer, and particularly discloses an RV speed reducer based on CTC (Centralized Traffic Control) circular arc and single circular arc few tooth difference planetary transmission. The speed reducer comprises a fixing seat, input end flanges, eccentric shafts, planetary wheels, a gear shaft, outer gears and output end flanges, wherein the middle parts of the eccentric shafts are sleeved with the outer gears; the outer gears are arranged on the fixing seat in a sleeving way; one end of each eccentric shaft is sleeved with one planetary wheel; the input end flanges are arranged between the eccentric shafts and the planetary wheels; the planetary wheels are meshed with the gear shaft arranged in the input end flanges through gears; the output end flanges are arranged between the other ends of the eccentric shafts and the fixing seat. The speed reducer has the advantages of compact structure, simple machining process, high transmission accuracy, high carrying capability, large torsion rigidity and stable transmission, and can meet the severe working condition requirements of aerospace servo mechanisms.

Description

Based on the RV retarder of CTC circular arc and single circular arc planetary drive with small teeth difference
Technical field
The invention belongs to a kind of retarder, be specifically related to a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference.
Background technique
Existing RV retarder is a kind of Closed planetary transmission mechanism with cycloid wheel, and it has, and gear range is large, bearing capacity is large, transmission efficiency is high with the advantage such as torsional stiffness is large.Its two-stage epicyclic transmission mechanism combined primarily of the involute planetary deceleration part of the first order and the cycloidal-pin wheel deceleration part of the second level.Due to cycloidal-pin wheel deceleration part, need special purpose machine tool to carry out grinding, its technology capability is poor; Its two, the cycloidal-pin wheel deceleration part of Same Efficieney takes up space comparatively large, and its miniaturization difficulty is strengthened; Its three, first order spur gear deceleration part adopts involute profile, and gear teeth Superposition degree modulus is less, and bearing capacity is lower, and uneven phenomenon of carrying is obvious.Existing RV retarder can not meet the harsh duty requirements of space flight servomechanism.
Summary of the invention
The object of the present invention is to provide a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference, this reducer structure is compact, mechanical processing technique is simple, transmission accuracy is high, bearing capacity is strong, torsional stiffness is large, stable drive, can meet the harsh duty requirements of space flight servomechanism.
Realize the technological scheme of the object of the invention: a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference, this retarder comprises fixed base, input end flange, eccentric shaft, planet wheel, gear shaft, external gear, output terminal flange, in the middle part of eccentric shaft, cover has external gear, and outer gear sleeve is in fixed base; One end cover of eccentric shaft has planet wheel, is provided with input end flange, gears meshing between planet wheel and the gear shaft being arranged in input end flange between eccentric shaft and planet wheel; Output terminal flange is provided with between the other end of eccentric shaft and fixed base.
In the middle part of described eccentric shaft, cover has two external gears, and input end flange and output terminal flange lay respectively at the both sides of two external gears.
Needle bearing is provided with between described external gear and eccentric shaft.
Eccentric shaft spring bearing is equipped with between described eccentric shaft and input end flange, output terminal flange.
Flange spring bearing is equipped with between described fixed base and input end flange, output terminal flange.
Described input end flange with between output terminal flange by being fixedly connected with.
Described planet wheel is all connected by first input end locating stud with between input end flange.
Advantageous Effects of the present invention is: (1) bearing capacity is strong, precision is high: retarder of the present invention adopts two end supports mode, carrying moment of flexure ability is strong, secondly single circular arc planetary drive with small teeth difference participates in that total number of teeth in engagement is many, tooth contact area large simultaneously, and bearing torque ability is strong.CTC circular-arc planet driving cog side clearance is little, have harmony to tooth profile error, backlash and kinematic error little; Single circular arc planetary drive with small teeth difference mechanical processing technique is simple, profile of tooth and profile accuracy high.(2) compact structure, specific power are high: adopt two end supports mode, effectively shorten retarder axial length, high speed level is positioned at retarder first order back flow side simultaneously, reduce input shaft length dimension, reduce retarder rotary inertia, to a certain extent, improve retarder specific power values; Another aspect adopts single circular arc planetary drive with small teeth difference, Same Efficieney volume is about 3/5 of Cycloidal pin-wheel drive, and structure is more compact, and specific power is high.Secondly the number of teeth simultaneously participating in engaging accounts for about 20% of total number of teeth, and tooth contact height is about 1.5 times of moduluses, and its bearing capacity and torsional stiffness are improved largely; Throw off mesh regional gear teeth maximal clearance completely and approximate wheel tooth module, avoid interfering possibility, also reduce the sensitivity to foozle simultaneously.
Accompanying drawing explanation
Fig. 1 is the schematic front view of a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference provided by 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. 2 is to sectional view;
Fig. 4 is the working principle schematic diagram of a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference provided by the present invention;
Fig. 5 is CTC circular-arc planet transmission principle schematic diagram provided by the present invention;
Fig. 6 is single circular arc planetary drive with small teeth difference principle schematic provided by the present invention.
In figure: 1. fixed base, 2. input end flange, 3. eccentric shaft, 4. bearing baffle, 5. planet wheel, 6. gear shaft, 7. first input end locating stud, 8. external gear, 9. output terminal flange, 10. the second input end locating stud, 11. spring washers, 12. end rings, 13. needle bearings, 14. eccentric shaft spring bearings, 15. flange spring bearings, 16. hexagon socket cap head screws.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Figure 1, Figure 2 and Figure 3, a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference provided by the present invention, comprises fixed base 1, input end flange 2, eccentric shaft 3, bearing baffle 4, planet wheel 5, gear shaft 6, first input end locating stud 7, external gear 8, output terminal flange 9, second input end locating stud 10, spring washer 11, end ring 12, needle bearing 13, eccentric shaft spring bearing 14, flange spring bearing 15, hexagon socket cap head screw 16.
As shown in Figure 2, eccentric shaft 3 is two axles distributed up and down.On two eccentric shafts 3, common cover has two external gears, 8, two external gear 8 phase angles to differ 180 °, and each external gear 8 is all enclosed within the boss place of eccentric shaft 3.Be provided with needle bearing 13 between external gear 8 and eccentric shaft 3, the outer side wall of two external gears 8 be all respectively pressed with a bearing baffle 4.External gear 8 is enclosed within fixed base 1, and gears meshing between the two.The outside of an external gear 8 is provided with output terminal flange 9, is provided with eccentric shaft spring bearing 14 between output terminal flange 9 and this external gear 8.The outside of another one external gear 8 is provided with input end flange 2, is provided with eccentric shaft spring bearing 14 between input end flange 2 and this external gear 8.The two ends up and down of eccentric shaft 3 side are respectively overlapped has a planet wheel 5, two planet wheels 5 to be all fixedly connected with each via two first input end locating studs 7 with between input end flange 2, is provided with end ring 12 between planet wheel 5 and eccentric shaft 3.One end of gear shaft 6 is plugged in the center hole of input end flange 2, and Spielpassung between the two.Gears meshing between gear shaft 6 and two planet wheels 5.A flange spring bearing 15 is respectively provided with between fixed base 1 and input end flange 2, output terminal flange 9.
As shown in Figure 3, spacing by the second input end locating stud 10 between input end flange 2 and output terminal flange 9.As shown in figs. 1 and 3, be fixedly connected with by hexagon socket cap head screw 16, spring washer 11 between input end flange 2 with output terminal flange 9.
Below in conjunction with accompanying drawing 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, describe the working principle of a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference provided by the present invention in detail: as shown in Fig. 5 and Fig. 4, two planet wheels 5 and gear shaft 6 are CTC gear, CTC circular arc profile adopts two sections of circular arcs to add one section of tangent line composition, two planet wheels 5 and gear shaft 6 form circular-arc planet transmission, as shown in Fig. 6 and Fig. 4, external gear 8 and fixed base 1 are single Knucle-gear, and external gear 8 and fixed base 1 form single circular arc planetary drive with small teeth difference.As Fig. 4, Fig. 1, Fig. 2 and Fig. 3, gear shaft 6 is transmission input shaft, and gear shaft 6 drives two planet wheels 5 to rotate, and two planet wheels 5 drive eccentric shaft 3 to rotate, thus drives two external gears 8 to do eccentric rotary.External gear 8 engages with fixed base 1, and both account for 20% of total number of teeth at the number of teeth of engagement, and tooth contact height is 1.5 times of moduluses.Eccentric shaft 3 drives output terminal flange 9 to rotate simultaneously, and output terminal flange 9 is transmission output shaft.
In conjunction with the accompanying drawings and embodiments the present invention is explained in detail above, but the present invention is not limited to above-described embodiment, in the ken that those of ordinary skill in the art possess, various change can also be made under the prerequisite not departing from present inventive concept.The content be not described in detail in the present invention all can adopt prior art.

Claims (7)

1. the RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference, it is characterized in that: this retarder comprises fixed base (1), input end flange (2), eccentric shaft (3), planet wheel (5), gear shaft (6), external gear (8), output terminal flange (9), eccentric shaft (3) middle part cover has external gear (8), and external gear (8) is enclosed within fixed base (1); One end cover of eccentric shaft (3) has planet wheel (5), is provided with input end flange (2), gears meshing between planet wheel (5) and the gear shaft (6) being arranged in input end flange (2) between eccentric shaft (3) and planet wheel (5); Output terminal flange (9) is provided with between the other end of eccentric shaft (3) and fixed base (1).
2. a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference according to claim 1, it is characterized in that: described eccentric shaft (3) middle part cover has two external gears (8), and input end flange (2) and output terminal flange (9) lay respectively at the both sides of two external gears (8).
3. a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference according to claim 1 and 2, is characterized in that: be provided with needle bearing (13) between described external gear (8) and eccentric shaft (3).
4. a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference according to claim 3, is characterized in that: be equipped with eccentric shaft spring bearing (14) between described eccentric shaft (3) and input end flange (2), output terminal flange (9).
5. a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference according to claim 4, is characterized in that: be equipped with flange spring bearing (15) between described fixed base (1) and input end flange (2), output terminal flange (9).
6. a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference according to claim 4, is characterized in that: described input end flange (2) is fixedly connected with between output terminal flange (9).
7. a kind of RV retarder based on CTC circular arc and single circular arc planetary drive with small teeth difference according to claim 4, is characterized in that: described planet wheel (5) is connected by first input end locating stud (7) with between input end flange (2).
CN201310521538.2A 2013-10-29 2013-10-29 RV speed reducer based on CTC (Centralized Traffic Control) circular arc and single circular arc few tooth difference planetary transmission Pending CN104565218A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310521538.2A CN104565218A (en) 2013-10-29 2013-10-29 RV speed reducer based on CTC (Centralized Traffic Control) circular arc and single circular arc few tooth difference planetary transmission

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310521538.2A CN104565218A (en) 2013-10-29 2013-10-29 RV speed reducer based on CTC (Centralized Traffic Control) circular arc and single circular arc few tooth difference planetary transmission

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CN104565218A true CN104565218A (en) 2015-04-29

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107165984A (en) * 2016-03-07 2017-09-15 纳博特斯克有限公司 Geared system

Citations (9)

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Publication number Priority date Publication date Assignee Title
CN1317390A (en) * 2001-03-23 2001-10-17 陕西秦川机械发展股份有限公司 Technology for manufacturing speed reducer
CN2497108Y (en) * 2001-05-18 2002-06-26 杭州万杰减速机有限公司 Compound planetary reductor
CN101666366A (en) * 2009-10-12 2010-03-10 吴声震 Micro-backflash cycloidal speed reducer of industrial robot
CN101832364A (en) * 2010-04-17 2010-09-15 吴声震 Industrial robot double-cycloid single-stage reducer
CN201884569U (en) * 2010-11-29 2011-06-29 广州数控设备有限公司 Cycloid speed reducer
CN202349108U (en) * 2011-10-27 2012-07-25 上海减速机械厂有限公司 Cycloid pin gear planetary reducer
CN103016639A (en) * 2012-11-06 2013-04-03 吴小杰 Cycloidal speed reducer for RV-E simulation carrying welding robot
CN103234007A (en) * 2013-04-28 2013-08-07 江苏泰来减速机有限公司 Double-cycloid speed reducer of RV-E type substituted industrial robot
CN203214783U (en) * 2013-04-28 2013-09-25 江苏泰来减速机有限公司 Industrial robot double-cycloid speed reducer replacing RV-E type speed reducer

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1317390A (en) * 2001-03-23 2001-10-17 陕西秦川机械发展股份有限公司 Technology for manufacturing speed reducer
CN2497108Y (en) * 2001-05-18 2002-06-26 杭州万杰减速机有限公司 Compound planetary reductor
CN101666366A (en) * 2009-10-12 2010-03-10 吴声震 Micro-backflash cycloidal speed reducer of industrial robot
CN101832364A (en) * 2010-04-17 2010-09-15 吴声震 Industrial robot double-cycloid single-stage reducer
CN201884569U (en) * 2010-11-29 2011-06-29 广州数控设备有限公司 Cycloid speed reducer
CN202349108U (en) * 2011-10-27 2012-07-25 上海减速机械厂有限公司 Cycloid pin gear planetary reducer
CN103016639A (en) * 2012-11-06 2013-04-03 吴小杰 Cycloidal speed reducer for RV-E simulation carrying welding robot
CN103234007A (en) * 2013-04-28 2013-08-07 江苏泰来减速机有限公司 Double-cycloid speed reducer of RV-E type substituted industrial robot
CN203214783U (en) * 2013-04-28 2013-09-25 江苏泰来减速机有限公司 Industrial robot double-cycloid speed reducer replacing RV-E type speed reducer

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王亮,吴凤林,刘曦永: "渐开线直齿轮圆柱齿轮齿廓修形设计", 《机械管理开发》 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107165984A (en) * 2016-03-07 2017-09-15 纳博特斯克有限公司 Geared system

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Application publication date: 20150429