CN1048252A

CN1048252A - Ball gear

Info

Publication number: CN1048252A
Application number: CN90103030A
Authority: CN
Inventors: 比特·鲍尔曼
Original assignee: Individual
Current assignee: Individual
Priority date: 1989-06-21
Filing date: 1990-06-21
Publication date: 1991-01-02
Also published as: DD295410A5; CS304790A2; PL285677A1; IL94775A0; ZA904796B

Abstract

Ball gear, form by the secondary part and the active part that are bearing in the housing, establish outer suit on the active part and the eccentric wheel of the bearing of Force transmission parts, the ball that is used for power transmission makes it abut in bearing by means of inertia rings, these power transmission balls are being formed on the housing, and be formed in the ball-guided device on the secondary part and move, previous guide device is bal guide or a waveform groove radially, the guide device in back is the waveform track, the quantity of its wave number and guide groove radially or the wave number of last waveform track are different, and the quantity of the ball then number with bal guide radially or two waveform tracks and pitch circle intersection point is identical.

Description

Ball gear

The present invention relates to a kind ofly establish eccentric wheel on the active part by being bearing in the ball gear that secondary part in the housing and active part are formed, eccentric wheel sleeve is being adorned the supporting of Force transmission parts and is being held.

In known this type of transmission device (cycloid transmission device), establish the pawl of some on the eccentric wheel, they and two dishes of establishing external tooth mesh, these two outer tooth disks then with a ring co-operation that is provided with internal tooth, make dish constantly with the ring a part of circumferential engagement, so, owing to the number of teeth different conversion that realized power or direction of dish with ring.Because the strong tooth that is similar to waveform is arranged, so known transmission device can transmit big power, but can only in narrower scope, change velocity ratio or reduction speed ratio, therefore mainly be applicable to the conduct speed reducer of transmission at a slow speed.In addition, for power transmission, the slippage each other of tooth or ripple, therefore structurally with technology on complicated especially, require to use the very material of costliness of price on the one hand, require on the other hand Surface of action is carried out time-consuming surface Machining of taking a lot of work, in this case, produce big frictional loss inevitably owing to this working method of dish.

By disclosed Japanese 58-248324 patent application document, known a kind of ball gear, wherein, on the active part that is designed to coil eccentric grove is arranged, the waveform groove that a ring-type is arranged on the secondary part that is designed to equally coil, be used for the hemispherical waveform groove that also is contained in of ball of power transmission, a flange plate that is fixed on the shell is set between driving disc and driven disc, the radially long pilot hole of some is set on the flange plate.This transmission device is except that structure is simple, and the sort of transmission device that its applicability and front are introduced is basic identical, because ball is compelled to guide for three times in two grooves and long pilot hole, thereby makes ball and ball orbit be subjected to strong wearing and tearing.

By the known a kind of ball gear of EP-OS207206, it has one to be contained in driving disc on the driving shaft eccentric wheel by ball bearing, the guide slot of ball is established on the driving disc two sides, and ball in the corresponding guide groove, rolls in the guide groove of driven disc on housing on the one hand on the other hand.It is identical that the function of this transmission device and this paper begin the cycloid transmission device introduced, its cooperative ball orbit, being two has different wave length (n: sinusoidal epicycloid and hypocycloid on mathematics n-2), it is significant for the work of transmission device to abide by this difference exactly.As the situation in the cycloid transmission device that this paper begins to be introduced, because ball rolling rail and mathematical cycloid shape are closely related, this transmission device is subjected to the restriction identical with gear drive, especially selectable reduction speed ratio will depend on that by the determined modulus of the circumference of cycloid basic circle its consequence is that reduction speed ratio is selected on jump type ground greatly.Another shortcoming of this known gear is that the cycloid shape of spherical guide causes, it is always when ball quickens in new and the acutangulate curve track of present moving direction near the cycloid summit and after arriving the cycloid summit again, cause damping, thereby it is inconsistent that each ball is rolled to swing roller.Though owing in continuous curve ranges, make this inconsistent being stabilized under the effect of other ball, and it is not therefore so obvious in the sensation of driven end, but in fact exist this inconsistent, and thereby to make galloping, its consequence be that this transmission device is only limited to as the low speed transmission.

The objective of the invention is to make a kind of transmission device, it allows freely selecting reduction speed ratio and velocity ratio in the scope in broadness under simple in structure and the little situation of wearing and tearing.

By taking following measure to reach this purpose in transmission device: the ball that is used for power transmission makes it abut in bearing by means of an inertia rings that can rotate freely, these power transmission balls are on the one hand in direct ball-guided device on housing, move in the ball-guided device on being formed on secondary part on the other hand, previous ball-guided device or add a ball-guided device that constitutes by fixing radial groove, or be a continuous waveform groove for radially bal guide, a continuous eccentric grove; Then a ball-guided device is made of a continuous waveform track, the groove number of the wave number of this waveform track and guide groove radially or the wave number of last waveform track are different, and the quantity of the ball then number with radially bal guide number or two waveform tracks and pitch circle intersection point is identical.

In by ball gear of the present invention, come power transmission with ball, by guiding ball in the supporting ring (inertia rings) that can rotate freely at, its direction that can avoid causing high frictional loss is the guiding that forces perpendicular to drive end and driven end spherical guide trend.Therefore the transmission of power is actually only being attended by and carries out under the rolling friction of middle face small sway, has only small and negligible frictional loss.Can be made into by this ball gear of the present invention and to have reduction speed ratio and velocity ratio arbitrarily, can be free and irrespectively selected with modulus given in advance.Reduction speed ratio can not reach this reduction speed ratio with traditional gear drive less than 9: 1.Power transmission can be used and be easy to the ball bought on the market, and the spherical guide of shell ends and driven end can be made by the simplest manufacturing procedure.Therefore manufacture cost is very low.In addition, this transmission device can transmit big power, and this is because all balls are in the contact condition of power transmission simultaneously constantly.

As seen other structural type and advantage utilize accompanying drawing for example to the explanation that the present invention did, wherein below

Fig. 1 ball gear sectional arrangement drawing of the present invention;

The left view of Fig. 2 Fig. 1;

Fig. 3 sees the drive end shell body wall of transmission device shown in Fig. 1 internally;

A kind of multistage or multi-speed transmission embodiment's of Fig. 4 active part sectional arrangement drawing;

The right elevation of Fig. 5 Fig. 4;

The sectional arrangement drawing of transmission device secondary part shown in Fig. 6 Figure 4 and 5;

The sectional arrangement drawing of the multistage or another kind of structural type of multi-speed transmission of Fig. 7;

Fig. 8 takes the left view after housing lid and driving shaft are opened transmission device away;

The combination and the calculation specifications thereof of Fig. 9 ball running slot

Other three kinds of examples of Figure 10 to 12 ball running slot combination;

Figure 13 power transmission ball has the ball gear sectional drawing of ball bearing for parts;

The partial view of Figure 14 Figure 13 ball collar;

That Figure 15 drive end and driven end power transmission ball separate and it is contained in a ball gear sectional drawing in the slide block;

Figure 16 can unite the slide block part sectioned view of use with ball gear shown in Figure 15, and the power transmission ball in the slide block has single ball bearing for parts;

Figure 17 can unite the slide block part section of use with ball gear shown in Figure 15, and the power transmission ball in the slide block has paired ball bearing for parts;

Figure 18 slide block view;

The side view of Figure 19 Figure 18;

The slide block view of the another kind of structural type of Figure 20

The side view of Figure 21 Figure 20;

The top view of Figure 22 Figure 20;

The dish of Figure 23 band radial groove

The dish of the band radial groove of the another kind of structural type of Figure 24;

Figure 25 power transmission ball has the speed reduction gearing sectional drawing of ball bearing for parts.

The represented single-stage ball gear of Fig. 1 to 3 is made up of the secondary part 3 and the active part 1 that are bearing among housing 2a, the 2b, on the active part 1 eccentric wheel is arranged, and eccentric wheel outside suit the bearing 5 of Force transmission parts.For power transmission, annularly round ball 6, these balls are abutted on the bearing 5 with a supporting ring that can rotate freely 7 in the outside of bearing 5.Move in the radially bal guide 10 that ball 6 is fixed on being formed on housing 2 on the one hand, move along the waveform track 11a, the 11b that are located on the secondary part 3 on the other hand, the ratio of the quantity of ball and radially guide groove 10 correspondingly and the ripple quantity of waveform track 11 is at n: (n-2) and n: (n+2).Can obviously find out the simple in structure of this transmission device by figure, its employed ball and ball bearing are the general parts that can buy on the market, and this transmission device is made up of the member of simple shape, and they need not to carry out complicated processing.As shown in Figure 3, bal guide radially can cover the groove that goes out a perforation by simple milling or grinding in stepped shape and just can be made into.Be not to be used for power transmission and the ball bearing 5 and the supporting ring 7 that only are used to guide ball 6 can be designed to the simple plane ring, that is to say does not need to make a kind of ball collar shape guide rail.

In the present invention further designs, for special application target, many power transmission routes (seeing Fig. 4 to 6) can be set in the ball gear, every the power transmission route comprises ball row 6a, a 6b and supporting ring 7a, 7b, and radially bal guide correspondingly 10 and mutual concentric annular spherical guide 11.When on a public secondary part, establishing concentric waveform spherical guide (not expression on the figure), then it is a kind of single-stage driving device that transmits big strength that is applicable to, wherein each power transmission highway route design becomes in full accord, that is in each waveform spherical guide, must have the ripple of equal number, the radially bal guide of equal number must be arranged in two power transmission routes.A kind of like this transmission device can be used for transmitting very big strength, or adopts it when requiring according to installation conditions structural design got when flat especially.

But also can have in other structural types of transmission device of a plurality of power transmission routes in this class, concentric waveform

spherical guide

11a, 11b are arranged on secondary part 3a, the 3b separately, the power transmission route also designs differently in this case, that is to say, in the waveform spherical guide, can have the ripple that quantity does not wait, and when ball quantity is different, correspondingly in two power transmission routes, contain the radially bal guide of varying number.A kind of transmission device like this becomes multi-range transmission, it can be designed to the secondary part of fixed configurations, or be designed to converter, in this case, driven shaft is connected with this or that secondary part selectively by clutch, and those not connected secondary parts are idle running together and then.

By the present invention as shown in Figure 7 as the another kind of structural type of converter.In this transmission device, the secondary part 22 of the gear stage in back is contained on the secondary part 21 of previous gear stage with one heart, make the ring-type convex shoulder that is provided with waveform track 23 24 of secondary part 22 opposed, leave annular slot 29 between a boss 28 and the back secondary part 22 with the annular boss 28 in the housing 25,26.In annular slot 29 locations, previous secondary part 21 is designed to eccentric wheel 30, and the bearing 31 of the inertia rings 33 of a ball 32 and a back gear stage fixing ball 32 is contained on this eccentric wheel.Because what produced doubly takes advantage of effect, so this structural type is specially adapted to make velocity ratio or the very big transmission device of reduction speed ratio, its outstanding advantage is to carry out power output as required in any one-level, this transmission device thereby also can be used as converter and use, at this moment, in order to make transmission devices multistage or many speed, can press the mode of being introduced, always establish another secondary part in last secondary part back.

Another has the transmission structures form of outstanding advantage also to have represented the present invention among Fig. 7, wherein, another waveform track 36 is set in previous power transmission route, with the radially bal guide 27 that replaces using in a back power transmission route.This just makes a kind of like this ball gear first, promptly in this transmission device, ball two continuous (that is can not cause flip-flop ball traffic direction) and can freely select (that is with numeral on sinusoidal cycloid shape irrelevant) move in the waveform track.In this case, reduction speed ratio can freely be selected in whole many multiples and half many multiples, preferably select a kind of circular little bellows-shaped of fluctuating that is similar to very much for the transmission device of high speed operation, make the operation of ball very steady, and, then can select the bigger bellows-shaped of a kind of amplitude of oscillation for the slow transmission device of the big motion speed of power transmission.With existing ball gear, especially cycloid transmission device is compared, another outstanding advantage of transmission device of the present invention is to have cancelled the guide flange that is fixed on the housing or independent drive plate, and thereby to have cancelled cam right, the structure of transmission device is greatly simplified.

(see figure 8) in the structural type that two waveform tracks that concur are arranged, preferably establish the long guiding groove 38,39 that surrounds ball on the inertia rings 37,40, they can not hinder ball to center under the situation of the small sway that causes when work is done in its engaging position, ball remained on be spaced from each other (average) distance of predesignating, and drive ball by desired unified sense of rotation in this manner.

The single-stage driving device can be according to selecting to establish radially guide groove or establishing two waveform guide grooves.Similarly, in the multistage or multi-speed transmission shown in Fig. 4 or 7, can on housings at different levels, establish identical or different radially guide groove, or establish the waveform guide groove.When using this structural type of waveform guide groove, for guaranteeing the transmission device reliably working, the difference that (+/-) two ripples only need be arranged at least between the waveform track of the waveform track of shell ends and driven end, and when use has radially this structural type of guide groove, preferably make it to have the difference of a radial groove, but the difference of two radial grooves also can be arranged with respect to the wave number in the waveform track with respect to the wave number in the driven end waveform track.

Fig. 9 has schematically illustrated the co-operation and the computational methods thereof of waveform track, in this structural type, and the waveform track co-operation of the waveform track of six ripples and four ripples.Middle generating circle among the figure represents that with label 41 the waveform track of six ripples is that the back-shaped track of 42, four ripples is 43.When the waveform track 42 of six ripples is located on the housing, when the waveform track 43 of four ripples was located on the driven disc, the reduction speed ratio that obtains was 1: 2, and reduction speed ratio is 1: 3 when disposing on the contrary.Ball is placed on the place that two waveform tracks 42,43 and generating circle 41 have common intersection.In the equation as the curve calculation basis, containing of each symbol means:

γ _xThe center line of-waveform track and the radial distance between the running shaft,

The e-degree of eccentricity,

φ _xThe arc round angle of-waveform track centerline,

The wave number of a waveform track of z1-,

The wave number of another waveform track of z2-,

γ _s-γ _xThe given eccentric radial distance in some place.

Represented example among Figure 10 to 12 based on the different waveform track combination of the waveform track 44 that uses one seven ripple.When the waveform track with this seven ripple is located at driven end, can obtain and the irrelevant reduction speed ratio of the ripple number of shell ends 1: 3.5.On the contrary, if the waveform track of seven ripples is located on the housing, then (the waveform track of five ripples is at driven end) reduction speed ratio is 1: 2.5 under situation shown in Figure 10; (the waveform track of four ripples is at driven end) reduction speed ratio is 1: 2 under the situation of Figure 11; Situation (the waveform track of three ripples is at driven end) reduction speed ratio by Figure 12 is 1: 1.5.Therefore obtain variable function, and can on sizable degree, make the transmission device component standardization, promptly having the standardization housing of different wave numbers on a small quantity, by employing the driven disc of the waveform track of different wave numbers is arranged, just can be made into many dissimilar transmission devices.

Other design contents in the described ball gear structural type of Fig. 1 to 12 have been represented among Figure 13 to 15, wherein, different with the transmission device of top by the agency of, for power transmission, at active part and standing part (housing and have between the dish of radial groove and active part and having between the dish and secondary part of radial groove, if the ball that separates row, but ball row free rotary ground supporting is on the ball circle.

Figure 13 and 14 represented in this way a kind of basically with corresponding transmission device shown in Figure 1, utilize two ball rows 64,65, the housing 44 that power is fixed from active part 41 warps of band eccentric wheel 61 passes to secondary part 51, but these two ball row free rotary ground supportings make each ball that is used for power transmission 66,67 be bearing in four balls of two ball rows 64,65 on two row's balls 66,67.These rotating bearing balls itself then respectively are contained in the inertia rings 62,63, and inertia rings is ring 63 in it especially, can with rolling bearing particularly needle bearing replace, and need not simply have the profile ring of two-sided supporting track.Therefore eliminated every friction between each power transmission part of transmission device.

In the structural type of representing among Figure 15 to 25, different in the transmission of power and the structural type shown in Fig. 1 to 14, be bearing in by means of an axial action, by ball bearing that inertia rings 68 on the eccentric wheel 61 carries out, to replace the inertia rings of radial effect among Figure 14.The corresponding part of Figure 15 to 25 and Figure 13 and 14 adopt with Figure 13 and 14 in identical label.In addition, power passes to secondary part 51 through two row's balls equally, and in this transmission device with axial action inertia rings, ball is always single or be contained in couples in the slide block, and slide block then is contained in the positioning disk radial groove that is fixed on the housing.

In Figure 15 of expression a kind of structural type that has been simplified of the present invention, the ball 55,56 that is used for power transmission does not have ball bearing for parts ground directly to be bearing in slide block 57, thrust slide supporting is in dish 59 radial grooves of being fixed by housing 58, Figure 16 to 22 adds the different schemes of understanding the slide block that ball bearing for parts is arranged, and Figure 23 and 24 has represented other two kinds of positioning disk structural types that are fixed on the housing.

Figure 16 represents a kind of structure of slide block 70, and the ball 71,72 that power transmission is used respectively is bearing in a ball circle 73,74 that is loaded in the spherical guide 75; In structural type shown in Figure 17, the ball 76,77 that power transmission is used is bearing on the shared ball circle 78 in pairs.The ball (76,77) that is used for power transmission is by means of a lining (82) or a rolling bearing, and preferably a needle bearing ring bearing is in slide block (70).Ball circle 78 is seen Figure 18 and 19 at the bal guide 79(of slide block 70) in the motion, slide block 70 is established external sliding rail 80, the dish 59(that slide block is caught fixed by housing by it sees Figure 15) the two edges of groove 58, under the effect of active part 41 power, slide block according to the degree of eccentricity of eccentric wheel 61, radially inwardly or outwards slides in groove.

Slide block difference represented among the slide block 81 of expression in Figure 20 to 22 and Figure 16 to 19 only is that two kinds of schemes with expression in Figure 16 and 17 are included in the slide block here.Be the power of raising transmission, or when constituting the classification linkage, can use this type of slide block by Figure 25.

Slide block can be united use by type and any positioning disk of transmission device, for example with the positioning disk 59 of Figure 15, or with the positioning disk 85 of Figure 23.Be provided with eight radial grooves 86 that supply slide block to push on the positioning disk 85 altogether, and have eight confessions to be fixed on the screw hole of using on the housing 87 from outer genesis.Figure 24 has represented the guiding groove 88 of another kind of structural type, and it has four radial grooves 89 from center hole, for the ease of the slide block of packing into, at the angle of radial groove chamfered edge.It is divided into two parts that but slide block also can be designed as, and behind radial groove that these two-part are packed into, is screwed each other.

Represented a classification linkage that adopts double-slider shown in Figure 20 to 22 among Figure 25, wherein, in inertia rings 68, the ball 91,92,93 that moves in each groove of housing 44 and secondary part 51 is used for power transmission, only turn round, and 94 on the ball that moves in spherical guide play supporting role on inertia rings 68 surfaces.In this case, positioning disk 83 can rotate by means of ball bearing 84, and therefore, positioning disk 83 can carry out rotatablely moving of ball 91,92 defineds of being guided by the waveform guide rail.

Claims

1, ball gear, form by the secondary part (3) and the active part (1) that are bearing in the housing, establish eccentric wheel (1a) on the active part (1), eccentric wheel sleeve is being adorned the bearing (5) of Force transmission parts, it is characterized by: the spin (6) that is used for power transmission is by means of an inertia rings that can rotate freely (7,37,40) it is abutted on the bearing (5), these power transmission balls are directly moving in the ball-guided device on housing (2) on the one hand, move in the ball-guided device on being formed on secondary part (3) on the other hand, previous ball-guided device or be radially bal guide (10), article one, continuous eccentric grove (41) adds one by fixing radial groove (58,86,89) ball-guided device of Gou Chenging, or be a continuous waveform groove (36); Then a ball-guided device is made of a continuous waveform track (11,23), the quantity of the wave number of this waveform track and guide groove (10) radially or the wave number of last waveform track are different, and the quantity of the ball then number with the quantity of bal guide (10) radially or two waveform tracks and pitch circle intersection point is identical.

2, according to the described ball gear of claim 1, it is characterized by: the formula of the ball waveform guide rail of driven end is:

In the formula

The e-degree of eccentricity,

φ _xThe arc round angle of-waveform track centerline,

The wave number of a waveform track of z1-,

The wave number of another waveform track of z2-, or the i.e. guide groove number radially of radial groove,

γ-γ the given eccentric radial distance in some place.

3, according to claim 1 or 2 described ball gears, it is characterized by: in guide groove (10) radially in the transmission device of one-sided guiding power transmission ball (6), the quantity of ball (6), and the quantity of guide groove (10) radially correspondingly, and the ratio of the wave number of waveform track (11) is at n: (n-2) and n: (n+2).

4, according to the described ball gear of one of claim 1 to 3, it is characterized by: bilateral is guided in the transmission device of power transmission ball (6) in waveform track (11,36), the quantity of ball (6), and the wave number in a waveform track (36) correspondingly, be at least n with the ratio of the wave number of another waveform track (11): (n+1-2).

5, according to the described ball gear of one of claim 1 to 4, it is characterized by: inertia rings (37,40) is provided with the long pilot hole (38,39) of dress ball, they can not hinder ball to center under the situation of the small sway that causes when work is done in its engaging position, ball remained on be spaced from each other (average) distance of predesignating, and drive ball by desired unified sense of rotation in this manner.

6, according to the described ball gear of one of claim 1 to 5, it is characterized by: establish the ball collar (6a, 6b) of a plurality of radially spaced-apart certain distances, each ball collar is remained on the bearing that reclining (5) by an inertia rings (7a, 7b) or abuts in and radially is on inner that inertia rings (7a).

7, according to the described ball gear of one of claim 1 to 6, it is characterized by: comprise the ball (6,6a) of same quantity in each ball collar, affiliated waveform track correspondingly has the wave number of same quantity.

8, according to the described ball gear of claim 7, it is characterized by: the waveform track (11a, 11b) of driven end guiding ball is located on the shared driven disc (3).

9, according to the described ball gear of claim 6, it is characterized by: be to constitute converter, comprise the ball (6,6a) of varying number in each ball collar, affiliated waveform track correspondingly has the wave number of varying number.

10, according to claim 7 or 9 described ball gears, it is characterized by: the waveform track (11a, 11b) of driven end guiding ball (6a, 6b) is located on the driven disc (3) that is separated from each other.

11, according to the described ball gear of one of claim 1 to 10, it is characterized by: in order to constitute a multi-range transmission or how fast converter, the secondary part (22) of the gear stage in back is bearing on the secondary part (21) of previous gear stage with one heart, they are located at housing (25 with the anchor ring (24) that is shaped on waveform track (23) above with one, 26) annular boss (28) that is provided with guide groove (27) radially above in is relative, and surround an annular slot (29), at this moment, the secondary part (21) that is located at the front is designed to eccentric wheel (30) in annular slot (29) location, bearing (31) is housed on the eccentric wheel, and bearing (31) is as ball (32) and be located at the supporting of the supporting ring (33) that fixing ball (32) also can rotate freely in the ball gear stage of back.

12, according to the described ball gear of claim 11, it is characterized by: eccentric wheel is located at the interior annular slot of housing (26) location.

13, according to the described ball gear of one of claim 1 to 12, it is characterized by: for power transmission, between active part (41) and standing part (dish (59,85,86) of housing (44) or band radial groove), and between the dish (59,85,86) and secondary part (51) of active part (41) or band radial groove, establish ball row (55,56 separately; 71,72; 76,77).

14, according to the described ball gear of claim 13, it is characterized by: ball row (71,72; 76,77) but ball free rotary ground supporting is at a ball circle (64,65; 73,74; 78) on.

15, according to the described ball gear of one of claim 1 to 14, it is characterized by: cam disk (61) is centered on by two each ball rows (64,65) by a supporting ring (62,63) institute fixing, ball row is as the bearing of power transmission ball (66,67), and the ball (66,67) that each power transmission is used is bearing on four balls of these two ball rows (64,65).

16, according to claim 1,13 and 14 described ball gears, it is characterized by: the ball that power transmission is used (71,72) respectively is bearing on the independent ball circle (73,74).

17, according to claim 1,13 and 14 described ball gears, it is characterized by: the ball that power transmission is used (76,77) is bearing on the common ball circle (78) in couples.

18, according to claim 1,13 to 17 one or more described ball gear, it is characterized by: ball is contained in the slide block (70,81), slide block is bearing in the dish of being fixed by shell (59,85,88) slidably and goes up in each radial groove (58,86,89), and this dish (59,85,88) is between the inertia rings (68) and housing (44) or secondary part (51) of active part (41,61).

19, according to the one or more described ball gear of claim 13 to 19, it is characterized by: the ball (76,77) that is used for power transmission is by means of a lining (82) or a rolling bearing, and preferably a needle bearing ring bearing is in slide block (70).