CN105020347B - A kind of eccentric oscillating-type planetary gear device - Google Patents
A kind of eccentric oscillating-type planetary gear device Download PDFInfo
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- CN105020347B CN105020347B CN201410176886.5A CN201410176886A CN105020347B CN 105020347 B CN105020347 B CN 105020347B CN 201410176886 A CN201410176886 A CN 201410176886A CN 105020347 B CN105020347 B CN 105020347B
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- gear
- tooth
- internal
- external tooth
- epitrochoid
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Classifications
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- 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
- F16H55/08—Profiling
- F16H55/0826—Novikov-Wildhaber profile
Abstract
The present invention proposes a kind of eccentric oscillating-type planetary gear device; it includes arc toothed internal-gear; gear ratio internal-gear is few, have the external tooth gear of epitrochoid tooth form; external tooth gear is supported to swing the eccentric crankshaft rotated; external tooth gear is set to be revolved round the sun in internal-gear; on the tooth top and bottom of the tooth of external tooth gear; the theoretical tooth form obtained according to epitrochoid theory locus tip in the range of 90 degree to 60 degree of both sides; the tooth form of profile shifted gear so that the face of gear of bottom of the tooth and tooth top is in the inner side for the theoretical tooth form that epitrochoid theory locus are obtained.The present invention can significantly shorten during the design, labour, the expense for making sample and assessment time, largely extend the use scope of epitrochoid tooth form reducing gear.
Description
Technical field
The present invention relates to a kind of eccentric oscillating-type planetary gear device, pass through in the external tooth gear engaged with internal-gear inclined
Innermost being axle is carried out in the eccentric oscillating-type planetary gear device of eccentric swing rotation, the castellated shape phase with determining its external tooth gear
The technology of pass.
Background technology
At present, eccentric oscillating-type planetary gear device because the number of teeth of its contact and engagement it is many, rigidity is high, many as reductor
Number is used in the articulation mechanism of articulated robot, the rotary drive mechanism of process equipment, the detent mechanism for processing accessory etc..
Internal-gear is made arc-shaped, the external tooth shape of external tooth gear by such eccentric oscillating-type planetary gear device majority
Make the shape for meeting epitrochoid curve.
The fixed point P of epitrochoid curve trajectory calculation formula：
Wherein, rc：Basic radius of circle；rm：Roll radius of circle；rd：Eccentric distance；θ：Angle of revolution.
The external tooth gear of the reduction part of such eccentric oscillating-type planetary gear device maintains the fixed offset of eccentric crankshaft
Revolution, by engage with internal-gear and revolution simultaneously, the number of teeth with external tooth gear and internal-gear is corresponding, internal-gear and
Drawer at movable side in external tooth gear can slowly run relative to affixed side.
The defect of prior art includes：
In such eccentric oscillating-type planetary gear device, obtained according to the castellated shape that theoretical calculation designs external tooth gear
Epitrochoid shape when, the intermeshing pressure angle maximum near the external tooth bottom of the tooth and tooth top of external tooth gear is up to 90 °, external tooth tooth
The pressure that wheel face is subject to becomes big, and the friction of internal-gear and external tooth gear also accordingly increases, cause transmission efficiency to reduce, generate heat,
The problems such as gear surface breakage, generation noise.
Further, since in eccentric oscillating-type planetary gear device, most teeth are engaged simultaneously, the processing of tooth form needs to reach
Very high dimensional accuracy, the dimensional discrepancy of very little will all cause gear assembling difficult, and as severe friction and produce noise
The reason for.
In addition, strict control reduces gear backlash engagement can be caused to become very tight, not only easily cause torque fluctuation and
Vibration, can also cause and the problems such as torque increase and transmission efficiency are reduced is driven during zero load.
To avoid the generation of problems, it is necessary to correspondingly be repaired to gear, but in order that the production of internal-gear
And assembling becomes easy, general pin or the internal-gear of circular shape using circular shape causes the shape of internal-gear to be consolidated
It is fixed, the shape of external tooth gear can only be repaired.
But because the contact-ratio of gear is high, complex-shaped, the change of the calculating decision position of engagement, the pressure angle of external tooth gear
Upper section, occur the pressure size of face of gear etc. of hertz stress, be required for based on complicated calculating and rich experience
And carried out on the basis of checking.
The content of the invention
The present invention proposes a kind of eccentric oscillating-type planetary gear device, and it includes arc toothed internal-gear, the number of teeth
External tooth gear that is fewer than internal-gear, having epitrochoid tooth form, supports external tooth gear is swung to rotate and make it in internal-gear
On the eccentric crankshaft of interior revolution, the tooth top and bottom of the tooth of external tooth gear, in the theoretical tooth form obtained according to epitrochoid theory locus
Tip in the range of 90 degree to 60 degree of both sides, the tooth form of profile shifted gear so that the face of gear of bottom of the tooth and tooth top is in outward turning
Take turns the inner side for the theoretical tooth form that line theory locus are obtained.
Eccentric oscillating-type planetary gear device proposed by the present invention, the tooth form of external tooth gear is to form the tooth form by setting
Epitrochoid tooth form rolling circle center to fixed point distance and roll the coefficient between radius of circle, and the coefficient is set
Obtain within the specific limits.
In the present invention, with arc toothed internal-gear and fewer than the number of teeth of internal-gear and have epitrochoid tooth form
External tooth gear, and with the eccentric crankshaft of the support external tooth gear revolution set to enable external tooth gear to be revolved round the sun in internal-gear
Eccentric oscillating-type planetary gear device in, in the bottom of the tooth and tooth top of external tooth gear, from the theoretical tooth form in the track of epitrochoid
Tip in the range of 90 degree~60 degree of both sides, cause face of gear to be in inner side by finishing.
In the present invention, set the foregoing tooth form as external tooth gear epitrochoid tooth form rolling circle center to fixed point as
The coefficient related to rolling radius of circle of distance (hereinafter referred to as eccentric distance) only, and by the way that foregoing coefficient is set in into certain model
In enclosing, to determine the tooth form of external tooth gear.
As shown in Fig. 2 in the present invention, in jointing scope α 1 and bottom of the tooth finishing scope α 2, only by jointing amount
T1 and bottom of the tooth trim amount t2 relative theory tooth top shapes S1, theory bottom of the tooth shape S2 to inner side be trimmed to finishing tooth top shape K1,
Repair bottom of the tooth shape K2.
This jointing scope α 1, bottom of the tooth finishing scope α 2 are set to 90 °~60 °, jointing amount t1, bottom of the tooth trim amount t2
It is set to 0.01~0.02mm.
If jointing scope α 1, bottom of the tooth are repaired into scope α 2 and jointing amount t1, bottom of the tooth trim amount t2 are set to ratio
Above-mentioned small scope, its absolute magnitude repaired diminishes, and because the scope at high pressure angle is still suffered from, reduces the effect of finishing.
If on the contrary, increasing this finishing scope, the scope of theoretical tooth form can be made to narrow, transmission efficiency declines.
Repaired, in the case of the tooth form contact-ratio for requiring higher, can also avoided at high pressure angle by this
Under engagement range, while efficiency is not reduced, can obtain suitably being driven effect.
At present, that is, allow to set pressure angle, it is also desirable to calculate or simulate in each point by the shape along external tooth gear,
To be reacted in shape, and the present invention has the scope of finishing effect by the Range Representation of shape.
In addition, for well balanced external tooth gear a11 and internal-gear 12 engagement range, offset rd is set to 2 times,
And it regard the value of this value divided by rolling radius of circle rm as cycloid coefficient Tf。
Cycloid coefficient TfCalculating formula：
Wherein, Tf：Cycloid coefficient, rm：Roll radius of circle；rd：Eccentric distance.
In the present invention, by by above-mentioned cycloid coefficient TfIt is set between 0.7~0.9, can easily sets suitable
External tooth gear a11 and internal-gear 12 engagement range, it is ensured that transmission efficiency.
In Fig. 3, illustrate cycloid coefficient TfIt is set to 0.4 (Fig. 3-1), 0.6 (Fig. 3-2), 0.8 (Fig. 3-3), 0.9
Tooth form when (Fig. 3-4).
As shown in Figure 3, by this coefficient be located at 0.8~0.9 between when, suitable external tooth gear a11 shape can be obtained
Shape.Coefficient TfLess than normal, its contact-ratio can be reduced, and can be deviateed at internal-gear 12 and external tooth gear a11 engagement spacing point, sliding
Dynamic speed increase, friction loss also increases therewith, causes transmission efficiency to reduce.
External tooth gear b18 in accompanying drawing also is adapted for above statement.In the construction using multiple external tooth gears, all is outer
Gear can use identical dressing method to obtain suitable tooth form.
Beneficial effects of the present invention include：
The present invention can very easily set the bottom of the tooth of external tooth gear and the profile modification scope and trim amount of tooth top.In addition
It is suitable to verify by using the coefficient for representing eccentric distance and rolling circle relation while external tooth gear surface pressure is reduced
External tooth gear shape so that without just can easily draw suitable tooth form by complicated checking, reaching can provide and will not send out
The purpose of the eccentric oscillating-type planetary gear device of raw torque fluctuation and vibration.
By using the present invention, in the reducing gear for requiring high contact-ratio, highly difficult parsing can need not be carried out, very
Easily set suitable gear shape.As a result, the engagement in elevated pressures angular region can be avoided, elevated pressures corner
Divide and be not pressurized.Further, since cycloid coefficient easily confirms, efficient effect of slowing down can be obtained under appropriate equilibrium configuration
Really.
The shape that theoretical formula calculates and draws epitrochoid tooth form is first passed through, tooth top can be set according to the present invention afterwards
With the finishing scope and trim amount of bottom of the tooth, and correspondingly repaired, counted respectively without each position of engagement in gear to inner side
Pressure angle is calculated, or the maximum and minimum value of tolerance are calculated by machining accuracy, profile modification is repeated.
In addition, by setting simple coefficient, it is easy to the engagement of the gear after checking design, without by repeatedly
Make various finishing samples and come verification efficiency and running-active status.
Furthermore, it is possible to effectively prevent face of gear pressure and friction loss from increasing caused efficiency reduction, it can also prevent
The only generation of gear backlash.
With at present can only be by complicated calculating and experience, and make sample repeatedly and could determine suitable castellated shape
Compare, using the present invention can significantly shorten design during, labour, make sample expense and the assessment time, very greatly
Degree extends the use scope of epitrochoid tooth form reducing gear.
Brief description of the drawings
Fig. 1 is the schematic diagram of epitrochoid formation.
Fig. 2 is tooth top in the present invention and the schematic diagram of bottom of the tooth finishing.
Fig. 3 is cycloid coefficient T of the present inventionfAsynchronous tooth form schematic diagram.
Fig. 4 is the profile for applying the reductor of the present invention.
Fig. 5 is external tooth gear and the schematic diagram of internal-gear cooperation in the reductor for apply the present invention.
Fig. 6 is the schematic diagram of external tooth gear finishing in the reductor for apply the present invention.
Embodiment
Fig. 1 is into Fig. 6, and rm- rolls radius of circle, rc- bases radius of circle, rd- eccentric distances, p- fixed points, α 1- jointings
Scope, α 2- bottom of the tooth finishing scope, t1- jointing amounts, t2- bottom of the tooth trim amounts, S1- theory tooth top shapes, K1- finishing tooth tops
Shape, S2- theory bottom of the tooth shapes, K2- finishing bottom of the tooth shapes.
Fig. 1 is into Fig. 6,1- input shafts, 2- eccentric crankshafts, 3- central gears, 4- reception and registration gears, 5- input side supports,
6- outlet side supports, 7- pillars, 8- bolts, 9- shells, 10- bearings, 11- external tooth gears a, 12- internal-gear, 13- groove a,
14- grooves b, 15- bearing outer ring, 16- bearing inner races, 17- bearings b, 18- external tooth gear b, 19- pin (internal tooth).
As shown in Fig. 2 in the present invention, in jointing scope α 1 and bottom of the tooth finishing scope α 2, only by jointing amount
T1 and bottom of the tooth trim amount t2 relative theory tooth top shapes S1, theory bottom of the tooth shape S2 to inner side be trimmed to finishing tooth top shape K1,
Repair bottom of the tooth shape K2.
This jointing scope α 1, bottom of the tooth finishing scope α 2 are set to 90 °~60 °, jointing amount t1, bottom of the tooth trim amount t2
It is set to 0.01~0.02mm.
If jointing scope α 1, bottom of the tooth are repaired into scope α 2 and jointing amount t1, bottom of the tooth trim amount t2 are set to ratio
Above-mentioned small scope, its absolute magnitude repaired diminishes, and because the scope at high pressure angle is still suffered from, reduces the effect of finishing.
If on the contrary, increasing this finishing scope, the scope of theoretical tooth form can be made to narrow, transmission efficiency declines.
Repaired, in the case of the tooth form contact-ratio for requiring higher, can also avoided at high pressure angle by this
Under engagement range, in the case where not reducing efficiency, can obtain suitably being driven effect.
At present, that is, allow to set pressure angle, it is also desirable to calculate or simulate in each point by the shape along external tooth gear,
To be reacted in shape, and the present invention has the scope of finishing effect by the Range Representation of shape.
In addition, for well balanced external tooth gear a11 and internal-gear 12 engagement range, offset rd is set to 2 times,
And it regard the value of this value divided by rolling radius of circle rm as cycloid coefficient Tf。
Cycloid coefficient TfCalculating formula：
Wherein, Tf：Cycloid coefficient, rm：Roll radius of circle；rd：Eccentric distance.
In the present invention, by by above-mentioned cycloid coefficient TfIt is set between 0.7~0.9, can easily sets suitable
External tooth gear a11 and internal-gear 12 engagement range, it is ensured that transmission efficiency.
In Fig. 3, illustrate cycloid coefficient TfIt is set to 0.4 (Fig. 3-1), 0.6 (Fig. 3-2), 0.8 (Fig. 3-3), 0.9
Tooth form when (Fig. 3-4).
By Fig. 3-1~3-4, this coefficient is located at 0.8~0.9 between when, suitable external tooth gear can be obtained
A11 shape.Coefficient TfLess than normal, its contact-ratio can be reduced, and sliding speed increase, friction loss also increases therewith, causes transmission
Efficiency is reduced.
As shown in figure 5, the present invention proposes a kind of eccentric oscillating-type planetary gear device, it includes arc toothed interior
Gear 12, external tooth gear a11 that is fewer than the number of teeth of internal-gear, having epitrochoid tooth form supports external tooth gear a11 to swing
Rotate and make on the eccentric crankshaft 2 of its revolution in internal-gear 12, external tooth gear a11 tooth top and bottom of the tooth, according to outward turning
The tip of the theoretical tooth form that line theory locus are obtained is taken turns in the range of 90 degree~60 degree of both sides, the tooth form of profile shifted gear so that tooth
The face of gear of bottom and tooth top is in the inner side for the theoretical tooth form that epitrochoid theory locus are obtained.
Eccentric oscillating-type planetary gear device proposed by the present invention, the tooth form of external tooth gear is to form the tooth form by setting
Epitrochoid tooth form rolling circle center to fixed point distance and roll the coefficient between radius of circle, and the coefficient is set
Obtain within the specific limits.In the geared system using multiple external tooth gears, all external tooth gears can use identical
Dressing method.
In the present invention, Fig. 4 is the reductor for applying the present invention, and Fig. 5 is that external tooth gear and internal-gear coordinate figure, Fig. 6
Repair and scheme for external tooth gear.
The central gear 3 set when input shaft 1 is rotated, on input shaft 1 according to castellated shape by being engaged with travelling gear 4,
Drive three eccentric crankshafts 2 underdrive simultaneously.As a result, the bearing b17 integrally mounted with every eccentric crankshaft 2 is also simultaneously
Rotate, external tooth gear a11 and external tooth gear b18 are inscribed with the side of internal-gear 12, side maintains 120 degree of position difference swing to turn respectively
It is dynamic.Because of the state that internal-gear 12 and shell 9 are integrally fixed, when eccentric crankshaft 2 is rotated, external tooth gear a11 and external tooth
Gear b18 also swings rotation so that sequentially moved with the position of engagement of the pin 19 of the internal tooth as internal-gear 12.
Now, external tooth gear a11, external tooth gear b18 gear ratio internal-gear 12 the number of teeth it is somewhat less, nibbled by this
The movement of position is closed, relative to the internal-gear 12 of stationary state, external tooth gear a11, external tooth gear b18 occur suitable with the number of teeth
The phase migration of degree.Therefore, eccentric crankshaft 2 with its rotational velocity it is much the same in the case of, it is public around the surrounding of input shaft 1
Turn, the input side support 5 of support eccentric crankshaft 2 is rotated with outlet side support 6 under the speed suitable with revolution speed.
Because input side support 5 and outlet side support 6 are connected by bolt 8 so that input side support 5 and output
Side support 6 is integrally formed rotation, reaches other the mechanical purposes of drive connection on some support.
In addition, central gear 3 directly can set castellated shape on input shaft 1, one can also formed with input shaft 1
Other gears on set corresponding castellated shape.
Fig. 5 is the mated condition of external tooth gear a11 and internal-gear 12, and Fig. 6 is the finishing state description of external tooth gear.
External tooth gear a11 shapes repair scope α 2 for example shown in Fig. 6, by jointing scope α 1 and bottom of the tooth and are set to 65 °, tooth
Top trim amount t1 and bottom of the tooth trim amount t2 is set to 0.02mm, for theoretical tooth form, is repaired to inner side.
In addition, external tooth gear a11 and internal-gear 12 engagement range are：Offset rd is set to after 2 times to be removed with this value
To roll radius of circle rm, cycloid coefficient T is used as using this valuef, and by this cycloid coefficient TfValue is set to state when 0.8.
Claims (1)
1. a kind of eccentric oscillating-type planetary gear device, it includes arc toothed internal-gear,
Internal-gear described in gear ratio is few, have the external tooth gear of epitrochoid tooth form,
Support the external tooth gear is swung to rotate, and the eccentric crankshaft that can be revolved round the sun in the internal-gear,
Characterized in that, on the tooth top and bottom of the tooth of the external tooth gear, in the theoretical tooth obtained according to epitrochoid theory locus
The tip of shape in the range of 90 degree to 60 degree of both sides, only by jointing amount and bottom of the tooth trim amount relative theory tooth top shape,
Theoretical bottom of the tooth shape is repaired to inner side, and trim amount is 0.01~0.02mm so that the tooth top and the face of gear of bottom of the tooth are in outer
The inner side for the theoretical tooth form that roulette theory locus are obtained, cycloid coefficient is set between 0.7~0.9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410176886.5A CN105020347B (en) | 2014-04-29 | 2014-04-29 | A kind of eccentric oscillating-type planetary gear device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410176886.5A CN105020347B (en) | 2014-04-29 | 2014-04-29 | A kind of eccentric oscillating-type planetary gear device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105020347A CN105020347A (en) | 2015-11-04 |
| CN105020347B true CN105020347B (en) | 2017-10-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410176886.5A Active CN105020347B (en) | 2014-04-29 | 2014-04-29 | A kind of eccentric oscillating-type planetary gear device |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4108017A (en) * | 1977-03-16 | 1978-08-22 | Rouverol W S | Standard-pitch gearing |
| JPS6091043A (en) * | 1983-10-26 | 1985-05-22 | Toshiba Corp | Inner gearing planetary reduction gear |
| CN1007545B (en) * | 1985-08-24 | 1990-04-11 | 沈培基 | Cycloidal equidistance curve gearing and its device |
| JPS63270946A (en) * | 1987-04-24 | 1988-11-08 | Sumitomo Heavy Ind Ltd | Multistep speed reducer |
| JP2503027B2 (en) * | 1987-09-21 | 1996-06-05 | 株式会社ハーモニック・ドライブ・システムズ | Flexible mesh gear |
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2014
- 2014-04-29 CN CN201410176886.5A patent/CN105020347B/en active Active
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| CN105020347A (en) | 2015-11-04 |
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Effective date of registration: 20170310 Address after: Cixi City, Ningbo Province emerging industrial clusters in the new road, No. 336, No. Applicant after: NINGBO HONGZHI ROBOT TECHNOLOGY CO., LTD. Address before: Omihachiman City, Shiga, Japan 337 times 11 kamimachi Ku Applicant before: KIHARA AI |
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Address after: No. 336 Xinxing Road, Xinxing Industrial Cluster Area, Cixi City, Zhejiang Province Patentee after: NINGBO HONGZHI ROBOT TECHNOLOGY CO., LTD. Address before: Xinxing Road 336, Cixi Emerging Industrial Cluster Area Patentee before: NINGBO HONGZHI ROBOT TECHNOLOGY CO., LTD. |
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