CN105626816A - Single-row speed reducing and changing integration cylinder sine oscillating tooth mechanism - Google Patents
Single-row speed reducing and changing integration cylinder sine oscillating tooth mechanism Download PDFInfo
- Publication number
- CN105626816A CN105626816A CN201610055847.9A CN201610055847A CN105626816A CN 105626816 A CN105626816 A CN 105626816A CN 201610055847 A CN201610055847 A CN 201610055847A CN 105626816 A CN105626816 A CN 105626816A
- Authority
- CN
- China
- Prior art keywords
- shock wave
- tooth profile
- center wheel
- movable
- profile curve
- 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.)
- Granted
Links
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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
Description
技术领域本发明涉及变速比传动领域。FIELD OF THE INVENTION The present invention relates to the field of variable ratio transmissions.
背景技术随着生产的发展与科技的进步，对机械传动系统提出了越来越高的要求。而常规匀速传动已经难以满足系统的要求，因此研究出适用于新技术、新设备等发展要求的理想传动装置，已经成为机械传动领域越来越重要的发展趋势。BACKGROUND OF THE INVENTION With the development of production and the progress of science and technology, higher and higher requirements are put forward for the mechanical transmission system. However, the conventional uniform speed transmission has been difficult to meet the requirements of the system. Therefore, it has become an increasingly important development trend in the field of mechanical transmission to develop an ideal transmission device suitable for the development requirements of new technologies and new equipment.
在众多变速比机构中，对于非圆齿轮，其节曲线形状是根据运动要求专门设计，因此可以实现两轴间精确的非匀速运动。与其他非匀速比传动的机构相比，例如凸轮和连杆机构，其具有明显的优点，如非圆齿轮副可以精确的按运动规律设计和制造，运动精度高；节曲线封闭的非圆齿轮可以获得周期性的变速比传动；并且其具有结构紧凑，易于实现动平衡等优点。但其加工制造复杂，成本高，而且非圆齿轮为了避免直接与高转速的原动机相连，会采用与圆柱齿轮减速器配合使用，因此会造成传动链冗长，使得效率降低。Among many variable speed ratio mechanisms, for non-circular gears, the shape of the pitch curve is specially designed according to the motion requirements, so that precise non-uniform motion between two axes can be realized. Compared with other non-uniform speed ratio transmission mechanisms, such as cam and link mechanisms, it has obvious advantages, such as non-circular gear pairs can be precisely designed and manufactured according to the law of motion, with high motion accuracy; non-circular gears with closed pitch curves Periodic variable speed ratio transmission can be obtained; and it has the advantages of compact structure, easy to realize dynamic balance and the like. However, its manufacturing is complex and costly, and in order to avoid direct connection with high-speed prime movers, non-circular gears are used in conjunction with cylindrical gear reducers, which will cause lengthy transmission chains and reduce efficiency.
活齿少齿差行星齿轮传动简称活齿传动，是一种用来传递两同轴间回转运动的机械传动，它具有传动结构紧凑、传动比范围广、承载能力大，传动效率高等优点。1999年，陈志同等人在《机械工程学报》，35(1)：30-33文中将变速比传动简化成线性运动和正弦运动的叠加，提出了非匀速活齿机构的设计方法，该活齿机构的组成与普通活齿机构相同，都是由激波器，活齿轮，中心轮和活齿组成，通过控制激波器和中心轮的齿廓形状实现变速比传动，但是简化的传动函数不能完全满足实际生产中复杂多变的非匀速运动要求。刘大伟等人在2014年《机械工程学报》，50(1)：47-54文中借鉴非圆齿轮理论，提出了非匀速推杆活齿机构，其中激波器的齿廓采用了蜗线函数，中心轮的齿廓曲线由传动比确定，可实现多周期非圆齿轮的传动效果。它的不足在于：使用时需要与减速机构串联使用，无法发挥出活齿机构大减速比的特性。Planetary gear transmission with movable teeth and few teeth difference is referred to as movable tooth transmission. It is a mechanical transmission used to transmit the rotary motion between two coaxial axes. It has the advantages of compact transmission structure, wide range of transmission ratio, large bearing capacity and high transmission efficiency. In 1999, Chen Zhitong and others simplified the variable speed ratio transmission into the superposition of linear motion and sinusoidal motion in the "Journal of Mechanical Engineering", 35(1): 30-33, and proposed a design method for non-uniform movable gear mechanism. The composition of the gear mechanism is the same as that of the ordinary movable gear mechanism. It is composed of a shock wave, a movable gear, a center wheel and a movable tooth. The speed ratio transmission is realized by controlling the tooth profile shape of the shock wave and the center wheel, but the simplified transmission function It cannot fully meet the complex and changeable non-uniform motion requirements in actual production. In the 2014 Chinese Journal of Mechanical Engineering, 50(1): 47-54, Liu Dawei and others proposed a non-uniform push rod movable tooth mechanism based on the theory of non-circular gears, in which the tooth profile of the shock wave adopts a worm function. The tooth profile curve of the center wheel is determined by the transmission ratio, which can realize the transmission effect of multi-period non-circular gears. Its shortcoming is that it needs to be used in series with the speed reduction mechanism during use, and cannot bring into play the characteristics of the large reduction ratio of the movable tooth mechanism.
发明内容本发明的目的是提供一种不需与减速机构组合，并能实现轴向激波的单列减变速一体化圆柱正弦活齿机构。SUMMARY OF THE INVENTION The object of the present invention is to provide a single row deceleration and transmission integrated cylindrical sinusoidal movable tooth mechanism that does not need to be combined with a deceleration mechanism and can realize axial shock waves.
本发明主要包括激波器、活齿轮、中心轮、输入轴、输出轴、轴承A、轴承B、弹性挡圈A、弹性挡圈B、箱体、前端盖、后端盖和活齿，其中，输入轴的一端延伸至前端盖的外部，与原动机相连，输入轴的另一端插接在激波器的中部，激波器的外滚道齿廓与活齿的内侧相接，活齿通过柱销设在活齿轮的轴向导槽内，在激波器与活齿轮之间设有轴承A，在输入轴上，邻近轴承A处，套接弹性挡圈A。活齿的外侧与中心轮的外滚道齿廓相接，中心轮的一侧穿过后端盖，与工作机相连，上述激波器、活齿轮和中心轮的轴线相同，且激波器、活齿轮和中心轮均设在箱体内，在中心轮与箱体之间设有轴承B，在输入轴上，邻近轴承B处，套接弹性挡圈B。箱体两侧面开口，两侧面分别与前端面、后端面相连。The present invention mainly includes a shock wave device, a live gear, a central wheel, an input shaft, an output shaft, a bearing A, a bearing B, a circlip A, a circlip B, a box body, a front end cover, a rear end cover and a movable tooth, wherein , one end of the input shaft extends to the outside of the front end cover and connects with the prime mover, the other end of the input shaft is plugged into the middle of the shock wave device, the outer raceway tooth profile of the shock wave device connects with the inner side of the movable tooth, and the movable tooth The column pin is arranged in the axial guide groove of the movable gear, and a bearing A is arranged between the shock wave device and the movable gear. On the input shaft, adjacent to the bearing A, a circlip A is sleeved. The outer side of the movable tooth is in contact with the outer raceway tooth profile of the center wheel, and one side of the center wheel passes through the rear end cover and is connected with the working machine. Both the live gear and the center wheel are arranged in the box body, and a bearing B is arranged between the center wheel and the box body, and a circlip B is sleeved on the input shaft adjacent to the bearing B. The two sides of the box body are open, and the two sides are respectively connected with the front end surface and the rear end surface.
几何参数：活齿的最大个数为激波器旋转一周传动比iHK变化的周期数m1，m1为大于1的正整数，且满足等式ZK＝m1+1，其中ZK为中心轮的齿数，活齿的个数对应活齿轮的导槽数，并且在圆周方向上均匀分布。Geometric parameters: the maximum number of movable teeth is the cycle number m 1 of the change of transmission ratio i HK in one revolution of the shock wave, m 1 is a positive integer greater than 1, and satisfies the equation Z K =m 1 +1, where Z K is the number of teeth of the center wheel, the number of movable teeth corresponds to the number of guide grooves of the movable gear, and is evenly distributed in the circumferential direction.
激波器理论齿廓曲线的直角坐标方程为The Cartesian coordinate equation of the theoretical tooth profile curve of the shock wave is
式中，xH、yH、zH——激波器理论齿廓曲线的直角坐标；In the formula, x H , y H , z H —— Cartesian coordinates of theoretical tooth profile curve of shock wave;
——激波器转角； - Shock angle;
nH——激波器理论齿廓曲线的周期数；n H ——the cycle number of theoretical tooth profile curve of shock wave;
e——激波器轴向激波幅值；e - axial shock wave amplitude of the shocker;
R——激波器理论齿廓曲线所在圆柱面的半径。R——the radius of the cylindrical surface where the theoretical tooth profile curve of the shock wave is located.
中心轮理论齿廓曲线的直角坐标方程为The Cartesian coordinate equation of the theoretical tooth profile curve of the center wheel is
式中，xK、yK、zK——中心轮理论齿廓曲线的直角坐标；In the formula, x K , y K , z K —— Cartesian coordinates of theoretical tooth profile curve of center gear;
iHK为总传动比；i HK is the total transmission ratio;
——激波器转角； - Shock angle;
nH——激波器理论齿廓曲线的周期数；n H ——the cycle number of theoretical tooth profile curve of shock wave;
e——激波器轴向激波幅值；e - axial shock wave amplitude of the shocker;
R——激波器理论齿廓曲线所在圆柱面的半径；R——the radius of the cylindrical surface where the theoretical tooth profile curve of the shock wave is located;
——中心轮转角； - center wheel rotation angle;
nK——中心轮理论齿廓曲线的周期数。n K ——the cycle number of the theoretical tooth profile curve of the center wheel.
激波器实际齿廓曲面的直角坐标方程为The Cartesian coordinate equation of the actual tooth profile surface of the shock is
式中，xGH、yGH、zGH——激波器实际齿廓曲面的直角坐标；In the formula, x GH , y GH , z GH —— Cartesian coordinates of the actual tooth profile surface of the shock wave;
r为活齿半径；r is the radius of the movable tooth;
——激波器转角； - Shock angle;
nH——激波器理论齿廓曲线的周期数；n H ——the cycle number of theoretical tooth profile curve of shock wave;
e——激波器轴向激波幅值；e - axial shock wave amplitude of the shocker;
R——激波器理论齿廓曲线所在圆柱面的半径；R——the radius of the cylindrical surface where the theoretical tooth profile curve of the shock wave is located;
u、v——球面方程参数。u, v——Spherical equation parameters.
中心轮实际齿廓曲面的直角坐标方程为The Cartesian coordinate equation of the actual tooth profile surface of the center wheel is
式中，xGK、yGK、zGK——中心轮实际齿廓曲面的直角坐标，where, x GK , y GK , z GK —— Cartesian coordinates of the actual tooth profile surface of the center wheel,
r为活齿半径；r is the radius of the movable tooth;
——中心轮转角； - center wheel rotation angle;
u、v——球面方程参数；u, v—parameters of the spherical equation;
e——激波器轴向激波幅值；e - axial shock wave amplitude of the shocker;
R——激波器理论齿廓曲线所在圆柱面的半径；R——the radius of the cylindrical surface where the theoretical tooth profile curve of the shock wave is located;
nH——激波器理论齿廓曲线的周期数。n H ——the cycle number of the theoretical tooth profile curve of the shock wave.
为使减变速一体化圆柱正弦活齿传动能够实现连续传动，其总传动比iHK应满足式中ij为机构的减速比，iHK为总传动比，为激波器转角，并且其活齿的半径r应必须小于或等于理论齿廓曲线的最小曲率半径，即r≤ρmin。为了减小激波器、中心轮与活齿接触间的磨损，可以在激波器和中心轮上安装轴承，从而有效减小活齿与齿廓之间的磨损。In order to realize the continuous transmission of the cylindrical sinusoidal movable tooth transmission integrated with deceleration and transmission, the total transmission ratio i HK should satisfy In the formula, i j is the reduction ratio of the mechanism, i HK is the total transmission ratio, is the rotation angle of the shock wave, and the radius r of the movable tooth must be less than or equal to the minimum curvature radius of the theoretical tooth profile curve, ie r≤ρ min . In order to reduce the wear between the contact between the shock wave, the center wheel and the movable tooth, bearings can be installed on the shock wave and the center wheel, thereby effectively reducing the wear between the movable tooth and the tooth profile.
本发明在使用时，使激波器与原动机相连，当给激波器施加顺时针驱动力矩后，激波器以等角速度ωH顺时针旋转，从而使活齿受到由激波器齿廓产生的轴向推力，迫使与中心轮齿廓啮合的活齿沿着活齿轮的轴向导槽做相对直线运动。与此同时，由于活齿受到中心轮齿廓、活齿轮轴向导槽的约束，在沿着激波器滚道和活齿轮轴向导槽的运动过程中，推动中心轮以ωK转动，由于中心轮内齿廓是根据激波器外齿廓和传动比推导出来的，所以输出轴会按照给定的具有减变速特征的传动比进行旋转。从而实现了轴向激波的减变速传动。When the present invention is in use, the shock wave device is connected with the prime mover. When the clockwise driving torque is applied to the shock wave device, the shock wave device rotates clockwise at an equal angular velocity ω H , so that the movable teeth are subjected to the tooth profile of the shock wave device. The generated axial thrust forces the movable tooth meshing with the tooth profile of the sun gear to move relatively linearly along the axial guide groove of the movable gear. At the same time, since the movable tooth is constrained by the tooth profile of the center wheel and the axial guide groove of the movable gear, during the movement along the shock wave raceway and the axial guide groove of the movable gear, the center wheel is pushed to rotate at ω K , because the center The inner tooth profile of the wheel is derived from the outer tooth profile of the shock wave and the transmission ratio, so the output shaft will rotate according to the given transmission ratio with deceleration characteristics. Thus, the deceleration and variable speed transmission of the axial shock wave is realized.
与现有的机构相比，本发明具有如下特点：Compared with existing mechanisms, the present invention has the following characteristics:
(1)与常速活齿机构相比，在不增加任何构件的前提下，实现减速和变速一体化传动，从而最大限度地缩短传动链，提高传动效率和可靠性。(1) Compared with the normal-speed movable gear mechanism, it realizes the integrated transmission of deceleration and speed change without adding any components, so as to shorten the transmission chain to the greatest extent and improve the transmission efficiency and reliability.
(2)与非圆齿轮相比，减变速一体化圆柱正弦活齿机构制造方便，其齿形相对非圆齿轮简单许多，而且同时参与啮合的齿数多，刚度大，承载能力大，传动平稳。(2) Compared with non-circular gears, the deceleration and transmission integrated cylindrical sinusoidal movable tooth mechanism is easy to manufacture, and its tooth shape is much simpler than that of non-circular gears, and the number of teeth involved in meshing at the same time is large, with high rigidity, large load-carrying capacity, and stable transmission.
(3)与一般活齿轮相比，其具有自平衡，轴向激波的特点。(3) Compared with ordinary live gears, it has the characteristics of self-balancing and axial shock.
附图说明Description of drawings
图1是本发明的结构简图；Fig. 1 is a schematic structural diagram of the present invention;
图2是机构总传动比曲线；Fig. 2 is the overall transmission ratio curve of the mechanism;
图3是激波器的理论齿廓曲线；Fig. 3 is the theoretical tooth profile curve of the shock wave device;
图4是中心轮的理论齿廓曲线；Fig. 4 is the theoretical tooth profile curve of center wheel;
图5是激波器的实际齿廓曲面；Fig. 5 is the actual tooth profile curved surface of the shock wave device;
图6是中心轮的实际齿廓曲面；Fig. 6 is the actual tooth profile curved surface of center wheel;
图7是本发明的装配图。Fig. 7 is an assembly drawing of the present invention.
在上述附图中，1、输入轴，2、前端盖，3、激波器，4、活齿，5、活齿轮，6、轴承A，7、弹性挡圈A，8、中心轮，9、后端盖，10、箱体，11、轴承B，12弹性挡圈B。In the above drawings, 1, input shaft, 2, front end cover, 3, shock wave, 4, movable tooth, 5, movable gear, 6, bearing A, 7, circlip A, 8, center wheel, 9 , Rear end cover, 10, casing, 11, bearing B, 12 circlip B.
具体实施方法在图1至图7为本发明的示意简图中，输入轴1的一端延伸至前端盖2的外部，与原动机相连，输入轴的另一端插接在激波器3的中部，激波器的外滚道齿廓与活齿4的内侧相接，活齿通过柱销设在活齿轮5的轴向导槽内，在激波器与活齿轮之间设有轴承A6，在输入轴上，邻近轴承A处，套接弹性挡圈A7。活齿的外侧与中心轮8的外滚道齿廓相接，中心轮的一侧穿过后端盖9，与工作机相连，上述激波器、活齿轮和中心轮的轴线相同，且激波器、活齿轮和中心轮均设在箱体10内，在中心轮与箱体之间设有轴承B11，在输入轴上，邻近轴承B处，套接弹性挡圈B12。箱体两侧面开口，两侧面分别与前端面、后端面相连。即组成了可以实现轴向激波的单列减变速一体化圆柱活齿机构。以实现高阶椭圆齿轮的传动比为例，说明减变速一体化滚动活齿机构的具体方案。1 to 7 are schematic diagrams of the present invention, one end of the input shaft 1 extends to the outside of the front cover 2 and is connected with the prime mover, and the other end of the input shaft is plugged into the middle of the shock wave device 3 , the outer raceway tooth profile of the shock wave device is in contact with the inner side of the movable tooth 4, and the movable tooth is set in the axial guide groove of the movable gear 5 through a pin, and a bearing A6 is arranged between the shock wave device and the movable gear. On the input shaft, adjacent to the bearing A, the elastic circlip A7 is sleeved. The outer side of the movable tooth is in contact with the outer raceway tooth profile of the center wheel 8, and one side of the center wheel passes through the rear end cover 9 and is connected with the working machine. The device, movable gear and center wheel are all arranged in the box body 10, and a bearing B11 is arranged between the center wheel and the box body. On the input shaft, adjacent to the bearing B, a circlip B12 is sleeved. The two sides of the box body are open, and the two sides are respectively connected with the front end surface and the rear end surface. That is to say, a single row deceleration and speed change integrated cylindrical movable tooth mechanism that can realize axial shock wave is formed. Taking the realization of the transmission ratio of high-order elliptical gears as an example, the specific scheme of the reduction and transmission integrated rolling movable tooth mechanism is illustrated.
表1减变速一体化圆柱正弦活齿传动参数Table 1 Parameters of integrated cylindrical sinusoidal movable tooth transmission with deceleration and variable speed
首先，以输入轴的轴向为z轴方向，径向为x、y轴的方向，建立直角坐标系，根据激波器的理论齿廓曲线方程(1)式和激波器实际齿廓曲面方程(3)式，并将表1中的参数带入，可以得到理论齿廓曲线和实际齿廓曲面直角坐标数据，并且根据得到的数据可以得到图2所示的理论齿廓曲线和图3所示的实际齿廓曲面，从而建立激波器的外滚道齿廓，表2给出了激波器理论齿廓曲线的部分直角坐标数值。First, take the axial direction of the input shaft as the z-axis direction, and the radial direction as the x and y-axis directions to establish a rectangular coordinate system. According to the theoretical tooth profile curve equation (1) of the shock wave and the actual tooth profile surface of the shock wave Equation (3), and bring the parameters in Table 1, the theoretical tooth profile curve and the actual tooth profile surface Cartesian coordinate data can be obtained, and according to the obtained data, the theoretical tooth profile curve shown in Figure 2 and Figure 3 can be obtained The actual tooth profile surface is shown, so as to establish the outer raceway tooth profile of the shock wave device. Table 2 gives some Cartesian coordinate values of the theoretical tooth profile curve of the shock wave device.
表2激波器理论齿廓曲线数据Table 2 The theoretical tooth profile curve data of the shock wave device
然后，根据由要实现的传动比其中ij为减速比，ib为变速比，由表1中给出的激波器理论齿廓曲线的周期数为1，传动比函数的周期数为3，中心轮理论齿廓曲线的周期数为4，通过公式推导可以得到整个机构的减速比ij＝z2/z1＝z2＝m1+1＝4。并由给定的参数ε＝1，可以得到总传动比的变化规律，如图2所示，表3中给出了总传动比曲线的部分数据。Then, depending on the transmission ratio to be achieved by Among them, i j is the reduction ratio, i b is the transmission ratio, the cycle number of the theoretical tooth profile curve of the shock wave given in Table 1 is 1, the cycle number of the transmission ratio function is 3, and the cycle number of the theoretical tooth profile curve of the center wheel The number is 4, and the deceleration ratio i j =z 2 /z 1 =z 2 =m 1 +1=4 of the whole mechanism can be obtained through formula derivation. And by the given parameter ε=1, the change law of the total transmission ratio can be obtained, as shown in Figure 2, and part of the data of the total transmission ratio curve is given in Table 3.
表3总传动比曲线数据Table 3 Total Transmission Ratio Curve Data
最后，在同一坐标系下，通过中心轮的理论齿廓方程(2)式和中心轮的实际齿廓曲面方程(4)式，同理可得到图4所示的中心轮理论齿廓曲线和图6所示的中心轮实际齿廓曲面，从而建立中心轮的内滚道齿廓，并且表4中给出了中心轮理论齿廓曲线的部分数据。Finally, in the same coordinate system, through the theoretical tooth profile equation (2) of the center wheel and the actual tooth profile surface equation (4) of the center wheel, the theoretical tooth profile curve and Figure 6 shows the actual tooth profile surface of the center wheel, so as to establish the inner raceway tooth profile of the center wheel, and Table 4 gives some data of the theoretical tooth profile curve of the center wheel.
表4中心轮理论齿廓曲线数据Table 4 Center gear theoretical tooth profile curve data
活齿的个数为3，同样在截面形状为圆环的活齿轮套筒上开有3个轴向导槽，并且在机构运转时，活齿轮的内表面不能与激波器干涉，外表面不能与中心轮干涉，因此本例中选取内径为23mm，外径为27mm。The number of movable teeth is 3, and there are also 3 axial guide grooves on the movable gear sleeve whose cross-sectional shape is a ring, and when the mechanism is running, the inner surface of the movable gear cannot interfere with the shock wave, and the outer surface cannot It interferes with the center wheel, so the inner diameter is 23mm and the outer diameter is 27mm in this example.
激波器和输入轴、中心轮和输出轴做成一体，活齿轮与机座固接，激波器，中心轮的回转轴线与活齿轮的中心轴线重合，三个滚动活齿安装在活齿轮的轴向导槽中，轴向导槽在活齿架圆周上均匀分布，装配图如图7所示。当激波器与原动机连接后，逆时针旋转，活齿在激波器齿廓的作用下，沿轴向导槽做相对直线运动，因此实现了轴向激波的作用，同时推动中心轮逆时针旋转，由于每个活齿都参与啮合，因此主动活齿个数即为活齿总数。由于中心轮的齿廓是根据传动比反求出来的，所以此时中心轮的转速为激波器的转速与传动比iHK的比值，其中iHK是关于激波器转角的函数，随激波器转动而变化。从而实现运动的连续传递，达到实现减变速一体化的要求。The shock wave is integrated with the input shaft, the center wheel and the output shaft. The movable gear is fixedly connected with the machine base. The shock wave, the rotation axis of the center wheel coincides with the central axis of the movable gear, and the three rolling movable teeth are installed on the movable gear. In the axial guide grooves, the axial guide grooves are evenly distributed on the circumference of the movable rack, and the assembly diagram is shown in Figure 7. When the shock wave is connected with the prime mover, it rotates counterclockwise, and under the action of the tooth profile of the shock wave, the movable tooth moves relatively linearly along the axial guide groove, thus realizing the effect of the axial shock wave and pushing the center wheel counterclockwise. Clockwise rotation, since each active tooth is involved in meshing, the number of active active teeth is the total number of active teeth. Since the tooth profile of the center wheel is inversely calculated according to the transmission ratio, the speed of the center wheel is the ratio of the speed of the shock to the transmission ratio i HK , where i HK is a function of the rotation angle of the shock, with the The oscilloscope turns and changes. Thereby, the continuous transmission of motion is realized, and the requirement of realizing the integration of deceleration and speed change is achieved.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610055847.9A CN105626816B (en) | 2016-01-27 | 2016-01-27 | One kind is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610055847.9A CN105626816B (en) | 2016-01-27 | 2016-01-27 | One kind is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105626816A true CN105626816A (en) | 2016-06-01 |
| CN105626816B CN105626816B (en) | 2018-05-01 |
Family
ID=56042023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610055847.9A Active CN105626816B (en) | 2016-01-27 | 2016-01-27 | One kind is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105626816B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109165410A (en) * | 2018-07-26 | 2019-01-08 | 燕山大学 | A kind of boring method of high performance sports car air duct brake disc involute |
| CN109780164A (en) * | 2019-01-26 | 2019-05-21 | 天津大学 | Two-stage closed cylindrical sinusoidal end face movable tooth reducer |
| CN109780162A (en) * | 2019-01-26 | 2019-05-21 | 天津大学 | Two-stage series cylindrical sinusoidal end face movable tooth reducer |
| CN109780163A (en) * | 2019-01-26 | 2019-05-21 | 天津大学 | A reciprocating cylindrical sinusoidal end face movable tooth reducer |
| CN109798329A (en) * | 2019-01-26 | 2019-05-24 | 天津大学 | A kind of axial direction shock wave type high robot joint speed reducer |
| CN110185747A (en) * | 2019-05-31 | 2019-08-30 | 燕山大学 | A kind of fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle |
| CN110259890A (en) * | 2019-05-12 | 2019-09-20 | 天津大学 | A kind of axial direction shock wave movable teeth reducer |
| CN114110136A (en) * | 2021-11-30 | 2022-03-01 | 重庆大学 | Design method of inner tooth profile of compound-wave movable tooth reducer and two-stage reducer |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191103349A (en) * | 1911-02-09 | 1912-02-08 | Fedor Procofjewitsc Soprounoff | Improvements in Driving and Reversing Gearing. |
| US4069718A (en) * | 1976-09-13 | 1978-01-24 | The United States Of America As Represented By The Secretary Of The Army | Speed change device |
| JPS60179563A (en) * | 1984-02-24 | 1985-09-13 | Sanwa Tekki Corp | Cap type gearless transmission |
| RU2162554C1 (en) * | 1999-05-21 | 2001-01-27 | Пашуков Сергей Александрович | Ball cylindrical variable-speed drive |
| CN1468349A (en) * | 2000-09-07 | 2004-01-14 | 亚历山大・安德烈耶维奇・帕宁 | Ball planetary transmission device |
-
2016
- 2016-01-27 CN CN201610055847.9A patent/CN105626816B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191103349A (en) * | 1911-02-09 | 1912-02-08 | Fedor Procofjewitsc Soprounoff | Improvements in Driving and Reversing Gearing. |
| US4069718A (en) * | 1976-09-13 | 1978-01-24 | The United States Of America As Represented By The Secretary Of The Army | Speed change device |
| JPS60179563A (en) * | 1984-02-24 | 1985-09-13 | Sanwa Tekki Corp | Cap type gearless transmission |
| RU2162554C1 (en) * | 1999-05-21 | 2001-01-27 | Пашуков Сергей Александрович | Ball cylindrical variable-speed drive |
| CN1468349A (en) * | 2000-09-07 | 2004-01-14 | 亚历山大・安德烈耶维奇・帕宁 | Ball planetary transmission device |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109165410A (en) * | 2018-07-26 | 2019-01-08 | 燕山大学 | A kind of boring method of high performance sports car air duct brake disc involute |
| CN109165410B (en) * | 2018-07-26 | 2023-04-18 | 燕山大学 | Involute drilling method for high-performance sports car air duct brake disc |
| CN109780164A (en) * | 2019-01-26 | 2019-05-21 | 天津大学 | Two-stage closed cylindrical sinusoidal end face movable tooth reducer |
| CN109780162A (en) * | 2019-01-26 | 2019-05-21 | 天津大学 | Two-stage series cylindrical sinusoidal end face movable tooth reducer |
| CN109780163A (en) * | 2019-01-26 | 2019-05-21 | 天津大学 | A reciprocating cylindrical sinusoidal end face movable tooth reducer |
| CN109798329A (en) * | 2019-01-26 | 2019-05-24 | 天津大学 | A kind of axial direction shock wave type high robot joint speed reducer |
| CN109780163B (en) * | 2019-01-26 | 2021-09-28 | 天津大学 | Reciprocating type cylindrical sine end face oscillating tooth speed reducer |
| CN110259890A (en) * | 2019-05-12 | 2019-09-20 | 天津大学 | A kind of axial direction shock wave movable teeth reducer |
| CN110185747A (en) * | 2019-05-31 | 2019-08-30 | 燕山大学 | A kind of fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle |
| CN110185747B (en) * | 2019-05-31 | 2021-10-15 | 燕山大学 | A guide frame fixed two-stage sinusoidal movable tooth reducer |
| CN114110136A (en) * | 2021-11-30 | 2022-03-01 | 重庆大学 | Design method of inner tooth profile of compound-wave movable tooth reducer and two-stage reducer |
| CN114110136B (en) * | 2021-11-30 | 2024-01-26 | 重庆大学 | Design method of internal tooth profile of complex wave movable tooth reducer and two-stage reducer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105626816B (en) | 2018-05-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105626816B (en) | One kind is single-row to subtract speed change integration Cylinder Sine oscillating tooth mechanism | |
| US10948048B2 (en) | Thickness-variable transmission structure for robot joint | |
| CN108488326A (en) | More bent axle cycloidal planetary gear speed reducers | |
| CN106763603B (en) | A planetary threaded roller bearing | |
| CN110397711B (en) | Cam shock wave type two-stage plane steel ball speed reducer | |
| CN112081879B (en) | One-tooth-difference cycloidal pin gear speed reducer | |
| CN112081878A (en) | Mechanical balance combined tooth surface raceway cycloid oscillating tooth speed reducer | |
| CN105041984B (en) | It is single-row to subtract speed change integration rolling free gear mechanism | |
| CN105546042B (en) | Parallel connection subtracts speed change integration end face oscillating tooth mechanism | |
| CN108730427B (en) | Planetary gear transmission device with small tooth difference and speed reducer | |
| CN111120587B (en) | Centrosymmetric single-stage undercut cycloid needle roller speed reducer | |
| CN110259890B (en) | Axial shock wave oscillating tooth speed reducer | |
| CN205315617U (en) | Ball worm reducer | |
| JP6890563B2 (en) | Eccentric swing type speed reducer | |
| CN105202148B (en) | Parallel connection subtracts the integrated rolling free gear mechanism of speed change | |
| CN105179622A (en) | Small-tooth-difference sliding-tooth steel ball transmission mechanism | |
| TW201305465A (en) | Transmission mechanism having eccentric cam assemblies | |
| CN109185398B (en) | Involute speed reducing mechanism with small tooth difference | |
| CN109780163B (en) | Reciprocating type cylindrical sine end face oscillating tooth speed reducer | |
| CN104343896B (en) | External-gearing type double-helical gear planetary transmission speed reducer | |
| CN108533681B (en) | Plane-convex meshing pure rolling gear mechanism with parallel shaft internal meshing transmission | |
| CN114370487B (en) | Harmonic reducer and transmission device | |
| CN204226565U (en) | Three pieces type cycloid wheel RV retarder | |
| CN103867671B (en) | Precession steel ball reducer in parallel | |
| CN206655943U (en) | A kind of planet-cycloid reducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201221 Address after: Room 1518, 15 / F, investment building, 1757 Tushan East Road, Bengbu City, Anhui Province Patentee after: Bengbu Jingtu Intelligent Technology Co.,Ltd. Address before: 066004 No. 438 west section of Hebei Avenue, seaport District, Hebei, Qinhuangdao Patentee before: Yanshan University |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20250527 Address after: 224000 Jiangsu Province Yancheng City Chengnan New District Xindu Street Yanma Road Yuejin Community Zongqin Field Building 404 Room (CND) Patentee after: Yancheng Chengye Shell Manufacturing Co.,Ltd. Country or region after: China Address before: Room 1518, 15 / F, investment building, 1757 Tushan East Road, Bengbu City, Anhui Province Patentee before: Bengbu Jingtu Intelligent Technology Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right |