CN106337913A - Fluctuation reducer with self-locking function and composite type decelerator for fluctuation reducer - Google Patents

Abstract

The invention relates to a fluctuation reducer with the self-locking function and a composite type decelerator for the fluctuation reducer. The fluctuation reducer with the self-locking function is included in a mechanism, in which a cam drives roller to drive a ball ring or a socket wheel to generate power to rotate, and an arc salient part of the cam is designed with the self-locking function of restricting the roller to generate reversion. The invention also relates to the composite type decelerator, which is mutually composited by the fluctuation reducer and a planetary gear set, with multi-segment decelerating function, so that the problem that the traditional reducer does not have the self-locking function and is poor in transmission accuracy on the aspect of tiny rotation angle is solved.

Description

There is fluctuation decelerator and its combined type deceleration device of auto-lock function

Technical field

The present invention relates to a kind of structure configuring technical of decelerator, slow down particularly to a kind of fluctuation of tool auto-lock function Device and its combined type deceleration device.

Background technology

In the technical field of structures of traditional decelerator, present invention auto-lock function to be inquired into, refer to by a driving link Load power and drive the rotating forward that a driven member produces set speed reducing ratio to exert oneself (hypothesis be rotate forward), when this driving link not Load power and when becoming free end, even if the load of this driven member is dynamic (comprises the drive that external power source is applied Power, or the moment of torsion that generated by driven member itself or its linkage part self gravitation and produce power), nor The driving link driving free end produces reversion, i.e. referred to as self-locking；And, described self-locking, refer exclusively to be created on driving link And driven member is mutually nibbled between the tactile flank of tooth, but do not include increasing moveable latch member of component preparation cost etc. with other Configuration (e.g. can by driving the pin of shift reciprocately or positioning door bolt or tip etc.).

Decelerator seen by tradition, generally comprises the mechanism of worm drive worm gear, planetary gearsets, rotation ripple transmission The mechanism of device (spin-wave driver) etc., wherein only worm drive worm gear, can rely on the flank of tooth of worm and wheel Between mutually nibble angle design, and produce above-mentioned auto-lock function.

Please refer to the configuration shown in Fig. 1 and Fig. 2, exposing conventional worm and worm gear respectively and its lead angle Illustrate, illustrate that there is between the flank of tooth that general worm screw 71 is mutually nibbled with worm gear 72 a lead angle α (or claiming angle of friction), For worm screw 71, this lead angle α is to be made up of the slope between worm screw helical pitch l and worm screw circumference s； Wherein, when the worm screw 71 as driving link produces rotation, can be via the flank of tooth 71a of worm screw 71 to as driven member Worm gear 72 flank of tooth 72a apply a positive force f, when this positive force f in lead angle α dextrorotation direction produce During frictional force μ × fcos α that the flank of tooth 71a, 72a that component fsin α is less than between worm screw 71 and worm gear 72 is generated (friction of face 71a, 72a described in μ), namely self-locking can be produced during fsin α ＜ μ × fcos α； In other words, in the case of having this self-locking design, worm gear 72 cannot rely on described phase between the flank of tooth 71a, 72a Nibble and reverse drive worm screw 71 generation reverse.Therefore, the advantage of auto-lock function is to protect in reducing gear and respectively passes Avoid between dynamic assembly unintended backwards rotation and cause damage or dangerous.

In addition to the mechanism of above-mentioned worm drive worm gear, seen by tradition, planetary gearsets and rotation ripple driver, cut To current, all there are no the design carrying described auto-lock function.Due to traditional rotation ripple driver and planetary gearsets It is typical reduction gearing mechanism.Wherein, the transmission of rotation ripple is a kind of reducing gear that can produce rotation ripple；Rotation ripple The principle of transmission, the visible earliest American invention the 2906143rd filed an application in nineteen fifty-five by c.w.musser Harmonic drive (harmonic driver) number disclosed by patent；Secondly, improve through continuous, for example the U.S. the No. 5643128 patents, further expose the component details of rotation ripple transmission (or claiming rotation ripple to slow down) mechanism.

Compared to conventional planetary gear, tradition rotation ripple transmission is provided that more total number of teeth in engagement and larger transmission range, Therefore going out in force value in overall speed reducing ratio, what rotation ripple transmission was relative has preferably transmission accuracy and transmission efficiency.

And know, it is not disclosed about fluctuation decelerator (wave-motion) involved in the present invention in prior art, pass The person of being closer in system technology, first elects as above-mentioned rotation ripple drive mechanism.

Tradition rotation ripple drive mechanism composition, include from inside to outside arranged coaxial have a cam (cam) (or claim waveform produce Raw device wave generator), how several roller (rollers) and a pod wheel (have special inner tooth type steel wheel circular spline wheel)；Usually as inputting shaft, what described how several roller was around is configured at cam to wherein this cam And pod wheel between, and annular in shape how several rollers that can accommodate that are laid with pod wheel nibble tactile pod, utilize Cam provides power to drive the part roller in how several roller to nibble to touch in the corresponding pod of pod wheel, with Pearl ring is driven to produce the rotation of exerting oneself of speed reducing ratio.

Further, can be known by the taken off technology of above-mentioned patent, each pod bag in tradition rotation ripple drive mechanism Include and the flank of tooth forming squint shape is each extended over by the bilateral of a tooth paddy, and the bilateral flank of tooth extend the tooth connecting to bilateral Peak is so that the contour shape outline of each pod is in v shape.Due to the multiple rollers described in rotation ripple transmission process In only part roller can accept the driving of cam wheel face and nibble the flank of tooth of tactile pod, the flank of tooth of therefore pod is to pass Reach the effective contact face of roller driving force；Secondly, for example in No. 5643128 patent of the aforesaid U.S., it is exposed in It is also configured with the pearl ring (rollers ring) that an appearance carries multiple rollers, partly real between described cam and pod wheel Apply this pearl ring and also as end of exerting oneself, and the driving force of cam can be enable via the transmission of the pod flank of tooth and to roller Component is provided to be pushed to the rotation of exerting oneself that pearl ring produces speed reducing ratio.

From the foregoing, the flank of tooth of pod not only can be used as the effective contact face passing on active force, it is right to be also used as Roller provides the effective contact face of component produced by cam；Additionally, can also be further in rotation ripple transmission process Discover, during cam wheel face pushes away and draws the roller contact pod flank of tooth, this is comprised towards cam by pushing away the roller drawing The radial direction in axle center and circumference angular direction produce displacement, and whether this also will have influence on the described flank of tooth can be sufficiently or true As pass on active force and provide cam produced by component effective contact face；Although, in overall speed reducing ratio Go out in force value, tradition rotation ripple transmission can maintain good transmission accuracy and transmission efficiency；But, in prior art only The profile outline disclosing pod is in v shape, does not disclose, inquires into or teach the wheel of this pod and cam further Profile become technology whether during enough to effective transmitting forces, such as inputting shaft half revolution roller can enter the next one and hold Nest position, the speed of this process can be failed to understand because of the definition of v shape pod profile, leads to roller to enter next pod Speed is unstable, or even has influence on the transmission accuracy on trickle rotational angle for the end of exerting oneself of tradition rotation ripple driver.

Content of the invention

For solving above-mentioned technical problem, it is an object of the invention to: it is intended to take fluctuation decelerator (wave-motion Driver end not enough the asking of the transmission accuracy on trickle rotational angle of exerting oneself of ripple drive mechanism) is revolved to improve tradition Topic, the present invention further design cam in this fluctuation decelerator so that cam, roller, pearl ring and pod it Between can produce self-locking when reverse drive, solve the problems, such as tradition rotation ripple drive mechanism be not equipped with auto-lock function.

Wherein, the present invention defined fluctuation decelerator, cam, roller, pearl ring and pod wheel that it possesses etc. are main Want the function of component, summarize identical with tradition rotation ripple drive mechanism, but the fluctuation decelerator of the present invention (or claim ripple Dynamic driver) produced transmission waveform exclusion is string ripple.

For achieving the above object, the technical solution adopted in the present invention is: a kind of fluctuation decelerator of tool auto-lock function, It is configured with including with concentric circular fashion:

One cam, the ring week in its axle center has a cam contour, and this cam contour comprises to form at least one arc protuberance；

One pod wheel, is configured at cam periphery, and the internal ring wall face ring of this pod wheel is provided with multiple pods；

One pearl ring, is configured between this cam and pod wheel, and this pearl ring circumference is provided with multiple pearl grooves at equal intervals, described In each pearl groove, activity space is configured with a roller, and this cam enters power drive arc protuberance and rotates, and this arc protuberance force pushes away tactile In the mobile extremely corresponding pod of roller, and pod wheel is driven to generate going out of set speed reducing ratio with therein the one of pearl ring Power rotates；

Wherein, the formation of this arc protuberance accept following formula restrain:

F × rsin θ ＜ r × μ × fcos θ

0 ＜ θ≤4 °

Wherein: f forces in the positive force of arc protuberance for roller, r be contact point between arc protuberance and roller with respect to The distance in cam axle center, θ is the lead angle of f, and μ is the relative friction coefficient between arc protuberance and roller.

The fluctuation decelerator of described tool auto-lock function, wherein:

$f\×r\sin \mathrm{\θ}=t_1$

R × μ × fcos θ=t₂

Wherein: t1 forces in rotation torque during arc protuberance for roller, t2 is arc protuberance and rubbing during roller contact The rotation torque of the component (μ × fcos θ) of wiping power (μ × f).

The fluctuation decelerator of described tool auto-lock function, wherein this cam contour includes being formed with the following step:

According to unit interval equal proportion divide roller between cam and pod move radially track and circumference rotation Track, and sequentially obtain the center of circle of multiple locus circles in moving process for the roller and its disc point of contact；

Then connecting the plurality of disc point of contact becomes the unit wheel facial contour in cam contour；

Subsequently with camshaft x-axis in the heart and y-axis respectively unit wheel facial contour described in mirror and be combined into institute State cam contour.

The fluctuation decelerator of described tool auto-lock function, the center of circle of wherein said multiple locus circles, obtain the center of circle according to following formula Coordinate (x_m,y_m):

[x_m,y_m]

=[(l_f-m.δy′).sin(m.δα),

(l_f-m.δy′).cos(m.δα),]

Wherein, l_fIt is the distance between the center of circle of roller locus circle and cam axle center farthest away from cam axle center, m is The aliquot that multiple locus circles of roller are divided, δ y ' is each roller locus circle of the effective radial displacement of equal portions Radial displacement, δ α effectively moves the mobile corner of each roller locus circle of corner for equal portions.

The fluctuation decelerator of described tool auto-lock function, the disc point of contact (x ' of wherein said multiple locus circles_m,y′_m), It is expressed as follows formula:

$\begin{array}{c}\{{x^{\′}}_m,{y^{\′}}_m\}\\ =\{x_m+\left(\frac{r_d}{2}\right)\·\sin \[{\tan }^{-1}\left|\frac{(y_m-y_{m-1})}{(x_m-x_{m-1})}\right|,\]y_m\\ +\left(\frac{r_d}{2}\right)\·\cos \[{\tan }^{-1}\left|\frac{(y_m-y_{m-1})}{(x_m-x_{m-1})}\right|\]\}\end{array}$

Wherein, m represents the count of the locus circle of roller movement, and m is > 0 natural number, rd is roller diameter, Xm, ym are the central coordinate of circle of m locus circle, m-1 be the previous roller locus circle of m roller number Number.

The fluctuation decelerator of described tool auto-lock function, wherein forms list so that cloudy shape line connects the plurality of disc point of contact Position wheel facial contour.

The fluctuation decelerator of described tool auto-lock function, wherein this pod has a pod profile, and this pod profile includes Formed with the following step:

According to unit interval equal proportion divide roller between cam and pod move radially track and circumference rotation Track, and sequentially obtain the center of circle of multiple locus circles in moving process for the roller and its disc point of contact；

Then connecting the plurality of disc point of contact becomes the monolateral flank profile between tooth peak and tooth paddy on pod；

Subsequently corresponding sides flank profile is become with flank profile monolateral described in the centrage mirror of tooth paddy, and by monolateral tooth Link tooth paddy profile between facial contour and corresponding sides flank profile and form described pod profile.

The fluctuation decelerator of described tool auto-lock function, the center of circle of wherein said multiple locus circles, obtain the center of circle according to following formula Coordinate (x_n,y_n):

[x_n,y_n]=[(l_f-n.δy).sin(n.δθ),

(l_f-n.δy).cos(n.δθ),]

Wherein, l_fIt is the distance between the center of circle of roller locus circle and cam axle center farthest away from cam axle center, n is The aliquot that the monolateral flank profile of pod is divided, δ y is each roller track of the effective radial displacement of decile The radial displacement of circle, δ θ effectively moves the mobile corner of each roller locus circle of corner for decile.

The fluctuation decelerator of described tool auto-lock function, the disc point of contact (x ' of wherein said multiple locus circles_n,y′_n), table Show as following formula:

$\begin{array}{c}\{{x^{\′}}_n,{y^{\′}}_n\}\\ =\{x_n+\left(\frac{r_d}{2}\right)\·\sin \[{\tan }^{-1}\left|\frac{(y_n-y_{n-1})}{(x_n-x_{n-1})}\right|\],y_n\\ +\left(\frac{r_d}{2}\right)\·\cos \[{\tan }^{-1}\left|\frac{(y_n-y_{n-1})}{(x_n-x_{n-1})}\right|\]\}\end{array}$

Wherein, n represents the count of the locus circle of roller movement, and n is > 0 natural number, rd is roller diameter, Xn, yn are the central coordinate of circle of No. n-th locus circle, and n-1 is the count of the previous roller locus circle of No. n-th roller.

The fluctuation decelerator of described tool auto-lock function, wherein forms list so that cloudy shape line connects the plurality of disc point of contact Heel teeth facial contour.

The fluctuation decelerator of described tool auto-lock function, wherein said tooth paddy profile is with monolateral flank profile and corresponding heel teeth Between facial contour, the disc point of contact of two closest locus circles is made online and is formed, and this tooth paddy profile is not interfered described The wheel face of multiple locus circles.

The fluctuation decelerator of described tool auto-lock function, is wherein also included with cam axle center as center of rotation, described in array Pod profile equal circumference spacing be surrounded on wheel face within pod wheel, and form the pod wheel that this pod wheel has Profile.

The fluctuation decelerator of described tool auto-lock function, wherein said tooth peak is with monolateral flank profile and corresponding sides flank of tooth wheel Between exterior feature farthest away to make fillet online the disc point of contact of two corresponding locus circles, and form tooth peak profile, should Profile guiding described roller in tooth peak is mobile to contact pod profile to adjacent pod.

The fluctuation decelerator of described tool auto-lock function, wherein this cam internal ring formation one are as the power input of force entering end The perforation shape ring teeth portion that interface uses.

A kind of combined type deceleration device applying the decelerator that fluctuates according to claim 1, including a compound planet Gear train is formed with a circular tooth part in the side of this fluctuation decelerator, wherein this cam internal ring, this planetary gearsets bag Include:

Multiple planetary gears, at equal intervals group be assigned in the side circumferential end surfaces of a wheel disc, and the ring tooth with cam respectively Portion's phase nibbles group；Wherein, this wheel dish axle connects a rotating driver.

Described combined type deceleration device, wherein this planetary gearsets also include a sun gear, and this wheel disc is via the sun Wheel shaft connects rotating driver, and the plurality of planetary gear is nibbled group respectively and accepted transmission in the periphery of sun gear.

Described combined type deceleration device, wherein this planetary gear also include a rim gear wheel using as fixing end, This rim gear wheel nibbles group in the plurality of planetary periphery, and the plurality of planetary gear comprises multiple gear trains, often One gear train comprises a front gear and a backgear of arranged coaxial, and the plurality of front gear nibbles group with rim gear wheel phase, And the plurality of planetary gear mutually nibbles group by described multiple backgears with the circular tooth part of cam.

Described combined type deceleration device, wherein this Zhu Huan center extend and form an annular joint chair as force-output shaft.

The combined type deceleration device of described fluctuation decelerator, including compound planetary gearsets in this fluctuation decelerator Side, wherein this planetary gearsets include:

One sun gear, axle connects a rotating driver；And

Multiple planetary gears, at equal intervals group be assigned in the side circumferential end surfaces of cam, and nibble group respectively in this sun gear Periphery and carry moving cam rotate.

Described combined type deceleration device, wherein said multiple planetary gears comprise:

One first group of planetary gear, the multiple front gears in the circumferential end surfaces of side comprising be configured at equal intervals a wheel disc, The plurality of planetary gear nibbles group in the periphery of sun gear, the rotation of this wheel disc opposite side via the plurality of front gear Turn the fixed central gear in center；And

One two groups of epicyclic gears, the multiple backgears in the circumferential end surfaces of side comprising be configured at equal intervals cam, The plurality of backgear simultaneously nibbles group in the periphery of central gear.

Described combined type deceleration device, wherein this planetary gear also include a rim gear wheel using as fixing end, This rim gear wheel nibbles group in the periphery of the plurality of front gear.

Compared with prior art, using technique scheme it is an advantage of the current invention that: by planetary gearsets pair The power that rotating driver is exported produces a last stage decelerating effect, and continues to planet tooth by fluctuation decelerator After the power that wheel group is exported produces one, stage deceleration acts on.Wherein, described last stage deceleration may include many moneys multistage The configuration of speed reducing ratio, makes the configuration of multistage deceleration is integrally formed, to provide end of exerting oneself using upper demand.

Techniques discussed above means and its specific implementation details producing efficiency, please continue with reference to the following example and attached Figure is described in detail.

Brief description

Fig. 1 is the configuration schematic diagram of conventional worm and worm gear；

Fig. 2 is the lead angle key diagram shown in Fig. 1 between worm and wheel；

Fig. 3 is the three-dimensional exploded view of present invention fluctuation decelerator；

Fig. 4 is the configuration cut-away view of component shown in Fig. 3；

Fig. 4 a is the amplification key diagram between cam shown in Fig. 4, roller and pod；

Fig. 5 is the key diagram producing dynamic balance between cam shown in Fig. 4, roller, pearl ring and pod；

Fig. 6 is the key diagram generating lead angle between cam shown in Fig. 5, roller, pearl ring and pod；

Fig. 7 is the flow chart of steps that the present invention forms cam contour；

Fig. 8 is the design key diagram of pod profile of the present invention and cam contour；

Fig. 9 is the key diagram of effective moving range of roller locus circle of cam periphery of the present invention；

Figure 10 is the flow chart of steps that the present invention forms pod profile；

Figure 11 is the amplification key diagram of effective moving range of roller locus circle in pod shown in Fig. 8；

Figure 12 is that the equal proportion of the effective moving range of roller locus circle shown in Figure 11 divides key diagram, holds in order to explain The wide design of nest wheel；

Figure 13 is the flow chart of steps that the present invention designs pod wheel profile；

Figure 14 is the three-dimensional exploded view of the first embodiment of combined type fluctuation deceleration device of the present invention；

Figure 14 a is the three-dimensional partial exploded view of another kind of form of embodiment illustrated in fig. 14；

Figure 15 and Figure 16 is fluctuation deceleration device shown in Figure 14 in the stereo dissected figure at not angle in the same direction respectively；

Figure 17 is the plane cut-away view of the fluctuation deceleration device of combined type shown in Figure 14；

Figure 18 is the three-dimensional exploded view of the second embodiment of combined type fluctuation deceleration device of the present invention；

Figure 19 is the plane cut-away view of the fluctuation deceleration device of combined type shown in Figure 18.

1,100,101- cam description of reference numerals:；10- wheel face；11- axle center；110- circular tooth part；12- arc is convex Portion；13- cam contour；13a- unit wheel facial contour；14- inputting shaft；2nd, 200,201- roller；3rd, 300- holds Nest wheel；30th, 310,311- pod；31- pod profile；The monolateral flank profile of 31a-；31b- corresponding sides flank of tooth wheel Wide；32- tooth peak profile；33- tooth paddy profile；34- pod wheel profile；4th, 400,401- pearl ring；40- pearl groove； 41- force-output shaft；410- annular joint chair；5th, 50,500- pedestal；6th, 60,600- flap；71- worm screw；72- snail Wheel；71a, 72a- flank of tooth；800th, 840- planetary gearsets；810th, 811- sun gear；820th, 84- planetary gear； 82- gear train；82a, 841a- front gear；82b, 842a- backgear；First group of planetary gear of 841-；842- Two groups of epicyclic gears；841b, 85- wheel disc；841c- central gear；88th, 880- rim gear wheel；90th, 91- rotation is driven Dynamic device；The step explanation of s1 to s5- Design of Cam Profiles flow process；S1, s2 and s30 to s50- pod profile set The step explanation of meter flow process；The step explanation of s50 to s60- pod wheel profile design flow process.

Specific embodiment

To further describe the present invention with reference to specific embodiments and the drawings, advantages of the present invention and feature will be with Description and apparent.

First please refer to Fig. 3 and Fig. 4, expose the component configuration detail of present invention fluctuation decelerator respectively, Illustrate that this fluctuation decelerator includes adopting concentric circular fashion configuration one from inside to outside between a pedestal 5 and flap 6 convex Wheel 1, multiple roller 2, pearl ring 4 and a pod wheel 3；Wherein, the shaft core position of this cam 1 is formed with into power Axle 14 can be connected power source and enter power driving cam 1 rotation as the force entering end of fluctuation decelerator, this inputting shaft 14, The wheel face 10 of this cam 1 includes at least one and is relatively distant from axle center 11 and the arc protuberance being made up of cloudy shape line (spline) 12, this arc protuberance 12 is that force pushes away the service area that tactile described roller 2 transmits power, and then it is convex to enclose composition one Wheel profile 13；Described roller 2 is roller in this embodiment, but being not excluded for can be the rolling assemblies such as ball；Should Pod wheel 3 is in ring body shape, is configured at the periphery of the wheel face 10 of cam 1, and the internal ring wall face ring of pod wheel 3 sets There are multiple pods 30, and then enable the plurality of roller 2 to be located on wheel face 10 and the pod wheel 3 of cam 1 Between pod 30；This pearl ring 4 is configured between cam 1 and pod wheel 3, and this pearl ring 4 circumference sets at equal intervals Put multiple pearl grooves 40, in order to coordinate the body of roller 2 and to make being movably placed in of roller 2 local interior.Wherein, Can consider to safeguard pearl ring semi-finals degree, and on implementing, the quantity of roller 2 and pearl groove 40 is embodied as reality respectively The 1/2 of pearl groove 40 quantity.

Please continue refering to Fig. 4 a, expose the amplification configuration schematic diagram between above-mentioned pod 30, cam 1 and roller 2, Illustrating can be via the mobile extremely corresponding pod of the arc protuberance 12 drive part roller 2 of cam wheel face 10 in this enforcement Contact pod profile 31 in 30, drives to transmit activation force pearl ring 4 to produce exerting oneself of set speed reducing ratio and turns Dynamic.

For convenience of explanation, in the implementation detail of invention described below, by using the inputting shaft 14 of cam 1 as Force entering end, and so that the force-output shaft 41 that the shaft core position of pearl ring 4 is formed is become and exert oneself to fix pod wheel 3 The mode at end narrates.But the scope that the present invention is summarized, should also contain fixing pearl ring 4 and so that pod wheel 3 is become Exert oneself the embodiment at end.Wherein it is necessary to illustrate, either using pod wheel 3 or pearl ring 4 as end of exerting oneself, The formation result of related pod profile, pod wheel profile and cam contour under neither the impact present invention is expressed in.

In above-mentioned, described pod profile 31 includes monolateral flank profile 31a and its corresponding end of mirror is formed Corresponding sides flank profile 31b, and be linked with one between monolateral flank profile 31a and corresponding sides flank profile 31b Tooth paddy profile 33；According to this array pod profile 31 and around enclose composition one pod wheel profile 34 (as shown in Figure 1)； Wherein, after pod wheel profile 34 is formed, the monolateral flank profile 31a in each pod profile 31 and corresponding sides The end that flank profile 31b is relatively distant from is connected peak with teeth profile 32 respectively, completely to assume this pod wheel profile 34；Furthermore, heretofore described pod wheel profile 34 refers exclusively to the feature contour in the internal ring wall face of this pod wheel 3.

In addition to the implementation detail of above-mentioned fluctuation decelerator, the present invention in order that fluctuation decelerator possess auto-lock function, Tactile roller 2 must be pushed away from above-mentioned arc protuberance 12 force and then push away and create one in tactile pearl ring 4 and the power of pod 30 and lead Journey angle θ, the implementation detail of this lead angle θ, it is further described below:

Please continue refering to Fig. 5, disclose arc protuberance 12, roller 2, pearl ring 4 and the pod of the cam 1 shown in Fig. 4 Between 30 pod profile 31 produce dynamic balance state, illustrate when cam 1 towards drive clockwise when, Arc protuberance 12 can apply an active force f push away tactile roller 2 so that pod profile 31 relative to roller 2 produce one Component f ', and the pearl groove 40 of pearl ring 4 also can produce a component f to roller 2 simultaneously ", now, f, f ', f " three Power can produce dynamic balance.

Further, please continue refering to Fig. 6, the arc protuberance 12 shown in explanatory diagram 4b pushes away tactile roller 2 with active force f When, a contact point p can be formed between arc protuberance 12 and roller 2, and know contact point p with respect to cam axle center 11 distance is r, and the principle according to active force and counteracting force understands, roller 2 forces in arc protuberance via p point 12 positive force f can be identical with the active force f that arc protuberance 12 pushes away tactile roller 2, and also can shape in this contact point p Become frictional force μ × f, wherein μ is the relative friction coefficient between arc protuberance 12 and roller 2；Due to arc protuberance 12 with respect to cam 1 axle center 11 not proper circle wheel facial contour, hence in so that the described positive force on contact point p The position meeting of f and contact point p with respect to cam axle center 11 apart from r online between produce an angle theta, Defining this angle in the present invention is lead angle θ, and knows, above-mentioned frictional force μ × f can be because of the presence of lead angle θ Generate a friction component μ × fcos θ.

Further, it will be appreciated from fig. 6 that on the axis of rotation 11 of cam 1, one can be connected perpendicular to upper State the position r of positive force f, and know r=rsin θ；It is additionally, since the formation of lead angle θ so that roller 2 is right The positive force f that arc protuberance 12 applies can generate a moment of torsion t to the axis of rotation 11 of cam 1 further₁, and know t₁=f × r=f × rsin θ；Furthermore, due to frictional force μ × f's of generating when arc protuberance 12 is contacted with roller 2 Relation, makes the friction component μ × fcos θ of this frictional force μ × f can further the axis of rotation 11 of cam 1 be generated One moment of torsion t₂, and t₂=r × μ × fcos θ；According to this, work as t₁＜ t₂When, the fluctuation decelerator of the present invention can Produce self-locking effect.Therefore, the present invention in design arc protuberance 12 when it is necessary to be restrained by following formula (), with Meet self-locking demand:

F × rsin θ ＜ r × μ × fcos θ formula ()

After above formula (1) left-right balance is calculated, lead angle θ can be obtained via following formula (two) further:

$\frac{sin\mathrm{\&theta;}}{cos\mathrm{\&theta;}}=\tan \mathrm{\&theta;}<\mathrm{\&mu;}(\mathrm{\&theta;}<{\tan }^{-1}\mathrm{\&mu;})$ Formula (two)

According to formula (2), the present invention makes the arc protuberance 12 of cam 1, roller 2, pearl ring 4 and pod 30 with steel Pod profile 31 as a example, illustrate to understand relative friction coefficient μ value between steel and steel via tabling look-up, be Between 0.1～0.12, the present invention is it is further assumed that work as the relative friction coefficient between arc protuberance 12 and roller 2 Bring formula (2) during μ=0.07 into and can obtain 4 ° of lead angle θ ＜, it can thus be appreciated that present invention assumes that relative friction coefficient μ=0.07 is relatively shorter than 0.1～0.12 learning of tabling look-up, and therefore when 0 ＜ θ≤4 °, can sufficiently achieve self-locking effect Really.

Above-mentioned self-locking, refers to when holding pearl ring 4 (be substituted for pod wheel 3 also can) the reverse drive conduct being used as exerting oneself During the cam 1 that force entering end uses, restrained by above-mentioned formula (1) via this arc protuberance 12 and so that lead angle is fallen into When in the angular range of 0 ＜ θ≤4 °, can make to produce between cam 1, roller 2, pearl ring 4 and pod wheel 3 It is conigenous lock, avoid between each transmission component in reducing gear unintended backwards rotation and cause damage to protect Go bad or dangerous (being detailed later).

In the case of the demand condition meeting above-mentioned lead angle θ, the present invention specific design can form cam wheel further Wide 13；Specifically, including execution following step s1 to step s5 (as shown in Figure 7):

Step s1: the motion track of analysis roller

The motion track that the present invention is first directed to roller 2 is analyzed；In particular, when roller 2 accepts cam wheel The arc protuberance 12 in face 10 is asymptotic to produce two kinds of translational speeds, institute when pushing away tactile in corresponding pod 30 simultaneously State two kinds of translational speeds to include moving radially speed v towards the radial direction generation in cam axle center 11, and towards cam 1 Circumferencial direction produce angular velocity omega (as shown in fig. 4 a)；The specific means of the present invention is to wait ratio with unit interval t Example divides this radial displacement l becomes radial displacement speed v (δ l=v × δ t), simultaneously and with this unit interval t Come equal proportion divide this circumferencial direction effective anglec of rotation θ become circumferencial direction angular velocity omega (δ θ=ω × δ t), according to this, the path of motion of roller 2 can be simulated in pod 30 and draw out multiple locus circles (in detail as step 2 To step 4, it is detailed later).

Step s2: initial setting

The present invention, can the painting progressively according to the data of following settings based on the demand in deceleration when configuration sized System forms such as Fig. 8, and wherein Fig. 8 is that citing is mapped, particularly according to following in four quadrants of x-y coordinate system Set data and in the second quadrant draw roller 2 multiple locus circles represent, the data of described setting includes:

1. quantity rn=40 of the plurality of roller, but the rigidity in order to ensure each pearl groove 40 in pearl ring 4, its Pearl groove and roller number be all its 1/2.

2. wheel face arc protuberance 12 quantity cn=2 of cam 1.

3. quantity sn=rn cn=40-2=38.

4. diameter rd=2.0mm.

5. useful effect quantity may be set to non-integer, such as en=5.3.

S3: draw the roller locus circle of cam

After the setting of above-mentioned steps 2, the present invention can draw according further to the definition of following parameters as figure The drawing of effective moving range of the roller locus circle of the periphery of cam 1 shown in 9.

In fig .9, present invention citing is mapped, including effective in roller 2 in the second quadrant of x-y coordinate system (comprise effective radial displacement δ y and move corner δ θ with effective circumference) in moving range to mark off suitable aliquot M, and the aliquot that cam contour 13 is divided is used as with this aliquot m, ratio is for example waited with m=300 Example divides each locus circle displacement δ y ' of effective radial displacement, makesAnd sequentially to number the camber line of generation from outside to inside be l '₀、 l’₁、…..、l’_m(m=300), subsequently carry out equal proportion division according to aliquot m setting and effectively move the every of corner The angle of rotation δ α of one roller trajectory diagram, makesProduced radiation is from right to left Sequentially number is a '₀、a’₁、……、a’_m(m=300).

Then, with above-mentioned camber line l ' 0, l ' 1 ... .., l ' m numbers corresponding identical radiation a ' with it₀、a’₁、……、 a’_mEach intersection point (such as l '₀With a '₀Intersection point etc.) as roller locus circle the center of circle, and sequentially mark multiple rails Mark circle (roller diameter rd=2.0mm), wherein it is considered that nargin between roller 2 and cam wheel face 10, example If this case is with the default nargin=2.0+0.04=2.04mm of roller diameter rd+, draw out multiple locus circles according to this Central coordinate of circle [x_m,y_m], described central coordinate of circle [x_m,y_m] can obtain according to formula (three):

Formula (three)

[x_m,y_m]=[(l_f-m.δy′).sin(m.δα),

(l_f-m.δy′).cos(m.δα),]

According to this, first point of central coordinate of circle [x0, y0]=[0, l can sequentially be obtained_f]=[0,14.6], the second point center of circle Coordinate [x₁,y₁, and so on]=[- 0.032868,14.598230] obtain the central coordinate of circle of m locus circle [x_m,y_m]=[- 8.8034166,10.988460] (when m=m=300 equal proportion divides).

Step s4: draw the unit wheel facial contour of cam

Subsequently in catch cropping all lines t ' of the adjacent locus circle of above-mentioned each two, and choose first of each tangent line t ' Disc point of contact, calculates each disc point of contact coordinate [x ' according to following formula_m,y′_m], represent as formula (four):

$\begin{array}{c}\{{x^{\&prime;}}_m,{y^{\&prime;}}_m\}=\{x_m+\left(\frac{r_d}{2}\right)\&centerdot;\sin \&lsqb;{\tan }^{-1}\left|\frac{(y_m-y_{m-1})}{(x_m-x_{m-1})}\right|\&rsqb;,y_m\\ +\left(\frac{r_d}{2}\right)\&centerdot;\cos \&lsqb;{\tan }^{-1}\left|\frac{(y_m-y_{m-1})}{(x_m-x_{m-1})}\right|\&rsqb;\}\end{array}$

Formula (four)

Wherein, xm, ym are the central coordinate of circle of m locus circle, and m-1 is m roller Previous roller locus circle count.

According to this, the point of contact coordinate [x ' of the first locus circle can sequentially be obtained₀,y’₀]=[0.053785,13.601447], the Point of contact coordinate [the x ' of two locus circles₁,y’₁]=[0.023171,13.599801], and so on and obtain m rail Point of contact coordinate [the x ' of mark circle_m,y’_m]=[- 8.1136577,10.263725] (when m=m=300 equal proportion divides). Then, the plurality of disc point of contact being connected in the second quadrant with cloudy shape line is integral, that is, form cam contour 13 In unit wheel facial contour 13a；Wherein, the multiple cusp position covered are connected by tangent line t ', be that formation is convex The cloudy shape line outline position of 1 local arc protuberance 12 in the second quadrant of wheel, and formed by cloudy shape line is connected Unit wheel facial contour 13a scope, the cloudy shape line profile and the other non-genus arc that comprise this local arc protuberance 12 are convex The wheel facial contour in portion 12.

Step s5: draw cam contour

Please refer to shown in Fig. 4 and Fig. 9, step s4 is drawn the unit wheel face wheel being formed in the second quadrant Wide 13a (as shown in Figure 9), with the x-axis on its cam axle center 11 and y-axis difference mirror in other three It is combined into described cam contour 13 in quadrant (inclusion the first, the 3rd and fourth quadrant)；Described mirror respectively, bag Include first to after x-axis mirror again to y-axis mirror, or first to after y-axis mirror again to x-axis mirror Penetrate so that the unit wheel facial contour 13a of the arbitrary quadrant being present in four quadrants of x-y, can be sequentially Mirror, to other three quadrants, is covered with four quadrants of x-y, and complete convex around being combined into one Wheel profile 13 (as shown in Figure 4).Wherein, constituent parts wheel facial contour 13a position (namely arc on the intersection point of y-axis Protuberance position) produced by unnecessary line segment and cusp, can bestow rounding process or small arc-shaped repair and remove.

Effectively simultaneously connecing it is intended that working as roller 2, pod 3, cam 1 and pearl ring 4 described in above-mentioned embodiment Angular range when tactile is effective, and the angle beyond this scope is then invalid, and above-mentioned lead angle θ's is contained Condition [formula (1)] is it should in the merged angular range effectively pushing away the movement of tactile roller 2 being implemented on arc protuberance 12.

In addition, the present invention can also design described pod profile 31 further；Specifically, on including continuing State rear execution step s30 of step s1 to s2 to step s50 (as shown in Figure 10):

Step s30: draw the roller locus circle in pod

After the setting of step 2, the present invention can draw such as according further to following illustrated parameter definition Effective moving range drawing (shown in cooperation Fig. 8) of roller locus circle shown in Figure 11:

6. farthest away from the center of circle and the distance between cam axle center 11 l of the roller locus circle in cam axle center 11_f, preset Coordinate (0, l_f), wherein l_f=14.6mm.

7. the present embodiment sets tangential angle between initial two locus circles as 44.5 °～45.5 °.

8. roller useful effect position 0.52mm.

9. roller useful effect circumferential angle(as Fig. 3 Shown).

10. pod and roller relative angular difference δ β can be calculated by above-mentioned, namely (not shown).

11. so set pod 30 monolateral flank profile 31a effective range mobile corner δ θ, namely

Continue Figure 11 state, and the present invention (can comprise effective radial displacement δ y in the effective moving range of roller 2 Move corner δ θ with effective circumference) mark off suitable aliquot n, and it is used as the list of pod with this aliquot n The aliquot that heel teeth facial contour 31a is divided, in detail as shown in figure 12, according to this aliquot n (such as n=100) etc. The radial displacement of each locus circle of the effective radial displacement of ratio cut partition And sequentially to number the camber line of generation from outside to inside be l₀、l₁、…..、l_n, subsequently according to aliquot n setting Carry out the mobile corner that equal proportion divides each roller trajectory diagram effectively rotating angle It is a that produced radiation is sequentially numbered from left to right₀、a₁、……、a_n.

Then, with above-mentioned camber line l₀、l₁、…..、l_nNumber corresponding identical radiation a with it₀、a₁、……、 a_nEach intersection point (such as l₀With a₀Intersection point etc.) as roller locus circle the center of circle, and sequentially mark multiple rails Mark circle (roller diameter rd=2.0mm), the central coordinate of circle (x of wherein said multiple locus circles_n,y_n), can be according to formula (five) Obtain:

[x_n,y_n]=[(l_f- n. δ y) .sin (n. δ θ), formula (five)

(l_f-n.δy).cos(n.δθ),]

Wherein, n represents the count of the locus circle of roller movement, and n is > 0 natural number.

According to this, first point of central coordinate of circle [x can sequentially be obtained₀,y₀]=[0, l_f]=[0,14.6], the second point center of circle is sat Mark [x₁,y₁]=[0.005188,14.594799], and so on and obtain the central coordinate of circle of No. n-th locus circle [x_n,y_n]=[0.500433,14.071104] (when n=n=100 equal proportion divides).

Step s40: draw the monolateral flank profile of pod

Continue above-mentioned steps s30, and catch cropping all lines t in the adjacent locus circle of each two, and choose each tangent line First disc point of contact of t, calculates each disc point of contact coordinate [x ' according to following formula_n,y′_n], represent as formula (six):

$\begin{array}{c}\{{x^{\&prime;}}_n,{y^{\&prime;}}_n\}=\{x_n+\left(\frac{r_d}{2}\right)\&centerdot;\sin \&lsqb;{\tan }^{-1}\left|\frac{(y_n-y_{n-1})}{(x_n-x_{n-1})}\right|\&rsqb;,y_n\\ +\left(\frac{r_d}{2}\right)\&centerdot;\cos \&lsqb;{\tan }^{-1}\left|\frac{(y_n-y_{n-1})}{(x_n-x_{n-1})}\right|\&rsqb;\}\end{array}$

Formula (six)

Wherein, xn, yn are the central coordinate of circle of No. n-th locus circle, and n-1 is No. n-th roller The count of previous roller locus circle.

According to this, the point of contact coordinate [x ' of the first locus circle can sequentially be obtained₀,y’₀]=[0.707959,15.306254], Point of contact coordinate [the x ' of the second locus circle₁,y’₁]=[0.713524,15.300675], and so on and obtain No. n-th Point of contact coordinate [the x ' of locus circle_n,y’_n]=[1.240087,14.744130] (when n=n=100 equal proportion divides).

Then, the plurality of disc point of contact is connected with cloudy shape line (spline) integral, that is, formed and be situated between on pod 30 Monolateral flank profile 31a between tooth peak and tooth paddy；It should be noted that, tooth peak now be can refer to tooth paddy For headspace but do not form the virtual position of actual profile line, usual skill should be able to understand general pod tooth Face both-end all has tooth peak and a general knowledge of tooth paddy, and according to initial pod quantity sn setting of abovementioned steps s2, The data such as quantity rn of roller and roller diameter rd, you can no difference learns the tooth that should reserve on pod wheel 3 Peak and the distance of tooth paddy, in order in the rear ability forming monolateral flank profile 31a and its corresponding sides flank profile 31b Form the profile (being detailed later) of tooth peak and tooth paddy.

Step s50: draw pod profile

Subsequent steps s40, R. S. V. P. refers to Fig. 4, and the centrage y with virtual tooth paddy (is substantially Fig. 6 institute Showing the connecting line between the center of circle of No. 0 locus circle and cam axle center 11) monolateral flank profile 31a described in mirror becomes For corresponding sides flank profile 31b.

Then with the circle of closest two locus circles between monolateral flank profile 31a and corresponding sides flank profile 31b Face point of contact is made online, and virtual tooth paddy position forms real tooth paddy profile 33, and this tooth paddy profile 33 is not to do The wheel face relating to the plurality of locus circle is principle, and the contours connection being able to e.g. spill or arc concave is formed. Thereby, link tooth paddy profile 33 between monolateral flank profile 31a and corresponding sides flank profile 31b and form Complete pod profile 31.Additionally, virtual tooth valley position in above-mentioned must wait until whole pod wheel profile 34 shape After becoming, then give drafting (being detailed later).

According to above-mentioned pod profile 31, the present invention can design the drafting of described pod wheel profile 34 further； Specifically, after the present invention must be depicted as pod profile 31 according to above-mentioned steps s50, under implementing further Step s60 (as shown in figure 13) stated:

Step s60: draw pod wheel profile

After above-mentioned steps s50, the present invention continues with cam axle center 11 as center of rotation (as shown in Figure 9), will Described pod profile 31 according to above-mentioned set pod quantity sn the array of equal circumference spacing within pod wheel 3 Wheel face cincture, and form this pod wheel profile 34；Wherein, described equal circumference spacing is it is intended that reserve above-mentioned void The formation distance at the tooth peak intended.

Further, formation real tooth peak profile 32 must be drawn in described tooth valley position, holds including each To fall between the end that monolateral flank profile 31a in nest wheel exterior feature 31 and corresponding sides flank profile 31b is relatively distant from Fillet mode is made online, and forms real tooth peak profile 32 (as shown in Figure 4)；Wherein, described it is relatively distant from The catch cropping rounding of end is online, can refer to monolateral flank profile 31a and corresponding sides in each pod profile 31 Between flank profile 31b farthest away to make fillet online the disc point of contact of two corresponding locus circles, and form rank It is connected to the tooth peak profile 32 between each pod profile 31, completely to assume this pod wheel profile 34.Wherein this tooth In order to guide, described roller 2 is mobile to contact pod profile 31 to adjacent pod 30 to peak profile 32；Described lead Draw, comprise leading of continuous contact formula and hold and non-continuous contact or contactless shielding and sustain.

The present invention passes through the formation technology of above-mentioned cam contour 13, pod profile 31 and pod wheel profile 34, In addition to making fluctuation decelerator and possessing auto-lock function, draw roller 2 contact pod 3 when cam wheel face 10 pushes away Flank profile 31a, 31b during, can come fully through this flank of tooth and real transmission roller 2 is applied Driving force, and this flank of tooth also can as to roller 2 provide cam 1 produced by component effective contact face, In order to be able to maintain that fluctuation decelerator goes out the transmission accuracy of force value and the situation of transmission efficiency in overall speed reducing ratio Under, further lifting fluctuation decelerator is exerted oneself the transmission accuracy at end.

In addition to above-mentioned, please continue refering to Figure 14 to Figure 17, expose the present invention respectively and apply above-mentioned fluctuation decelerator The component configuration detail of the preferred embodiment of combined type deceleration device being compounded to form.By and large, this enforcement Including compound planetary gearsets 800 in the side of above-mentioned fluctuation decelerator.

In this enforcement, the main member of the fluctuation decelerator about arriving described by above-mentioned Fig. 3, its configuration body, side Though position be slightly different with the present embodiment, disclosed by above-mentioned Fig. 4 to Figure 13 fluctuation decelerator main member it Between contained condition, formed technology and configuration relation consistent with the present embodiment.

Further, as shown in figure 14, the fluctuation decelerator in the present embodiment makes also in as fixing end Between pedestal 50 and flap 60, adopt concentric circular fashion configuration one cam 100 from inside to outside, multiple roller 200th, pearl ring 400 and a pod wheel 300；Wherein, this enforcement is still illustrated using cam 100 as force entering end, and And to fix pod wheel 300 and so that pearl ring 400 is narrated in the way of becoming end of exerting oneself.

Specifically, as shown in figure 14, this enforcement place different from embodiment illustrated in fig. 3 is: pedestal 50 Center be formed with a rim gear wheel 88 using as the component of planetary gearsets 800, and as force entering end There is not inputting shaft in the cam 100 using, but change the ring forming a perforation form with the endocyclic position in cam Teeth portion 110, the center of rotation of this circular tooth part 110 is all the axis of rotation of cam 100, so that as force entering end Power inputting interface uses.It is consistent substantially with above-described embodiment (Fig. 4 to Figure 13) in addition.

In fig. 14, expose this planetary gearsets 800 and include a sun gear 810 and multiple planetary gear 820； Wherein, please merge shown in Figure 14, Figure 15 and Figure 17, disclose this sun gear 810 and be connected with a rotating driver 90, the enforcement of this rotating driver 90 can be selected for the motor enough to provide rotary power, in particular, this horse Reaching to be servo motor and therein the one of stepper motor, so that rotating driver 90 is provided that rotary power drives Sun gear 810 rotation, and the plurality of planetary gear 820 group is assigned in the side circumferential end of a wheel disc 85 at equal intervals Face, the card center of this wheel disc 85 can open up through hole, be stretched through this through hole for sun gear 810 and can and Multiple planetary gears 820 mutually nibble group, and this wheel disc 85 dumb bell shaft connects this rotation driving via sun gear 810 Device 90.

Further, known by can see in Figure 15 and Figure 17, described multiple planetary gears 820 are to nibble respectively Group in the periphery of this sun gear 810, and the plurality of planetary gear 820 and and cam 100 internal ring circular tooth part 110 mutually nibble group, and this rim gear wheel 88 nibbles group in the periphery of the plurality of planetary gear 820.

Further, known by can see in Figure 15 and Figure 17, the plurality of planetary gear 820 can on implementing To comprise to be made up of multiple gear trains 82, each of which gear train 82 comprises a front gear 82a of arranged coaxial With a backgear 82b；Group mutually nibbled by the plurality of front gear 82a and rim gear wheel 88, wherein due to being formed at pedestal Rim gear wheel 88 on 50 is fixing, and therefore this rim gear wheel 88 can provide guiding and Zhi Chengzuo to front gear 82a With enabling the stable drive accepting sun gear 810 of the multiple front gear 82a in described multiple planetary gears 820 Dynamic, and generation revolution between sun gear 810 and rim gear wheel 88 of detouring, form exerting oneself of first paragraph speed reducing ratio Rotate, subsequently, by the plurality of backgear 82b with multiple front gear 82a arranged coaxial, in process of revolution The circular tooth part 110 of neutralization cam 100 mutually nibbles group, produces exerting oneself of second segment speed reducing ratio in order to driving cam 100 and turns Dynamic；Subsequently, through the fluctuation decelerator that above-described embodiment is disclosed, order has second segment speed reducing ratio and exerts oneself rotation Cam 100 drive part roller 200 mobile to contact pod profile in corresponding pod 310, in order to transmit The activation force of the 3rd section of speed reducing ratio drives pearl ring 400 to exert oneself rotation.

Generally skill should be realized that, according to the combined type configuration of above-mentioned planetary gearsets 800 and fluctuation decelerator, The output of multisection type speed reducing ratio can be produced respectively through planetary gearsets 800 and fluctuation decelerator, exerted oneself with providing End is using upper demand.

In enforcement shown in above-mentioned Figure 14 to Figure 17, joined based on the speed reducing ratio that planetary gearsets 800 can be provided by The different demands put, this sun gear 810 is substantially omissible, and its implementation detail refers to Figure 14 a, Illustrate that this planetary gearsets does not include sun gear, and the card center of this wheel disc 85 does not open up offer sun gear and passes through Through hole, relative, make the card center of this wheel disc 85 open up into an axis hole and direct axle connects rotating driver 90 Heart axle.So implement, sun gear can be omitted and be driven speed reducing ratio produced by multiple planetary gears 820, and change by Rotating driver 90 directly drives multiple planetary gears 820 and produces the rotation of speed reducing ratio with moving cam 100.

Additionally, in the enforcement shown in above-mentioned Figure 14 to Figure 17, the center of this pearl ring 400 extends and forms an annular Joint chair 410, this annular joint chair 410 is force-output shaft 41 in implementing as Fig. 4 using so that annular joint chair 410 can externally be connected the object (such as mechanical arm etc.) treated to drive.

Then, with additional reference to Figure 18 and Figure 19, disclose and in combined type deceleration device of the present invention, implement multistage deceleration Ratio another preferred embodiment configuration of output, it is to the different place of embodiment illustrated in fig. 17 in above-mentioned Figure 14: The equally spaced side circumferential end surfaces being configured at cam 101 of multiple planetary gears 84 in planetary gearsets 840, And nibble group respectively in the periphery of sun gear 811.Specifically, the plurality of planetary gear 84 can be distinguished into One first group of planetary gear 841 and a two groups of epicyclic gears 842；Wherein, this first group of planetary gear 841 wraps Containing the multiple front gear 841a being configured at equal intervals in the side circumferential end surfaces of a wheel disc 841b, wheel disc 841b is another The center of rotation of side is installed with a central gear 841c, and this two groups of epicyclic gears 842 comprises to join at equal intervals It is placed in the multiple backgear 842a in the side circumferential end surfaces of above-mentioned cam 101, the plurality of backgear 842a is simultaneously Nibble group in the periphery of central gear 841c, and enable the plurality of backgear 842a defeated as cam 101 power The interface entering；Wherein, the plurality of front gear 841a be equally with the pedestal 500 using as fixing end on Group mutually nibbled by rim gear wheel 880, and can not the opening up circular tooth part and be solid of cam 101, in addition, remaining Configuration is all same as described above.

According to above-mentioned configuration, sun gear 811 engaged transmission that can connect by 91 axles of rotating driver is the plurality of Front gear 841a detours in rim gear wheel 880 revolution, and thereby related so that wheel disc 841b and central gear 841c Produce the rotation of exerting oneself of first paragraph speed reducing ratio, then rely on central gear 841c to engage the multiple backgears of driving between two parties 842a and the rotation of exerting oneself of cam 101 generation second segment speed reducing ratio, subsequently via cam 101 drive part roller Contact pod profile in 201 mobile extremely corresponding pods 311, in order to transmit the driving effect of the 3rd section of speed reducing ratio Power drives pearl ring 401 to exert oneself rotation；Implement according to this, equally can produce the output of multisection type speed reducing ratio.

Summary embodiment understands, the present invention can be used e.g. servo motor as rotating driver, and in going out The linking of power end is, for example, the loading objects such as mechanical arm, through multisection type deceleration, the transmission accuracy of high-quality and self-locking Function, drives mechanical arm accurately to move in trickle angle catch cropping, and understands according to general knowledge, for example, watch Take the drivers such as motor and meet with the moment that has a power failure and run out of steam immediately, and the heart axle of motor can become free end immediately and Cannot self-sustaining, and the mechanical arm at end of exerting oneself result from the loading of itself can be formed contrary with rotation direction of exerting oneself Moment of torsion and put in combined type deceleration device, this moment, through the present invention self-locking design, just can be via cam Arc convex surface designs, and produces self-locking between cam, roller, pearl ring and pod, namely produces and rotation direction of exerting oneself Contrary braking reverse effect, exerts oneself the mechanical arm at end and its work package of holding avoids dropping or smashes to protect, And can also protect avoid between each transmission component in combined type deceleration device unintended backwards rotation and Cause damage or dangerous.

Above explanation and embodiment are only exemplary, do not constitute any restriction to the scope of the present invention.Ability Field technique personnel should be understood that can be to technical solution of the present invention under without departing from the spirit and scope of the present invention Details and form modify or replace, but these modification and replacement each fall within protection scope of the present invention.

Claims (21)

1. a kind of fluctuation decelerator with auto-lock function, it includes being configured with concentric circular fashion:

One cam, the ring week in its axle center has a cam contour, and this cam contour comprises to form at least one arc protuberance；

One pod wheel, this pod wheel is configured at this cam periphery, and the internal ring wall face ring of this pod wheel is provided with multiple pods；

One pearl ring, this pearl ring is configured between this cam and pod wheel, and this pearl ring circumference is provided with multiple pearl grooves at equal intervals, In described each pearl groove, activity space is configured with a roller, and this cam enters power drive arc protuberance and rotates, and this arc protuberance exerts a force Push away in the mobile extremely corresponding pod of tactile roller, and drive the set speed reducing ratio of generation therein of pod wheel and pearl ring Rotation of exerting oneself；

It is characterized in that, the formation of this arc protuberance accepts restraining of following formula:

F × rsin θ ＜ r × μ × fcos θ

0 ＜ θ≤4.

Wherein: f forces in the positive force of arc protuberance for roller, r be contact point between arc protuberance and roller with respect to The distance in cam axle center, θ is the lead angle of f, and μ is the relative friction coefficient between arc protuberance and roller.

2. state the fluctuation decelerator with auto-lock function according to claim 1 it is characterised in that:

F × rsin θ=t₁

R × μ × fcos θ=t₂

Wherein: t1 forces in rotation torque during arc protuberance for roller, t2 is arc protuberance and rubbing during roller contact The rotation torque of the component (μ × fcos θ) of wiping power (μ × f).

3. the fluctuation decelerator with auto-lock function according to claim 1 or claim 2 is it is characterised in that this cam Profile includes being formed with the following step:

According to unit interval equal proportion divide roller between cam and pod move radially track and circumference rotation Track, and sequentially obtain the center of circle of multiple locus circles in moving process for the roller and its disc point of contact；

Then connecting the plurality of disc point of contact becomes the unit wheel facial contour in cam contour；

Subsequently with camshaft x-axis in the heart and y-axis respectively unit wheel facial contour described in mirror and be combined into institute State cam contour.

4. there is the fluctuation decelerator of auto-lock function according to claim 3 it is characterised in that the plurality of rail The center of circle of mark circle, obtains central coordinate of circle (x according to following formula_m,y_m):

[x_m,y_m]

=[(l_f-m.δy′).sin(m.δα),

(l_f-m.δy′).cos(m.δα),]

Wherein, l_fIt is the distance between the center of circle of roller locus circle and cam axle center farthest away from cam axle center, m is The aliquot that multiple locus circles of roller are divided, δ y ' is each roller locus circle of the effective radial displacement of equal portions Radial displacement, δ α effectively moves the mobile corner of each roller locus circle of corner for equal portions.

5. there is the fluctuation decelerator of auto-lock function according to claim 4 it is characterised in that the plurality of rail Disc point of contact (the x ' of mark circle_m,y′_m), it is expressed as follows formula:

$\begin{array}{c}\{{x^{\&prime;}}_m,{y^{\&prime;}}_m\}\\ =\{x_m+\left(\frac{r_d}{2}\right).\sin \&lsqb;{\tan }^{-1}|\frac{(y_m-y_{m-1})}{(x_m-x_{m-1})}|\&rsqb;,y_m\\ +\left(\frac{r_d}{2}\right).\cos \&lsqb;{\tan }^{-1}\left|\frac{(y_m-y_{m-1})}{(x_m-x_{m-1})}\right|\&rsqb;\}\end{array}$

Wherein, m represents the count of the locus circle of roller movement, and m is > 0 natural number, rd is roller diameter, Xm, ym are the central coordinate of circle of m locus circle, m-1 be the previous roller locus circle of m roller number Number.

6. there is the fluctuation decelerator of auto-lock function according to claim 5 it is characterised in that connecting with cloudy shape line Connect the plurality of disc point of contact and form unit wheel facial contour.

7. the fluctuation decelerator with auto-lock function according to claim 1 or claim 2 is it is characterised in that this pod There is a pod profile, this pod profile includes being formed with the following step:

According to unit interval equal proportion divide roller between cam and pod move radially track and circumference rotation Track, and sequentially obtain the center of circle of multiple locus circles in moving process for the roller and its disc point of contact；

Then connecting the plurality of disc point of contact becomes the monolateral flank profile between tooth peak and tooth paddy on pod；

Subsequently corresponding sides flank profile is become with flank profile monolateral described in the centrage mirror of tooth paddy, and by monolateral tooth Link tooth paddy profile between facial contour and corresponding sides flank profile and form described pod profile.

8. there is the fluctuation decelerator of auto-lock function according to claim 7 it is characterised in that the plurality of rail The center of circle of mark circle, obtains central coordinate of circle (x according to following formula_n,y_n):

[x_n,_n]=[(l_f-n.δy).sin(n.δθ),

(l_f-n.δy).cos(n.δθ),]

Wherein, l_fIt is the distance between the center of circle of roller locus circle and cam axle center farthest away from cam axle center, n is The aliquot that the monolateral flank profile of pod is divided, δ y is each roller track of the effective radial displacement of decile The radial displacement of circle, δ θ effectively moves the mobile corner of each roller locus circle of corner for decile.

9. there is the fluctuation decelerator of auto-lock function according to claim 8 it is characterised in that the plurality of rail Disc point of contact (the x ' of mark circle_n,y′_n), it is expressed as follows formula:

$\begin{array}{c}\{{x^{\&prime;}}_n,{y^{\&prime;}}_n\}\\ =\{x_n+\left(\frac{r_d}{2}\right).\sin \&lsqb;{\tan }^{-1}|\frac{(y_n-y_{n-1})}{(x_n-x_{n-1})}|\&rsqb;,y_n\\ +\left(\frac{r_d}{2}\right).\cos \&lsqb;{\tan }^{-1}\left|\frac{(y_n-y_{n-1})}{(x_n-x_{n-1})}\right|\&rsqb;\}\end{array}$

Wherein, n represents the count of the locus circle of roller movement, and n is > 0 natural number, rd is roller diameter, Xn, yn are the central coordinate of circle of No. n-th locus circle, and n-1 is the count of the previous roller locus circle of No. n-th roller.

10. there is the fluctuation decelerator of auto-lock function according to claim 9 it is characterised in that with cloudy shape line Connect the plurality of disc point of contact and form monolateral flank profile.

The 11. fluctuation decelerators according to claim 7 with auto-lock function are it is characterised in that described tooth paddy Profile is made to join with the disc point of contact of closest two locus circles between monolateral flank profile and corresponding sides flank profile Machine and formed, this tooth paddy profile does not interfere the wheel face of the plurality of locus circle.

The 12. fluctuation decelerators having own lock function according to claim 7 it is characterised in that also include with Cam axle center be center of rotation, pod profile equal circumference spacing described in array be surrounded on wheel face within pod wheel, and Form the pod wheel profile that this pod wheel has.

The 13. fluctuation decelerators according to claim 12 with auto-lock function are it is characterised in that described tooth peak With between monolateral flank profile and corresponding sides flank profile farthest away from two corresponding locus circles disc point of contact Make fillet online, and form tooth peak profile, this described roller of tooth peak profile guiding is mobile to be contacted to adjacent pod is interior Pod profile.

The 14. fluctuation decelerators with auto-lock function according to claim 1 or claim 2 are it is characterised in that this is convex Wheel internal ring forms a perforation shape ring teeth portion using as the power inputting interface of force entering end.

15. a kind of application claim 1 described in fluctuate decelerator combined type deceleration devices it is characterised in that its Including compound planetary gearsets in the side of this fluctuation decelerator, wherein this cam internal ring is formed with a circular tooth part, This planetary gearsets includes:

Multiple planetary gears, at equal intervals group be assigned in the side circumferential end surfaces of a wheel disc, and the ring tooth with cam respectively Portion's phase nibbles group；Wherein, this wheel dish axle connects a rotating driver.

16. combined type deceleration devices according to claim 15 are it is characterised in that this planetary gearsets is also wrapped Include a sun gear, this wheel disc connects rotating driver via sun wheel shaft, the plurality of planetary gear nibbles group respectively in too The periphery of sun wheel accepts transmission.

17. combined type deceleration devices according to claim 15 or 16 are it is characterised in that this planetary gear Also include a rim gear wheel using as fixing end, this rim gear wheel nibbles group in the plurality of planetary periphery, institute State multiple planetary gears and comprise multiple gear trains, each gear train comprises a front gear and a backgear of arranged coaxial, The plurality of front gear and rim gear wheel phase nibble group, and the plurality of planetary gear relies on described multiple backgears and convex The circular tooth part phase of wheel nibbles group.

18. combined type deceleration devices according to claim 15 are it is characterised in that this Zhu Huan center extends shape Become an annular joint chair as force-output shaft.

Described in a kind of 19. application claim 1, the combined type deceleration device of fluctuation decelerator is it is characterised in that wrap Include compound planetary gearsets in the side of this fluctuation decelerator, wherein this planetary gearsets include:

One sun gear, axle connects a rotating driver；And

Multiple planetary gears, at equal intervals group be assigned in the side circumferential end surfaces of cam, and nibble group respectively in this sun gear Periphery and carry moving cam rotate.

20. combined type deceleration devices according to claim 19 are it is characterised in that the plurality of planetary gear Comprise:

One first group of planetary gear, the multiple front gears in the circumferential end surfaces of side comprising be configured at equal intervals a wheel disc, The plurality of planetary gear nibbles group in the periphery of sun gear, the rotation of this wheel disc opposite side via the plurality of front gear Turn the fixed central gear in center；And

One two groups of epicyclic gears, the multiple backgears in the circumferential end surfaces of side comprising be configured at equal intervals cam, The plurality of backgear simultaneously nibbles group in the periphery of central gear.

21. combined type deceleration devices according to claim 19 are it is characterised in that this planetary gear also includes One rim gear wheel using as fixing end, this rim gear wheel nibbles group in the periphery of the plurality of front gear.