CN106402327A - Robot joint precision transmission gear structure - Google Patents
Robot joint precision transmission gear structure Download PDFInfo
- Publication number
- CN106402327A CN106402327A CN201611131661.3A CN201611131661A CN106402327A CN 106402327 A CN106402327 A CN 106402327A CN 201611131661 A CN201611131661 A CN 201611131661A CN 106402327 A CN106402327 A CN 106402327A
- Authority
- CN
- China
- Prior art keywords
- gear
- flank profil
- profile
- tooth
- external gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
Abstract
The invention relates to a robot joint precision transmission gear structure, which comprises an external gear (1) and an internal gear (2). A gear shape of the external gear (1) is formed by a logarithmic spiral gear profile and a transitional gear profile, a gear profile of the internal gear (2) and the gear profile of the external gear (1) form a conjugate profile, and a pair of internal gearing gear pair is formed through a conjugate design. According to the robot joint precision transmission gear structure provided by the invention, on the premise of ensuring the secure implementation of gear profile force transfer, a flexible small pressure angle design is carried out on the gear shape of the gear profile, so that the radial force component is reduced, the drive force component is improved, and the aim of precise, efficient and long-service transmission is achieved.
Description
Technical field
The present invention relates to joint of robot driving cog technical field, more particularly to a kind of joint of robot precision drive tooth
Structure.
Background technology
Precision speed reduction device actuating device be joint of robot transmission use core component, the elaboration being driven due to it and
The requirement on machining accuracy of correlated parts is higher, higher to the design requirement of profile of tooth, especially for harmonic drive and Oscillating Tooth Gear Reducer
The design of profile of tooth, the profile of tooth of flank profil can directly affect the fatigue properties of harmonic drive efficiency, structure, and these factors directly affect humorous
In the life-span of ripple transmission, the profile of tooth mainly adopting at present has involute profile, straight line profile of tooth and parabola profile of tooth, but humorous for precision
The tooth Shape Design core technology of ripple transmission also monopolizes in minority offshore company handss.The profile of tooth of Oscillating Tooth Gear Reducer, is impact tumbler shaft
Hold the major issue in life-span, currently employed curve profile of tooth, when oscillating tooth works, radial force problems of too, direct shadow easily
Ring the life-span of rotary arm bearing and the service life of decelerator, there is no new progress all the time.The design of profile of tooth in precision drive
And optimization, efficiency and Life Design for precision drive is most important, and the development for whole precision drive industry all has
Important meaning and far-reaching influence.
The profile of tooth being presently used for joint of robot precision drive mainly has involute profile, cycloidal tooth profile, parabola tooth
Shape, arc toothed etc..The Design and Machining of these profiles of tooth all comparative maturity at present, but for precision drive, it is being subject to
On the problems such as power, heating, life-span, remain in some problems, especially stress problem, the shape of flank profil can directly affect accurate biography
The key issues such as dynamic gear ratio, service life.Although involute profile easily obtains, its pressure angle is as flank profil
Prolong Shen constantly to increase, radial force can be made excessive；Cycloidal profile, for the precision drive of big speed ratio, is subject to space in structure
Restriction, be unsuitable for miniature accurate transmission mechanism design；Although parabolic tooth-shape achieves the application in harmonic drive,
But the Design and Machining technology of its core is still limited by the monopolization of foreign technology.Therefore, for little weight, high-torque, large speed ratio, height
For efficiency, long-life precision drive, the design of profile of tooth remains the key foundation sex chromosome mosaicism of precision drive design.
Content of the invention
The technical problem to be solved is to provide a kind of joint of robot precision drive toothing, is ensureing flank profil
On the premise of stress power transmission application solutions, flexibly little pressure angle design is carried out to the profile of tooth of flank profil, reduces radial force component,
Improve and drive force component, realize accurate, efficient, long-life transmission purpose.
Joint of robot precision drive profile of tooth of the present invention respectively presses in the work flank profil of engagement process middle gear
Power angle is constant, and has little return difference or zero return difference in transmission process.
The technical solution adopted for the present invention to solve the technical problems is：A kind of joint of robot precision drive tooth knot is provided
Structure, including external gear and internal gear, the profile of tooth of described external gear is made up of logatithmic spiral flank profil and transition flank profil, internal gear
Flank profil becomes conjugate profiles with external gear teeth profile, is designed by conjugation, forms the gear pair of a pair of internal messing.
Conjugate profiles is the flank profil being meshed for a pair, in whole engagement process, can keep tangent under conditions of, according to
Predetermined rule motion.
By working flank profil and transition flank profil two parts form, the profile of tooth of the flank profil that wherein works is the flank profil of described external gear
Log spiral, transition flank profil will be tangentially connected for the logatithmic spiral of two work flank profils by circular curve.
The helical angle of the log spiral of work flank profil of described external gear is not less than 10 ° and not higher than 60 °.
By working flank profil and transition flank profil two parts form, its work flank profil is external gear to the flank profil of described internal gear
The conjugate curves of work flank profil, the work flank profil of described internal gear passes through flank profil and two work teeth that transition flank profil is circular arc line
Wide tangentially connected.
The transition flank profil of described external gear and internal gear adopts anon-normal circular sliding slopes.
In transmission process, under eccentric stiffener turning effort, whole gear deviates one, internal gear center partially to external gear
Heart distance, along engagement direction, external gear continuously leans on the flank profil of the internal gear side of conjugation first along the flank profil in engagement direction
Closely, until external gear is when deviateing internal gear center maximum position, the completely engaging-in internal gear of external gear flank profil at 45 ° of phase places,
At this moment, conjugate profiles completely attaches to, and starts to transmit power.In the symmetrical opposite side of 45 ° of phase places, external gear and internal gear tooth
Engagement is just surveyed on the contrary, with the continuation of engagement, in subsequent time, starts to nibble out.Due to the presence of profile of tooth deformation, in fact,
When engagement not yet enters into off-center maximum, have begun to enter engagement, improve the quantity of total number of teeth in engagement, be conducive to tooth
The process of wheel power transmission.
Beneficial effect：The present invention relates to a kind of joint of robot precision drive toothing, ensureing flank profil stress power transmission peace
On the premise of full realization, flexibly little pressure angle design is carried out to the profile of tooth of flank profil, reduces radial force component, improve driving force
Component, realizes accurate, efficient, long-life transmission purpose, Tooth Profile is in the work flank profil of engagement process middle gear simultaneously
Each point pressure angle is constant, and has little return difference or zero return difference in transmission process.
Brief description
Fig. 1 is the overall schematic of the gear engagement of the present invention；
Fig. 2 is that the gear of the present invention engages the partial enlarged drawing of overall diagram it is shown that at a fully engaged spy at 45 ° of phase places
Levy；
Fig. 3 is the schematic diagram of the engagement at maximum eccentricity for the single pair of tooth of the present invention；
Fig. 4 is a kind of topology view of operational mode of the present invention；
Fig. 5 show eccentric throw be at the highest notch (90 °) when, the engagement situation of internal-external gear at 45 ° of phase positions；
Fig. 6 shows external gear flank profil and the work flank profil of internal gear tooth and the connection of transition flank profil.
Diagram：1st, external gear, 2, internal gear.
Specific embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention
Rather than restriction the scope of the present invention.In addition, it is to be understood that after having read the content of present invention instruction, people in the art
Member can make various changes or modifications to the present invention, and these equivalent form of values equally fall within the application appended claims and limited
Scope.
Embodiments of the present invention are related to a kind of joint of robot precision drive toothing, as shown in Fig. 13, including outer
Gear 1 and internal gear 2, the profile of tooth of described external gear 1 is made up of logatithmic spiral flank profil and transition flank profil, the flank profil of internal gear 2
Form conjugate profiles with external gear 1 flank profil, designed by conjugation, form the gear pair of a pair of internal messing.
The flank profil of described external gear 1 is by working flank profil and transition flank profil two parts form, the profile of tooth of the flank profil that wherein works
For log spiral, transition flank profil will be tangentially connected for the logatithmic spiral of two work flank profils by circular curve.
The helical angle of the log spiral of work flank profil of described external gear 1 is not less than 10 ° and not higher than 60 °.
By working flank profil and transition flank profil two parts form, its work flank profil is external gear 1 to the flank profil of described internal gear 2
Work flank profil conjugate curves, flank profil and two works that the work flank profil of described internal gear 2 is circular arc line by transition flank profil
Make flank profil tangentially connected.
The transition flank profil of described external gear 1 and internal gear 2 adopts anon-normal circular sliding slopes.
The structural representation of one embodiment of the precision drive toothing of a machine according to the present invention person joint shown in Fig. 4
Figure.A kind of gear driving pair being constituted using joint of robot precision drive toothing of the present embodiment：By with O1Centered on
External gear 1 with O2Centered on internal gear 2, the number of teeth of external gear 1 is 159, and the number of teeth of internal gear 2 is 160, O1With O2's
Eccentric throw is 1mm.In 45 ° of the both sides phase position that eccentric throw is maximum, the different side gears of external gear are nibbled with internal gear phase respectively
Close.
Show shown in Fig. 5 eccentric throw be at the highest notch (90 °) when, the engagement feelings of internal-external gear 1 at 45 ° of phase positions
Condition, in terms of the situation of diagram, has nearly 1/8 number of teeth (20 teeth) to enter engagement, this transmits favourable to the power of precision drive.
External gear 1 flank profil and the work flank profil of internal gear 2 flank profil and the connection of transition flank profil is shown, wherein shown in Fig. 6
Abcdef is tooth profile of inner gear, and ABCDEF is external gear profile of tooth.The work that external gear flank profil BC, DE is constituted by log spiral
Flank profil, pressure angle is 21 °；AB, CD, EF are easement curve, are with the circular arc tangent with work flank profil.Internal gear 2 flank profil bc, de
The conjugate curves of the flank profil that works for external gear 1；Ab, cd, ef are easement curve, are with the circular arc tangent with work flank profil.
During normal work, the work flank profil of external gear 1 is engaged each other with the work flank profil of internal gear and is driven.By Fig. 5
As can be seen that there being multipair gear (20 teeth) to be simultaneously engaged stress in transmission process.
, compared with conventional gears flank profil, in transmission process, pressure angle is constant and controlled for the present invention, when we are by pressure
Angle controls in relatively low angle, can reduce radial force component, improves transmission efficiency.Meanwhile, its 45 ° of symmetrical phase place tooth
Homonymy engagement feature, so that when transmission direction is carried out, can effectively reduce the size of return difference, does not realize accurate little time to exterior feature
Difference or the transmission of zero return difference, these qualities of profile of tooth have for transmission high-torque, small size, long-life, high-precision precision drive
Profit.
Claims (5)
1. a kind of joint of robot precision drive toothing, including external gear (1) and internal gear (2) it is characterised in that：Described
The profile of tooth of external gear (1) is made up of logatithmic spiral flank profil and transition flank profil, the flank profil of internal gear (2) and external gear (1) flank profil shape
Become conjugate profiles, designed by conjugation, form the gear pair of a pair of internal messing.
2. a kind of joint of robot precision drive toothing according to claim 1 it is characterised in that：Described external gear
(1) by working flank profil and transition flank profil two parts form, the profile of tooth of the flank profil that wherein works is log spiral to flank profil, transition tooth
Wide by circular curve will two work flank profils logatithmic spiral tangentially connected.
3. a kind of joint of robot precision drive toothing according to claim 2 it is characterised in that：Described external gear
(1) helical angle of the log spiral of work flank profil is not less than 10 ° and not higher than 60 °.
4. a kind of joint of robot precision drive toothing according to claim 2 it is characterised in that：Described internal gear
(2) by working flank profil and transition flank profil two parts form, its work flank profil is the conjugation of the work flank profil of external gear (1) to flank profil
Curve, the flank profil that the work flank profil of described internal gear (2) is circular arc line by transition flank profil is tangentially connected with two work flank profils.
5. a kind of joint of robot precision drive toothing according to claim 2 or 4 it is characterised in that：Described is outer
The transition flank profil of gear (1) and internal gear (2) adopts anon-normal circular sliding slopes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611131661.3A CN106402327A (en) | 2016-12-09 | 2016-12-09 | Robot joint precision transmission gear structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611131661.3A CN106402327A (en) | 2016-12-09 | 2016-12-09 | Robot joint precision transmission gear structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106402327A true CN106402327A (en) | 2017-02-15 |
Family
ID=58083846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611131661.3A Pending CN106402327A (en) | 2016-12-09 | 2016-12-09 | Robot joint precision transmission gear structure |
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| CN (1) | CN106402327A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113503353A (en) * | 2021-08-13 | 2021-10-15 | 天津大学 | Logarithmic spiral conjugate tooth profile harmonic speed reducer |
Citations (5)
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|---|---|---|---|---|
| US4922781A (en) * | 1985-08-24 | 1990-05-08 | Shen Peiji | Cycloidal equidistant curved gear transmission mechanism and its device |
| CN202209381U (en) * | 2011-09-19 | 2012-05-02 | 重庆大学 | Low-vibration incomplete cycloid conjugated engaging pair for precise transmission |
| CN102979731A (en) * | 2012-12-03 | 2013-03-20 | 西安交通大学 | Rotor profile of double-screw vacuum pump, and designing method of rotor profile |
| CN103089616A (en) * | 2013-01-28 | 2013-05-08 | 西安理工大学 | Internal engaged tooth profile pair |
| CN104154210A (en) * | 2014-04-28 | 2014-11-19 | 岑昊 | Logarithmic spiral gear |
-
2016
- 2016-12-09 CN CN201611131661.3A patent/CN106402327A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4922781A (en) * | 1985-08-24 | 1990-05-08 | Shen Peiji | Cycloidal equidistant curved gear transmission mechanism and its device |
| CN202209381U (en) * | 2011-09-19 | 2012-05-02 | 重庆大学 | Low-vibration incomplete cycloid conjugated engaging pair for precise transmission |
| CN102979731A (en) * | 2012-12-03 | 2013-03-20 | 西安交通大学 | Rotor profile of double-screw vacuum pump, and designing method of rotor profile |
| CN103089616A (en) * | 2013-01-28 | 2013-05-08 | 西安理工大学 | Internal engaged tooth profile pair |
| CN104154210A (en) * | 2014-04-28 | 2014-11-19 | 岑昊 | Logarithmic spiral gear |
Non-Patent Citations (1)
| Title |
|---|
| 刘军营: "等压力角传动凸轮机构运动学分析及应用", 《煤矿机械》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113503353A (en) * | 2021-08-13 | 2021-10-15 | 天津大学 | Logarithmic spiral conjugate tooth profile harmonic speed reducer |
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170215 |
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| RJ01 | Rejection of invention patent application after publication |