CN107228164B - Small tooth difference planetary gear transmission device with periodically changed transmission ratio - Google Patents
Small tooth difference planetary gear transmission device with periodically changed transmission ratio Download PDFInfo
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- CN107228164B CN107228164B CN201710570588.8A CN201710570588A CN107228164B CN 107228164 B CN107228164 B CN 107228164B CN 201710570588 A CN201710570588 A CN 201710570588A CN 107228164 B CN107228164 B CN 107228164B
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- end disc
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/70—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H35/02—Gearings or mechanisms with other special functional features for conveying rotary motion with cyclically varying velocity ratio
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H2035/001—Gearings with eccentric mounted gears, e.g. for cyclically varying ratio
Abstract
The invention provides a small-tooth-difference planetary gear transmission device with a periodically-changed transmission ratio, which comprises a central shaft, an internal gear, a left planetary gear, a right planetary gear, a left end disc and a right end disc, wherein the left planetary gear and the right planetary gear are eccentrically sleeved on the central shaft and are respectively meshed with the internal gear, the left end disc and the right end disc are rotatably arranged on the central shaft, and constraint mechanisms for constraining the movement tracks of the left planetary gear and the right planetary gear are arranged between the left planetary gear and the left end disc and between the right planetary gear and the right end disc. The invention can realize the periodic change of the transmission ratio; the change form and range of the transmission ratio are easy to realize, and the design is flexible; the parts are few, the structure is simple and compact, and the processing and the assembly are convenient.
Description
Technical Field
The invention relates to the field of planetary gear transmission, in particular to a small-tooth-difference planetary gear transmission device with a periodically-variable transmission ratio.
Background
The planetary transmission device with small tooth difference is widely applied to the precise transmission field of robot joints and the like, is a key part of a robot and is an important factor influencing the whole performance of the robot. At present, the main forms of the robot joint reducer are Japanese RV transmission, harmonic transmission, czech Twinspin transmission, U.S. Dojen transmission and the like. When planning the motion trail of the robot, the output speed of the joint needs to be controlled, and the output speed is often required to have the characteristic of periodic variation. Because the transmission ratio of the transmission device can not be changed in the operation process, the transmission device is mainly controlled by a driving device at present, so that the system has a complex structure, a large volume and high cost.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a planetary gear transmission with small teeth difference, in which the transmission ratio is periodically changed, the transmission structure is simplified, the transmission precision is easily ensured, and the periodic change of the transmission ratio can be realized.
In order to achieve the above objects and other related objects, the technical solution of the present invention is as follows:
the utility model provides a poor planetary gear transmission of few tooth of periodic variation of drive ratio, includes center pin, internal gear, left side capable star gear, right side capable star gear, left end dish and right end dish, left side capable star gear, right side capable star gear eccentric ground cover are established on the center pin to mesh with the internal gear respectively, left end dish and right end dish rotatable the installing on the center pin, be provided with the restraint mechanism that is used for retraining left capable star gear and right capable star gear movement track between left side capable star gear and the left end dish and between right capable star gear and the right end dish.
By adopting the structure, the constraint mechanisms arranged between the left planet wheel and the left end disc and between the right planet wheel and the right end disc constrain the swinging freedom degrees of the left planet wheel and the right planet wheel relative to the central shaft, so that the movement of the left planet wheel and the right planet wheel is constrained, and the change of the transmission ratio is realized; compared with the traditional planetary gear transmission device with small tooth difference, the planetary gear transmission device with small tooth difference can change the transmission ratio through the design of the transmission device constraint mechanism, and the transmission ratio can realize periodic change, so that the control on the input speed is reduced in the application process, and the input of constant rotating speed and the output of the rotating speed which changes periodically can be realized. In addition, compared with the traditional planetary gear with small tooth difference, the planetary gear with small tooth difference is easy to assemble, high in transmission efficiency and high in transmission precision; the change form and range of the transmission ratio are easy to realize through a constraint mechanism, and the design is flexible; the parts are few, the structure is simple and compact, and the processing and the assembly are convenient.
Further, the restraining mechanism comprises a pin and a guide slot; the pin stretches into the guide groove and can move along the profile curve of the guide groove under the action of external force, one of the pin and the guide groove is arranged on the left planetary wheel and the right planetary wheel, and the other pin is arranged on the left end disc and the right end disc.
Namely, the guide grooves are arranged on the left end disc and the right end disc, and the pins are arranged on the left planet wheel and the right planet wheel. Or the guide grooves are arranged on the left planet wheel and the right planet wheel, and the pins are arranged on the left end disc and the right end disc. The guide groove and the pin form a connection relation capable of moving relatively, so that the structure is simple and the assembly is easy; the machining precision of the guide groove and the pin is easy to guarantee, and the transmission precision of the device is improved. The guide groove is circumferentially arranged in a circle, and the pin moves along the profile curve of the guide groove, so that the left planet wheel and the right planet wheel swing to a certain extent relative to the central shaft, and the change of the transmission ratio is realized. And can design corresponding guide way profile trend according to different drive ratio requirements, and drive ratio variation form and scope are easily realized, design is nimble.
Further, the phase difference between the left planet wheel and the right planet wheel is 180 degrees; the guide grooves are formed in the right end face of the left end disc and the left end face of the right end disc.
Furthermore, pin holes are formed in the left planetary gear and the right planetary gear, and the pins are in interference fit with the pin holes.
Furthermore, a pin sleeve is rotatably sleeved on the pin and extends into the guide groove to be matched with the guide groove. In the process that the pin moves along the guide groove, sliding friction between the pin and the groove wall of the guide groove is changed into rolling friction through the pin sleeve, so that friction loss is reduced, and transmission efficiency is improved.
Furthermore, one of the three parts of the central shaft, the internal gear, the left end disc and the right end disc is fixed, the other part is used as an input part, and the rest part is used as an output part.
Specifically, when the left end disc and the right end disc are fixed, one of the central shaft and the internal gear is an input, and the other is an output. When the central shaft is fixed, the internal gear is input, and the left end disc and the right end disc are output; or the left end disk and the right end disk are used as input, and the internal gear is used as output. When the inner gear is fixed, the central shaft is used as input, and the left end disc and the right end disc are used as output; or the left end disk and the right end disk are used as input, and the central shaft is used as output.
Furthermore, the left planet wheel and the right planet wheel are arranged on the central shaft through a double-eccentric rotating arm bearing or a double-eccentric sleeve and a bearing; the left end disc and the right end disc are respectively installed on the central shaft through first bearings and are connected with the internal gear through second bearings.
Further, a spacer ring is arranged between the left planetary wheel and the right planetary wheel to avoid mutual interference.
The invention also provides a small-tooth-difference planetary gear transmission device with a periodically-changed transmission ratio, which comprises a central shaft, an internal gear, a planetary gear, a left end disc and a right end disc, wherein the left end disc and the right end disc are rotatably arranged on the central shaft, the planetary gear is positioned between the left end disc and the right end disc, the planetary gear is eccentrically sleeved on the central shaft and is meshed with the internal gear, and a constraint mechanism for constraining the motion track of the planetary gear is arranged between the planetary gear and the left end disc and/or the right end disc.
Specifically, a constraint mechanism is respectively arranged between the planet wheel and the left end disc and the right end disc, or only one of the planet wheel and the left end disc is provided with the constraint mechanism. The constraint mechanism can adopt a matching mode of a pin and a guide groove, wherein one pin and the guide groove is arranged on the planet wheel, and the other pin and the guide groove are arranged on the left end disc and/or the right end disc. The structure and principle are the same as described above.
The principle of the left and right end disks fixed to each other, the center shaft as an input, and the internal gear as an output will be described below. The central shaft drives the left planetary gear and the right planetary gear to rotate through the double eccentric bearings, and the pins and the pin sleeves installed on the left planetary gear and the right planetary gear are respectively placed in the guide grooves of the left end disc and the right end disc and roll along the tooth profiles of the guide grooves, so that the left planetary gear and the right planetary gear generate certain swing relative to the input shaft.
Let z 1 And z 2 The number of teeth of a planet wheel (the left planet wheel and the right planet wheel are the same) and an internal gear respectively, m is the modulus of the gear, r f Is the pin radius, r b Is the base radius of the guide groove, /) r The distance between the center of a pin hole on the planet wheel and the center of the planet wheel, and the center distance between the planet wheel and the inner gear are c, then
According to the geometric relationship, the following relationship holds
r b +r f -c<l r <r b +r f +c (4)
According to the transmission principle, the output rotating speed is composed of two parts, wherein one part is the rotating speed of the central shaft, and the other part is the swinging speed generated by the planet wheels relative to the central shaft, and the form and the size of the swinging speed are related to the contour curve of the guide groove on the end disc. Since the profile curve of the guide groove is a function of the central shaft angle, the angle of oscillation of the planet relative to the central shaft can also be regarded as a function of the central shaft angle.
Let θ 1 And theta 2 The angles of rotation, eta (theta), of the input and output shafts, respectively 1 ) For the angle of rotation, omega, of the planet relative to the input shaft 1 And ω 2 Rotational speeds, ω, of the input and output shafts, respectively η For the oscillating speed of the planet relative to the input shaft, t is the time, i is the transmission ratio, then
The relationship between the turning angles is
The calculation formula of the output rotating speed of the transmission device is as follows:
the transmission ratio of the transmission is calculated as:
wherein, ω is 1 Inputting the rotation speed of the central shaft for the transmission device; omega 2 Outputting the rotating speed of the internal gear for the transmission device; i is a transmission ratio; theta 1 Is the rotation angle of the input central shaft; eta (theta) 1 ) The swing angle generated by the planet wheel relative to the input central shaft; omega η The swing rotating speed generated by the planet wheel relative to the input central shaft; t is time; z is a radical of 1 The number of teeth of the planet wheel; z is a radical of 2 The number of teeth of the internal gear. By varying the shape of the profile curve of the guide groove, i.e. by varying the angle of oscillation eta (theta) of the planet relative to the central axis of the input 1 ) Variations and ranges of the gear ratios may be changed.
In the present invention, the principle of the fixing, inputting and outputting of different components is the same, and the details are not described herein.
As mentioned above, the beneficial effects of the invention are:
1 the transmission ratio can be varied periodically, with a wider range of output speeds when the input speed is fixed.
2. The restraint mechanism for realizing the change of the output rotating speed of the transmission device consists of a guide groove on an end disc and a pin on a planet wheel, and has a simple structure and easy assembly.
3. The guide groove and the pin in the constraint mechanism of the transmission device form a rolling friction pair, which is beneficial to reducing friction and improving transmission efficiency.
4. The machining precision of the guide groove and the pin in the transmission device constraint mechanism is easy to guarantee, so that the transmission precision of the device is improved.
5. The transmission device can obtain different change forms and output ranges of output speeds only by designing the profile curve of the guide groove, and is flexible in design.
6. The transmission device has few parts, simple and compact structure and convenient processing and assembly.
Drawings
FIG. 1 is a sectional view of example 1 of the present invention;
FIG. 2 isbase:Sub>A view from A to A in example 1 of the present invention;
FIG. 3 is a view from B to B in example 1 of the present invention;
FIG. 4 is an exploded view of example 1 of the present invention;
FIG. 5 is a graph showing the profile of a guide groove in an end disc according to example 1 of the present invention;
FIG. 6 is a graph showing the change in output rotational speed in one cycle in embodiment 1 of the present invention;
fig. 7 is a schematic diagram showing the change of the gear ratio in one cycle of embodiment 1 of the present invention.
Fig. 8 is a sectional view of embodiment 2 of the present invention.
Description of reference numerals
1-left end disk; 2-a seal; 3-internal gear; 4-left planetary gear; 5-spacer ring; 6-right planet gear; 7-big end face bearing;
8-right end disk; 9-double eccentric bearing; 10-small end face bearing; 11-a central axis; 12-a gasket; 13-a pin sleeve; 14-pin;
15-a guide groove; the planet wheels 16.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Example 1
As shown in fig. 1 to 4, the present invention provides a planetary transmission device with small teeth difference and periodically changing transmission ratio, which includes a central shaft 11, a left planetary gear 4, a right planetary gear 6, an internal gear 3, a left end disc 1, a right end disc 8, a large end face bearing 7, and a small end face bearing 10, wherein the left planetary gear 4 and the right planetary gear 6 are mounted on the central shaft 11 through a double eccentric bearing 9, external teeth of the left planetary gear 4 and the right planetary gear 6 are respectively engaged with the internal gear 3, and the internal gear 3 in other embodiments may be composed of needle teeth and a housing. The left end disc 1 and the right end disc 8 are positioned on the outer sides of the left planet wheel 4 and the right planet wheel 6; the left end disc 1 and the right end disc 8 are respectively and coaxially arranged on a central shaft 11 through a small end face bearing 10, and the left ends of the left end disc 1 and the internal gear 3 and the right ends of the right end disc 8 and the internal gear 3 are respectively provided with a large end face bearing 7; wherein a sealing element 2 is also arranged between the left end disc 1 and the inner gear 3; the key point is that: and constraint mechanisms are arranged between the left planet wheel 4 and the left end disc 1 and between the right planet wheel 6 and the right end disc 8 and are respectively used for constraining the motion tracks of the left planet wheel 4 and the right planet wheel 6.
Because the left planet wheel 4, the right planet wheel 6 and the central shaft 11 have the freedom degree of relative swinging, the motion tracks of the left planet wheel 4 and the right planet wheel 6 are uncertain in the state; according to the invention, the constraint mechanisms are arranged between the left planetary gear 4 and the left end disc 1 and between the right planetary gear 6 and the right end disc 8, so that on one hand, the movement tracks of the left planetary gear 4 and the right planetary gear 6 are limited, and on the other hand, the change of the transmission ratio can be realized through the movement track limited by the constraint mechanisms; compared with the traditional planetary gear transmission device with small tooth difference, the planetary gear transmission device with small tooth difference can change the transmission ratio through the design of the transmission device constraint mechanism, and the transmission ratio is changed periodically, so that the control on the input speed is reduced in the application process, and the input of constant rotating speed and the output of periodically changed rotating speed can be realized. In addition, compared with the traditional planetary gear with small tooth difference, the planetary gear is easy to assemble, high in transmission efficiency and high in transmission precision; the change form and range of the transmission ratio are easy to realize through a constraint mechanism, and the design is flexible; the parts are few, the structure is simple and compact, and the processing and the assembly are convenient. The tooth profiles of the left planet wheel 4, the right planet wheel 6 and the inner gear 3 have no special requirements and can be common involutes, cycloids and the like.
In this example, the restraining means comprises a pin 14 and a guide slot 15; wherein the pin 14 extends into the guide slot 15 and can move along the contour curve of the guide slot 15 under the action of external force; in one embodiment, the guide grooves 15 are provided on the left-end disk 1 and the right-end disk 8, and the pins 14 are provided on the left-side planetary gear 4 and the right-side planetary gear 6; in one embodiment, the guide grooves 15 are arranged on the left planetary gear 4 and the right planetary gear 6, and the pins 14 are arranged on the left end disc 1 and the right end disc; the guide groove 15 and the pin 14 form a matching relation capable of moving relatively, so that the structure is simple and the assembly is easy; the machining precision of the guide groove 15 and the pin 14 is easy to guarantee, and the transmission precision of the device is improved. The guide groove 15 is a ring of annular grooves arranged along the circumferential direction, and the pin 14 moves along the profile curve of the guide groove 15, so that the left planet wheel 4 and the right planet wheel 6 generate certain swing relative to the central shaft 11, and the change of the transmission ratio is realized; as the profile of the guide groove 15 changes, the transmission ratio changes accordingly, and thus the output speed changes with a constant input speed.
Preferably, the pins 14 are fixedly attached to the left end surface of the left planetary gear 4 and the right end surface of the right planetary gear 6, and the guide grooves 15 are opened in the right end surface of the left end plate 1 and the left end surface of the right end plate 8. The processing and the assembly are convenient, and the installation precision is ensured; pin holes are processed on the end faces of the left planetary gear 4 and the right planetary gear 6, and the pin 14 is installed on the left planetary gear 4 and the right planetary gear 6 in an interference fit mode with the pin holes.
In the traditional planetary transmission mechanism with small tooth difference, a plurality of pin shafts are used as output mechanisms; the invention restrains the motion trail of the planet wheel through the guide groove 15 and the pin 14. In a traditional planetary transmission mechanism with small tooth difference, a plurality of pin shafts are arranged to penetrate through pin holes distributed on a left planetary wheel and a right planetary wheel and form a parallelogram mechanism with an eccentric tumbler bearing, the deceleration motion of the planetary wheels is output to a left end disc and a right end disc according to the ratio of 1, and the mechanism is mainly used as an output mechanism; the mechanism composed of the guide groove 15 and the pin 14 plays a role of an output mechanism, and plays a more important role as a constraint mechanism, the motion trail of the planet wheel is constrained through the contact of the pin 14 and the guide groove 15, so that the transmission ratio of the mechanism is changed, and different transmission ratio change forms can be obtained through designing different tooth profile forms of the guide groove 15.
In a preferred embodiment, a pintle sleeve 13 is rotatably mounted on pintle 14, with pintle sleeve 13 extending into guide slot 15 to mate with guide slot 15. In the process that the pin 14 moves along the guide groove 15, sliding friction between the pin 14 and the groove wall of the guide groove 15 is changed into rolling friction through the pin sleeve 13, so that friction loss is reduced, and transmission efficiency is improved.
To avoid interference, a spacer ring 5 is arranged between the left planetary gear 4 and the right planetary gear 6 to separate them. The left planet 4 is 180 ° out of phase with the right planet 6.
In the transmission device, one of three types of components, namely a central shaft 11, an internal gear 3 and an end disc (a left end disc 1 and a right end disc 8), is fixed, the other type of component is used as an input component, and the rest type of component is used as an output component. Specifically, when the left end disc 1 and the right end disc 8 are fixed, the central shaft 11 is an input, and the internal gear 3 is an output; or the internal gear 3 is the input and the central shaft 11 is the output. When the central shaft 11 is fixed, the internal gear 3 is input, and the left end disc 1 and the right end disc 8 are output; or the left end disc 1 and the right end disc 8 are used as input, and the internal gear 3 is used as output. When the inner gear 3 is fixed, the central shaft 11 is input, and the left end disc 1 and the right end disc 8 are output; or the left end disk 1 and the right end disk 8 are used as input, and the central shaft 11 is used as output.
In this example, the left end disc 1 and the right end disc 8 are fixed, the central shaft 11 is used as input, the internal gear 3 is used as output, the involute curves of the tooth profiles of the left planetary gear 4, the right planetary gear 6 and the internal gear 3 are internally meshed, and the motion law of the contour curve of the guide groove 15 along with the rotation angle of the input shaft (the central shaft 11) is the cycloid motion law.
The design parameters of the examples are:
z 1 ＝29，z 2 ＝30，m＝3，l r ＝66.5，r f ＝6.5，r b ＝60，
the cycloidal motion law of the profile curve of the guide groove 15 with the input shaft angle is as follows.
During the pushing stroke (theta is more than or equal to 0) 1 ≤β)，
In return stroke (beta is less than or equal to theta) 1 ≤2β)，
In the formula, h is the push stroke, and beta is the rotation angle of the push stroke. In this embodiment, if h =10 π, β = π, then
During the pushing stroke (theta is more than or equal to 0) 1 ≤π)，
η(θ 1 )＝10θ 1 -5sin(2θ 1 )
In return stroke (pi is less than or equal to theta) 1 ≤2π)，
η(θ 1 )＝20π-10θ 1 +5sin[2(θ 1 -π)]
The output angular velocity at the push stroke is
The transmission ratio at the time of the push stroke is
The output angular velocity on the return trip is
The transmission ratio on the return stroke is
Given the input speed, the output angular speed and the change of the transmission ratio with the rotation angle can be calculated according to the formula. Fig. 6 and 7 are graphs of output angular speed and gear ratio as a function of rotational angle for an input speed of 1500 rpm.
FIG. 6 shows the output speed and FIG. 7 shows the gear ratio for an embodiment of the present invention. From fig. 6 and 7, when the input shaft rotates at a uniform speed of 1500rpm, the rotation speed of the output shaft will regularly and periodically change between 1315rpm and 1684rpm, and the corresponding transmission ratio will regularly and periodically change between 1.14 and 0.89, which shows that the transmission ratio of the device can continuously change in a single period (one period is one circle of the planet wheel moving along the internal gear 3), and the device has a periodic cycle, and the output speed range is wider. If different change forms and ranges of transmission ratio and output speed are obtained, only the contour curves of the guide grooves 15 on the left end disc 1 and the right end disc 8 need to be designed, and the design is flexible and easy to process. The movable connection formed by the guide groove 15 and the pin 14 has simple structure and easy assembly; the movable connection is a rolling friction pair, so that the friction loss is reduced, and the transmission efficiency is improved; the machining precision of the guide groove 15 and the pin 14 is easy to guarantee, and the transmission precision of the device is improved. The invention has the advantages of few parts, simple structure and convenient processing and assembly.
Example 2
As shown in fig. 8, this embodiment is different from embodiment 1 in that, in this embodiment, there is one planet wheel, the planet wheel 16 is located between the left end disc 1 and the right end disc 8, the constraint mechanism is arranged between the planet wheel 16 and the left end disc 1 or the right end disc 8, the constraint mechanism still adopts the matching structure of the pin 14 and the guide groove 15 in embodiment 1, and the pin sleeve 13 for reducing friction is arranged. The transmission principle is the same as that of embodiment 1.
In another embodiment, a constraining mechanism may also be provided between the left end disc 1 and the right end disc 8 and the planet wheel 16, that is, a guide groove 15 is provided on the left end disc 1 and the right end disc 8, and a pin 14 is mounted at the left end and the right end of the planet wheel 16, respectively, to ensure the stability of the motion of the planet wheel.
In one embodiment, the positions of the stud 14 and the guide slot 15 may be interchanged.
The transmission ratio of the invention can be changed periodically; the transmission mechanism has the advantages of few parts, simple structure, easiness in assembly, high transmission efficiency and easiness in ensuring transmission precision. The device can be applied to robot joints, such as gait walking control and the like, and has a very large application space in occasions of power transmission, precision transmission and the like with changing requirements on transmission ratio.
Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (9)
1. The utility model provides a poor planetary gear transmission of few tooth of periodic variation of drive ratio, includes center pin, internal gear, left planet wheel, right planet wheel, left end dish and right end dish, left planet wheel, right planet wheel cover are established on the center pin eccentrically to mesh with the internal gear respectively, left end dish and right end dish are rotatable to be installed on the center pin, its characterized in that: a constraining mechanism for constraining the motion tracks of the left planet wheel and the right planet wheel is arranged between the left planet wheel and the left end disc and between the right planet wheel and the right end disc; the restraint mechanism comprises a pin and a guide groove; the pin extends into the guide groove and can move along the contour curve of the guide groove, one of the pin and the guide groove is arranged on the left planetary wheel and the right planetary wheel, and the other pin is arranged on the left end disc and the right end disc; the pin moves along the contour curve of the guide groove, so that the left planet wheel and the right planet wheel swing relative to the central shaft, and the transmission ratio is changed.
2. The small teeth difference planetary gear device with the periodically changing gear ratio according to claim 1, wherein: the phase difference between the left planet wheel and the right planet wheel is 180 degrees; the pin is fixedly installed on the left end face of the left planetary wheel and the right end face of the right planetary wheel, and the guide grooves are formed in the right end face of the left end disc and the left end face of the right end disc.
3. The small teeth difference planetary gear device with the periodically changing gear ratio according to claim 2, wherein: the left planet wheel and the right planet wheel are provided with pin holes, and the pins are in interference fit with the pin holes.
4. The small teeth difference planetary gear device with the periodically changing gear ratio according to claim 1, 2 or 3, wherein: the pin is rotatably sleeved with a pin sleeve, and the pin sleeve extends into the guide groove to be matched with the guide groove.
5. The small tooth difference planetary gear transmission with periodically changing gear ratios according to claim 1, characterized in that: and one of the three parts of the central shaft, the internal gear, the left end disc and the right end disc is fixed, the other part is used as an input part, and the rest part is used as an output part.
6. The small tooth difference planetary gear transmission with periodically changing gear ratios according to claim 1, characterized in that: the left planet wheel and the right planet wheel are arranged on the central shaft through a double-eccentric rotating arm bearing or a double-eccentric sleeve and a bearing; the left end disc and the right end disc are respectively installed on the central shaft through first bearings and connected with the inner gear through second bearings.
7. The small tooth difference planetary gear transmission with periodically changing gear ratios according to claim 1, characterized in that: and a spacer ring is arranged between the left planetary wheel and the right planetary wheel.
8. The small tooth difference planetary gear transmission with periodically changing gear ratios according to claim 1, characterized in that: when left end dish and right-hand member dish are fixed, the center pin input, during the internal gear output, the formula of calculating of transmission output rotational speed does:
the transmission ratio is calculated as:
wherein, ω is 1 Inputting the rotation speed of the central shaft for the transmission device; omega 2 Outputting the rotating speed of the internal gear for the transmission device; i is a transmission ratio; theta.theta. 1 Is the rotation angle of the central shaft; eta (theta) 1 ) The swinging rotation angle generated by the planet wheel relative to the central shaft; omega η The swing rotating speed generated by the planet wheel relative to the central shaft; t is time; z is a radical of formula 1 The number of teeth of the planet wheel; z is a radical of formula 2 The number of teeth of the internal gear.
9. The utility model provides a poor planetary gear transmission of few tooth of periodic variation of drive ratio, includes center pin, internal gear, planet wheel, left end dish and right-hand member dish rotatable the installation on the center pin, the planet wheel is located between left end dish and the right-hand member dish, and this planet wheel cover is established on the center pin eccentrically to with the internal gear meshing, its characterized in that:
a constraint mechanism for constraining the motion trail of the planet wheel is arranged between the planet wheel and the left end disc, the constraint mechanism comprises a pin and a guide groove, one of the pin and the guide groove is arranged on the planet wheel, and the other is arranged on the left end disc;
or a constraint mechanism for constraining the motion trail of the planet wheel is arranged between the planet wheel and the right end disc, the constraint mechanism comprises a pin and a guide groove, one of the pin and the guide groove is arranged on the planet wheel, and the other is arranged on the right end disc;
or a constraining mechanism for constraining the motion trail of the planet wheel is arranged between the planet wheel and the left end disc and between the planet wheel and the right end disc respectively, the constraining mechanism comprises a pin and a guide groove, one of the pin and the guide groove is arranged on the planet wheel, and the other is arranged on the left end disc and the right end disc;
the pin extends into the guide groove and can move along the profile curve of the guide groove, so that the planet wheel swings relative to the central shaft, and the change of the transmission ratio is realized.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710570588.8A CN107228164B (en) | 2017-07-13 | 2017-07-13 | Small tooth difference planetary gear transmission device with periodically changed transmission ratio |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710570588.8A CN107228164B (en) | 2017-07-13 | 2017-07-13 | Small tooth difference planetary gear transmission device with periodically changed transmission ratio |
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