CN107387675A - The non-grade of planet row is than subtractive decelerator - Google Patents
The non-grade of planet row is than subtractive decelerator Download PDFInfo
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- CN107387675A CN107387675A CN201710614634.XA CN201710614634A CN107387675A CN 107387675 A CN107387675 A CN 107387675A CN 201710614634 A CN201710614634 A CN 201710614634A CN 107387675 A CN107387675 A CN 107387675A
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- planet row
- decelerator
- connection
- planet
- subtractive
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The present invention relates to one kind deceleration (or acceleration) device machinery, exist in being connected specially between planet row and be indirectly connected with and exist gearing of the non-grade than multiple rows of planet row composition of connection, utilize the gearratio formula with subtractive method characteristic of the machinery, by controlling the value of each planet row characterisitic parameter and each coefficient of connection to make the actual transmission ratio of decelerator consistent with default gear ratio value, the gearratio of the decelerator is just can control, method can manufacture and design big gearratio, small volume, deceleration (or acceleration) gearing easy to manufacture simple in construction according to this.
Description
Technical field
The present invention relates to a kind of decelerator gearing, is connected specially between planet row and more seniority among brothers and sisters of the non-grade than connection be present
Star row's, there is the decelerator of subtractive using its gearratio formula.
Background technology
In order to which neatly the torque of change dynamical system and rotating speed, many dynamic power machines are all configured with mechanical reduction on a large scale
Device.Existing machinery decelerator mainly has cylinder gear speed reducer, turbine and worm decelerator, planetary gear mechanical reducer, cycloid
Pinwheel reducer, harmonic wave drive speed reducer etc..Cylinder gear speed reducer and turbine and worm decelerator volume in existing decelerator
Larger, transmission is smaller；Planet-cycloid reducer is complicated with harmonic wave drive speed reducer, and manufacturing cost is higher, driving torque
Less；Reducer structure using planet row gear structure is simple, but is usually only to utilize its gear drive, without components utilising
Its planet row drive characteristic, retardation efficiency are low.It may be said that existing decelerator respectively has its defect.Design manufacture volume compared with
Planet row decelerator small, that transmission is bigger is our purpose.
The content of the invention
In order to realize the purpose of the bigger planet row decelerator of design manufacturing small volume, transmission, the present invention carries
Go out a kind of planet row decelerator：Connection has non-grade than more planet rows of connection between planet row, make use of its gearratio formula
Denominator subtractive decelerator.
The decelerator of planet row gear structure, including the planet row gear structure mechanical system being made up of each planet row,
Lubricating system, installation support and protection system etc., mechanical system are defeated including connecting, inputting between planet row species order, planet row
Go out locking connection, planet row construction etc..
Planet row is made up of two centre wheels (sun gear or ring gear) and three kinds of parts of planet carrier with planetary gear, three kinds
The meshing relation of part determines planet row species.Planet row can be divided into individual layer star by the Dan Yushuan of planet carrier upper planet wheel number of levels
Planet row, double-deck star planet row.The individual layer planetary gear of individual layer star planet row internally engages with sun gear externally to be engaged with ring gear；
Internal layer planetary gear is internally engaged with sun gear in two layers of planetary gear of double-deck star planet row, and outer layer planetary gear is externally nibbled with ring gear
Close, the intermeshing of internal layer planetary gear outer layer planetary gear.Planet row species is different, and its characteristics of motion is different, it then follows the equation of motion
It is different.
In the decelerator of planet row composition, putting in order between different types of planet row is produced as into decelerator
Just immutable after product, this also determines the performance characteristics of decelerator.In planet row of the present invention connection machinery, connection is participated in
Planet row have two kinds of types：1, individual layer star planet row participates in connection；2, double-deck star planet row participates in connection.Two such planet
The connection mechanical structure for arranging composition gets up just to have four kinds of combining forms by planet row species and planet row sequential combination.If participate in
The planet row of connection is respectively individual layer star planet row and double-deck star planet row in order, with regard to referred to as single double two rows, if participated in
The planet row of connection is respectively double-deck star planet row and double-deck star planet row in order, just referred to as two row in pairs；Participate in connection
Two rows of planetary seeding class orders other combining forms and referred to as can be so that the rest may be inferred, also only two rows, the row of double lists two, one
Share the combining form of four kinds of planet row species orders.The decelerator that multiple rows of planet row is formed can be so that the rest may be inferred, such as three rows
Planet row species order has eight kinds, and four rows of planetary seeding classes order has 16 kinds etc..
Tooth form, number of teeth relation and the planetary gear set number of three kinds of parts of planet row are exactly planet row construction, are mainly shown as
The characterisitic parameter of planet row.Planet row construction is just immutable after decelerator is produced as finished product, and planet row construction also determines
The performance characteristics of decelerator.The especially characterisitic parameter of planet row, determine the characteristics of motion and the motion side of each part of planet row
Journey.For convenience of research, the present invention proposes, planet row moves the characterisitic parameter and kinetic characteristic equation for not only deferring to planet row, also
Anti- characterisitic parameter and counter-movement characteristic equation are obeyed, is defined as follows：
If Zt is the sun gear number of teeth, Zq is the ring gear number of teeth, and Nt is sun wheel speed, and Nq is ring gear rotating speed, Nj planets
Frame rotating speed, defined property parameter a=Zq/Zt, the kinetic characteristic equation of individual layer star planet row are：Nt+a*Nq- (1+a) * Nj=0,
The kinetic characteristic equation of double-deck star planet row is：Nt-a*Nq- (1-a) * Nj=0.If reversely define af=Zt/Zq, it is referred to as anti-
Characterisitic parameter, for the inverse of the characterisitic parameter just defined.The kinetic characteristic equation form of corresponding planet row can be different, is referred to as
Counter-movement characteristic equation.The counter-movement characteristic equation of individual layer star planet row is Nq+af*Nt-(1+af) * Nj=0；Double-deck star planet
The counter-movement characteristic equation of row is Nq-af*Nt-(1-af) * Nj=0.Using anti-characterisitic parameter and counter-movement characteristic equation with utilizing
The motion of characterisitic parameter and kinetic characteristic equation research planet row, in itself with the same effect.Characterisitic parameter and anti-espionage
These theoretical tools of property parameter are inherently the different expression-forms of the relation of three kinds of parts of planet row.The motion of planet row is special
Property equation mathematically can be derived mutually with counter-movement characteristic equation.
The sun gear of protoplanet row is worked as ring gear connection use, ring gear works as sun gear connection use, planet carrier still
Used when planet carrier connects, it is falling for protoplanet row's characterisitic parameter that the planet row that so connection uses, which is equivalent to characterisitic parameter,
The new planet row of number --- anti-characterisitic parameter ---.It is such newly to connect relative to the original connection application method of original planet row
Connect application method and be referred to as planet row anti-espionage connection application method.Relative to the original drive path of original decelerator, so
The new transmission path that is derived of new connection application method be referred to as the anti-espionage drive path of former decelerator.Anti-espionage connection
As a result, it can be understood as be to keep changing drive path and gearratio formula on the premise of planet row characteristic parameter value is constant
Son, it is understood that to be that planet row characteristic is joined in keeping changing gearratio formula on the premise of former gearratio formula is constant
Several values.
In decelerator, three kinds of parts of planet row can be connected with the part of other planet rows, and here it is connect between planet row
Connect.Generally between two adjacent planet rows exist one or two planet row between connect, the company connected between planet row
It is mainly sun gear, planet carrier, ring gear these three parts to connect object, and the connecting object connected between a small number of planet rows is planet
Wheel.Object in the connection and connection under same connection function has identical rotating speed.If participate in the No.1 planet of connection
It is respectively Nt1, Nj1, Nq1 to arrange sun gear t1, planet carrier j1, ring gear q1 rotating speed, participates in No. two planet row sun of connection
Wheel t2, planet carrier j2, ring gear q2 rotating speed are respectively Nt2, Nj2, Nq2, connect two parts in two planet rows or company
It is exactly to make its rotating speed equal to connect two objects.For example, connection No.1 planet row sun gear is meant that with No. two planet row planet carriers
For Nt1=Nj2.Connection needs to connect machinery, including is directly connected to machinery and is indirectly connected with machinery, is directly connected to the connection of machinery
And the object in connection possesses common axis of rotation, torque and rotating speed, the object being indirectly connected with the connection and connection of machinery can
To possess different rotary shafts, torque and rotating speed.The present invention proposes certain part of planet row and a certain part of another planet row
Between can by indirect gear connect, indirect sprocket wheel connection and other be indirectly connected with machinery to connect.With being directly connected to machine
Tool is different around the hollow shaft revolution of planet row, is indirectly connected with some mechanical total hollow shaft for not surrounding planet row and revolves round the sun,
But other axles around side rotate, be indirectly connected with machinery can more than set of parts, but the two of same configuration sets, three sets
Or cover part more, each to cover part balanced arrangement around planet row hollow shaft similar to multiple planetary gear sets, common connection is indirect
Two object Parts of connection, turn into one and are entirely indirectly connected with.This planet row is indirectly connected with changing connected object
Rotating speed and moment of torsion, connected all parts can have different rotating speed and moment of torsion, and we term it being indirectly connected with for planet row.
In this connection, the local input speed absolute value before connection transmission and the ratio between the local output speed absolute value being connected after being driven add
Upper sign symbol is referred to as coefficient of connection.The coefficient of connection being indirectly connected with often is not equal to 1, and coefficient of connection value can be on the occasion of negative value, if k
For arithmetic number, coefficient of connection can be k or-k.When speed and the former speed after being indirectly connected with transmission are in the same direction, the company that is indirectly connected with
Connect coefficient be on the occasion of；When the speed after being indirectly connected with transmission is with former velocity reversal, the coefficient of connection being indirectly connected with is negative value.Directly
A kind of special connection that also can be considered the coefficient of connection 1 having is connect in succession.Between two planet rows have it is multiple connection and it is multiple
When the coefficient of connection of connection is unequal, our connections just between the two planet rows are referred to as non-wait than connection.Ratio is waited with non-
Multiple rows of planet row decelerator construction of connection is more complicated, but the advantages of there is itself.Because its gearratio formula adds not
Equal coefficient of connection expands as variable, the adjustable extent of gearratio formula；Especially, the planet row of identical connecting object passes
Motivation tool, using etc. the drive path gearratio formula being directly connected to of ratio there is no denominator subtractive when, wait ratio using non-changing
Some the rear coefficient of connection being indirectly connected with that are indirectly connected with can be negative value, gearratio formula makes it easy to form denominator subtractive special
Property.
The drive path of decelerator of the present invention, by being connected between planet row, I/O lockdown is connected and determined, both companies
Engagement claims to connect, and the object under connection function together constitutes drive path with being connected.Between drive path and specific planet row
Connection, I/O lockdown connection are corresponding.Drive path is combined with each planet row species sequential combination form, accordingly can shape
Into the gearratio formula (can list) of each drive path.We are referred to as the ratio between the input speed of decelerator and output speed to be driven
Than, according to obtained from condition of contact solution planet row movement difference equations using each planet row characterisitic parameter, each coefficient of connection as letter
Number represents that the formula of decelerator gearratio is referred to as gearratio formula.Non- grade is than the planet row decelerator of connection, its gearratio formula
Usually each planet row characterisitic parameter a1, a2, a3 ... and each coefficient of connection k1, k2, k3 ... multinomial, gearratio formula
Have simultaneously after integral expression, in its denominator band positive sign item with negative sign item, it is and each planet row characterisitic parameter in gearratio formula, each
Coefficient of connection codomain is suitable, denominator absolute value minimization can be provided and the numerical solution of molecule absolute value not minimization, we claim
The gearratio formula has denominator subtractive.The structure of decelerator of the present invention be exactly be connected as between multiple rows of planet row its planet row it is non-
There is denominator subtractive person Deng than connection and its gearratio formula, by selecting connection, planet row species order, can select to pass
Dynamic path, by analyzing its gearratio formula, can find its gearratio formula has denominator subtractive person, with its drive path
Structure as decelerator of the present invention.By selecting planet row to construct, adjusting the number of teeth of each part of decelerator, each row can be adjusted
Star arranges the value of characterisitic parameter and each coefficient of connection, can make to have the gearratio formula denominator absolute value of denominator subtractive minimum
Change and molecule absolute value not minimization, so that gearratio formula absolute value maximizes, be equal to decelerator actual transmission ratio
Or the big gear ratio value close to design, realize efficient decelerator.
Minimum, very big, minimization of the present invention, maximization refer to gearratio formula denominator, gearratio formula molecule, passed
Move than the minimum, very big of the absolute value of formula or gearratio, minimization, maximization.The denominator of gearratio formula of the present invention
Absolute value minimization refers to the absolute value of its denominator at least below 0.32.When needing to pay close attention to the driving torque direction of decelerator, just
Pay close attention to the positive and negative of gear ratio value or gearratio formula.
Decelerator of the present invention passes through following steps application：1, optimum choice drive path, find out and subtract each other with denominator
The gearratio formula of property, the structure of decelerator of the present invention is used as using its corresponding drive path.2, it is equal to gearratio formula and sets
Gear ratio value needed for meter, solves planet row movement difference equations, and searching makes gearratio formula denominator minimization and molecule not minimization
Each planet row characterisitic parameter, the numerical solution of each coefficient of connection.As a rule, numerical solution whether there is array solution, can use wherein
One group.3, by selecting planet row to construct, the number of teeth of adjustment each part of decelerator adjust each planet row characterisitic parameter, each connection
The value of coefficient, make it equal to or close to numerical solution, so that the actual transmission ratio of decelerator is equal or close to design
Big gear ratio value.Decelerator is reversely using as accelerator.
Existing planet row decelerator is indirectly connected between planet row in terms of connection without similar to of the present invention.To obtain
Obtain compared with big speed ratio, existing planet row decelerator is conceived to selection and uses the molecule of gearratio formula in planet row structure absolute
It is worth the greater, the absolute value of gearratio formula denominator is not less than 0.32.Use and be indirectly connected between nobody's proposition planet row
Easily make gearratio formula that there is denominator subtractive.Nobody's proposition is using the gearratio formula with denominator subtractive and accordingly
The method of drive path, nobody are proposed by selecting planet row to construct, adjusting each part number of teeth of decelerator to adjust each planet
Row characterisitic parameter, each coefficient of connection make gearratio formula denominator absolute value minimization and molecule absolute value not minimization so that passing
The dynamic method than absolute value maximization.The non-grade of planet row of the present invention is to select to have to divide than the key problem in technology of subtractive decelerator
Non- wait of female subtractive characteristic gearratio formula as reducer structure of the present invention and utilizes gearratio than connection drive path
The method of formula denominator subtractive.
Than subtractive decelerator, it is beneficial in that the non-grade of planet row of the present invention：Propose the indirect of planet row
Connection, it is proposed that non-to wait the theory for than connection, enriching planet row decelerator.Propose from planet row species order, planet row
Between connection, set about the method for finding planet row reducer structure in terms of I/O lockdown connection.Propose and be driven by optimizing
Path is with being indirectly connected with the method for finding the utilizable gearratio formula with denominator subtractive.Propose by selecting to go
Star row construction, adjustment planet row three kinds of part numbers of teeth, regulation be indirectly connected with mechanical gear number adjust each planet row characterisitic parameter,
The value of each coefficient of connection, it is possible to using the gearratio formula with denominator subtractive characteristic, formed equal or close to design
The method of the planet row decelerator of required gear ratio value.
Brief description of the drawings
Fig. 1 is embodiments of the invention 1, and only two rows of planetary arrange schematic diagram of the non-grade than subtractive decelerator.1 is No.1
Planet row, 2 be No. two planet rows.In figure the ring gear of No.1 planet row add one be used for connect ring gear, by have consolidate
Determine paraxonic gear mechanism be connected indirectly to have added one be used for connect external toothing No. two planet rows planet carrier, this
The coefficient of connection being indirectly connected with is negative value.It is this kind of to be indirectly connected with that a wheel group or more wheel groups are set, typically set by axial symmetry.This reality
Apply and axisymmetric two-wheeled group is provided with illustration.
In figure, input is connected, output connection is marked with arrow, and locking connection is illustrated into ground connection legend by industrial practice.Figure
Middle planet row species is individual layer star planet row, and planet row species can the rest may be inferred for other.Each part of planet row is only illustrated to connect in figure
Connect and structural relation, do not reflect actual size.
Embodiment
Embodiment 1：Embodiments of the invention 1 --- only two rows of planetary arrange non-grade than subtractive decelerator, it is assumed that design
Required gear ratio value is 1200.No.1 individual layer star planet row is designated as 1, and No. two individual layer star planet rows are designated as 2, and input connecting object is
No.1 planet row sun gear t1, locking connecting object are No.1 planet row planet carrier j1, and output connecting object is No. two planet rows
Ring gear q2, respectively connect referring to Fig. 1, Nt1=Nt2, its coefficient of connection being indirectly connected with is negative value, if coefficient of connection is that (k is-k
Arithmetic number), then Nq1=-kNj2.Dynamic characteristic equation group is raftinged through solving condition of contact and two rows of planetary, obtains decelerator gearratio
Formula is k*a1*a2/ (1+a2-k*a1).If being directly connected to for ratio, this drive path and the planet such as it is connected as between planet row
The gearratio formula of the combination of seeding class order does not have denominator subtractive.And in the present embodiment 1, between planet row connection exist it is non-
Just there is denominator subtractive Deng than connection, this drive path and the gearratio formula of the combination of planet row species order.At this moment
Equation using each characterisitic parameter and coefficient of connection as member is k*a1*a2/ (1+a2-k*a1)=1200, there is unlimited group solution.Select one group
(a1=2.301947799, a2=2.46, k=1.5) is used as numerical solution, and actual each planet row characterisitic parameter and coefficient of connection are
(a1=244/106, a2=246/100, k=1.5), close to numerical solution.That is No. 1 the planet row ring gear number of teeth 244, solar wheeling tooth
Number 106, No. 2 the planet row gear ring numbers of teeth 246, the sun gear numbers of teeth 100, coefficient of connection is indirectly connected with as -1.5.At this moment gearratio formula
The denominator value of son is about 0.00717, and the value of decelerator gearratio is 1184.68, and the predetermined required deviation of gear ratio value 1200
Minimum (- 1.28%).The property of the group actual each planet row characteristic parameter value and coefficient of connection value as decelerator can be received
Can index.
When adjusting each planet row characterisitic parameter and the actual value of coefficient of connection, simple mathematical formulae can be used,
The methods of tabulating method, convergence Gui Yuanfa, trial-and-error method can be used.
In the decelerator of the present embodiment 1, each planet row characterisitic parameter and coefficient of connection value can usually have many combinations,
Without array solution, the denominator of the gearratio formula of decelerator can be made significantly to diminish, gearratio significantly becomes big, makes actual transmission ratio
It is worth the gear ratio value close to design.So 1 such decelerator of the present embodiment has many group specific implementation values, this reality
Apply example 1 and simply choose one of which example.
When 1 decelerator of the present embodiment is manufactured in design, the mechanical system of decelerator is separately designed as stated above, then
Carry out the technological designs such as material, profile, processing according to being actually needed, carry out lubricating system, installation support is set with protection system
Meter, then can is manufactured.
The various embodiments described above are only some embodiments of the present invention, and the present invention proposes, as long as in planet row decelerator
There is multiple rows of planet row, connected between planet row and employ the ratio connection such as non-, its gearratio formula has denominator subtractive；And pass through
Adjust each planet row characterisitic parameter and each coefficient of connection causes the absolute value of gearratio formula denominator to be less than 0.32, no matter this subtract
Fast device is independent decelerator, or as the part in gearing, all should fall into protection scope of the present invention.
Claims (3)
1. the non-grade of planet row is arranged than subtractive decelerator, including no less than two rows of planetary, it is characterised in that is connected between each planet row
In the presence of being indirectly connected with, and exist it is non-etc. than connection, i.e.,：There is the coefficient of connection of multiple connections and multiple connections between each planet row
When unequal, our connections just between each planet row are referred to as non-wait than connection.
2. the non-grade of planet row as claimed in claim 1 is further characterized in that the decelerator has used profit than subtractive decelerator
With the method for gearratio formula denominator subtractive, i.e.,：Decelerator gearratio formula is set to be equal to the gear ratio value of design, Xie Hang
Star arranges movement difference equations, and finding makes gearratio formula denominator absolute value minimization and each planet row of molecule absolute value not minimization
The numerical solution of characterisitic parameter and each coefficient of connection, it is each to adjust by selecting planet row to construct, adjusting each part number of teeth of decelerator
The value of planet row characterisitic parameter and each coefficient of connection, makes these values be equal or close to numerical solution, so that the reality of decelerator
Border gear ratio value be equal or close to design gear ratio value, here it is using gearratio formula denominator subtractive method,
Wherein gearratio formula denominator absolute value minimization is noteworthy characterized by the absolute value of its denominator less than 0.32.
3. planet row as described in claim 1,2 is non-etc. than subtractive decelerator, can be used as independent decelerator, accelerator or
As the part in gearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710614634.XA CN107387675A (en) | 2017-07-25 | 2017-07-25 | The non-grade of planet row is than subtractive decelerator |
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| CN201710614634.XA CN107387675A (en) | 2017-07-25 | 2017-07-25 | The non-grade of planet row is than subtractive decelerator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019228262A1 (en) * | 2018-05-28 | 2019-12-05 | Luo Can | Co-directional transfer differential speed transmitter |
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2017
- 2017-07-25 CN CN201710614634.XA patent/CN107387675A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019228262A1 (en) * | 2018-05-28 | 2019-12-05 | Luo Can | Co-directional transfer differential speed transmitter |
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Application publication date: 20171124 |