CN107606071A - Multiple rows of star denominator subtractive decelerator - Google Patents

Abstract

The present invention relates to a kind of planet row gear structure decelerator.Including mechanical system, lubricating system etc., containing no less than three rows of planetary row --- can be individual layer star planet row, double-deck star planet row or three layers of star planet row, star connection is connected as between its planet row, connection together constitutes each drive path or its isomeric form or its economization form with the object in being connected, and forms corresponding each gearratio formula.Pass through the structure for selecting gearratio formula that there is the drive path of denominator subtractive to be used as decelerator, by selecting the number of teeth of planet row construction, adjustment each part of decelerator to include the value of star characterisitic parameter to adjust each planet row characterisitic parameter, the denominator subtractive of its gearratio formula can be utilized, make gearratio formula denominator minimization and molecule minimization so as to which gearratio maximizes, is realized and is driven bigger decelerator.The decelerator or its can be as independent decelerator, accelerator or as the part in gearing against decelerator.

Description

Multiple rows of star denominator subtractive decelerator

Technical field

The present invention relates to a kind of planet row mechanical reducer, the star connection of specially multiple rows of planet row, it make use of its biography The decelerator of the dynamic denominator subtractive than 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：Be connected as between planet row star connection, make use of its gearratio formula denominator subtractive it is more Rows of planetary arranges decelerator.

The decelerator of planet row gear structure, including the planet row gear mechanism system being made up of each planet row, lubrication System, installation support and protection system etc., mechanical system include connection between planet row species order, planet row, input and output lock Fixed 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 and three layers of star planet row.The individual layer planetary gear of individual layer star planet row internally engages pair with sun gear Engaged outside with ring gear；Internal layer planetary gear internally engages with sun gear in two layers of planetary gear of double-deck star planet row, outer layer planet Wheel externally engages with ring gear, the intermeshing of internal layer planetary gear outer layer planetary gear；One in three layers of planetary gear of three layers of star planet row Layer planetary gear is internally engaged with sun gear, externally engaged with two layers of planetary gear, two layers of planetary gear internally engage with one layer of planetary gear, Externally engaged with three layers of planetary gear, three layers of planetary gear are internally engaged with two layers of planetary gear, externally engaged with ring gear.Planet seeding Class 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 star attachment structure of the present invention, the company of participation The planet row connect has three classes, point four kinds of situations：1, individual layer star planet row participates in connection；2, double-deck star planet row participates in connection, its Middle internal layer planetary gear participates in star connection and participates in star to connect with outer layer planetary gear being two kinds of different situations；3, three layers of star planet row ginseng With being connected, wherein one layer of planetary gear participates in star connection connects same individual layer star planet row participation star connection with three layers of planetary gears participation star Situation it is identical, it is a kind of single situation that two layers of planetary gear, which participate in stars connection,.The star connection knot of two such planet row composition Structure combines just by the situation of the planet row species and planet row order that participate in star connection 16 kinds of combining forms.If ginseng The planet row being connected with star is respectively that the planetary gear of individual layer star planet row participates in star connection and double-deck star planet row in order Outer layer star participates in star connection, just referred to as single outer two rows；If the planet row for participating in connection is respectively double-deck star planet row in order Internal layer planetary gear participate in star connection and three layers of star planet row two layers of planetary gear participate in star connection, with regard in abbreviation two liang row； Other combining forms and abbreviation of the planet row species order of star connection can be so that the rest may be inferred.The star being made up of two rows of planetary row connects Binding structure one shares 16 kinds of planet row species sequential combination forms.The star attachment structure one being made up of three rows of planetary row shares six 14 kinds of planet row species sequential combination forms, it is only single three rows, only outer three rows, only interior three row, only 23 respectively Row, single outer single three rows, single outer three rows, it is single it is outer in three rows, single outer two or three rows, single three rows in list, three rows inside and outside list, in list in three Row, two or three rows in list, the rows of Dan Erdan tri-, single two outer three rows, three rows in single two, outside single 223 rows, only three rows, outer list outer three Three rows, outer Dan Ersan rows, the outer row of list three, outer three rows, outer interior three rows, outer two or three rows, outer interior list three in row, outer list Row, outer inside and outside three rows, outer interior three rows, it is outer in two or three rows, outer two single three rows, three rows outside outer two, three rows, outer 223 in outer two Row, interior only three rows, outer three rows of interior list, three rows, interior Dan Ersan rows, the row of inside and outside list three, inside and outside outer three rows, inside and outside interior three in interior list Row, inside and outside two or three row, the interior row of list three, inside and outside three rows, interior three rows, interior two or three rows, interior two single three rows, interior two outer three Row, three rows, interior 223 row in interior two, two only three rows, two single outer three rows, three rows in two lists, two Dan Ersan rows, single three outside two Row, outer three rows outside two, two it is outer in three rows, two outer two or three rows, single three rows in two, three rows inside and outside two, in two in three rows, two or three in two Row, two or two single three rows, two or two outer three rows, three rows, 2223 rows in two or two, altogether 64 kinds of planet row species sequential combinations Form.

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, in addition to too star characterisitic parameter and both star characterisitic parameters of circle star characterisitic parameter.Planet row constructs Just immutable after decelerator is produced as finished product, planet row constructs the performance characteristics for also determining decelerator.Especially planet The gear ratio correlation of three kinds of parts of row determines three kinds of characterisitic parameters of planet row, determines the motion of each part of planet row Rule and the equation of motion, finally determine the performance of decelerator.For convenience of research, the present invention proposes, planet row motion not only takes From the characterisitic parameter and kinetic characteristic equation of planet row, also obey the too star characterisitic parameter of planet row, enclose star characterisitic parameter (both It is collectively referred to as star characterisitic parameter) and the corresponding too star equation of motion, the circle star equation of motion (both are collectively referred to as the star equation of motion).Planet row Characterisitic parameter, too star characterisitic parameter, circle star characterisitic parameter and corresponding kinetic characteristic equation, too the star equation of motion, circle luck are moved Equation 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；The equation of motion of three layers of star planet row is：Nt+ A*Nq- (1+a) * Nj=0 are identical with the equation of motion of individual layer star planet row.If Zx is certain layer of planet for participating in star attachment structure The number of teeth of wheel, Nx are this layer of planet wheel speed, and it is too star parameter b=Zt/ to define the sun gear number of teeth with this layer of planetary gear gear ratio Zx, it is circle star parameter c=Zq/Zx to define the ring gear number of teeth with this layer of planetary gear gear ratio.The planetary gear of individual layer star planet row, too Positive wheel, planet carrier, the motion of ring gear also obey its too star equation of motion Nxd+b*Nt- in addition to its kinetic characteristic equation is obeyed (1+b) * Nj=0 and circle star equation of motion Nxd-c*Nq- (1-c) * Nj=0.Outer layer planetary gear, the sun of double-deck star planet row Wheel, planet carrier, the motion of ring gear also obey its too star equation of motion Nxw-b*Nt- (1- in addition to its kinetic characteristic equation is obeyed B) * Nj=0 and circle star equation of motion Nxw-c*Nq- (1-c) * Nj=0；The internal layer planetary gear of double-deck star planet row, sun gear, OK Carrier, the motion of ring gear also obey its too star equation of motion Nxn+b*Nt- (1+b) * Nj in addition to its kinetic characteristic equation is obeyed =0 with enclosing star equation of motion Nxn+c*Nq- (1+c) * Nj=0.The one layer of planetary gear and three layers of planetary gear of three layers of star planet row, too Positive wheel, planet carrier, the motion of ring gear also obey its too star equation of motion Nx+b*Nt- (1 in addition to its kinetic characteristic equation is obeyed + b) the * Nj=0 and circle star equation of motion Nx-c*Nq- (1-c) * Nj=0, each motion side identical with the situation of individual layer star planet row Journey is also identical, and simply each characterisitic parameter span is different；Two layers of planetary gear of three layers of star planet row, sun gear, planet carrier, The motion of ring gear also obeys its too star equation of motion Nxe-b*Nt- (1-b) * Nj=0 and circle star in addition to its equation of motion is obeyed Equation of motion Nxe+c*Nq- (1+c) * Nj=0.

If reversely define a_f=Zt/Zq, b_f=Zx/Zt, c_f=Zx/Zq, it is referred to as anti-characterisitic parameter, anti-too star is joined Number, anti-circle star parameter, it is respectively just to define characterisitic parameter, too star parameter, the inverse of circle star parameter.Three kinds of fortune of corresponding planet row Dynamic equation form can be different, referred to as counter-movement characteristic equation, the anti-too star equation of motion, the anti-circle star equation of motion.Individual layer star The counter-movement characteristic equation of planet row is Nq+a_f*Nt-(1+a_f) * Nj=0, instead too the star equation of motion is Nt+b_f*Nxd-(1+ b_f) * Nj=0, the anti-star equation of motion that encloses is Nq-c_f*Nxd-(1-c_f) * Nj=0；The counter-movement characteristic equation of double-deck star planet row For Nq-a_f*Nt-(1-a_f) * Nj=0, outer layer planetary gear and sun gear, planet carrier, the gym suit of ring gear of double-deck star planet row From its anti-too star equation of motion Nt-b_f*Nxw-(1-b_f) * Nj=0 and anti-circle star equation of motion Nq-c_f*Nxw-(1-c_f) * Nj= 0, the internal layer planetary gear of double-deck star planet row and sun gear, planet carrier, the gym suit of ring gear are from its anti-too star equation of motion Nt+ b_f*Nxn-(1+b_f) * Nj=0 and anti-circle star equation of motion Nq+c_f*Nxn-(1+c_f) * Nj=0.The counter-movement of three layers of star planet row Characteristic equation as the counter-movement characteristic equation of individual layer star planet row, move by one layer of planetary gear, the anti-too luck of three layers of planetary gear Equation, the anti-circle star equation of motion are as the anti-too star equation of motion, the anti-circle star equation of motion of individual layer star planet row, two layers of planet Wheel and sun gear, planet carrier, the gym suit of ring gear are from its anti-too star equation of motion Nt-b_f*Nxe-(1-b_f) * Nj=0 and anti-circle Star equation of motion Nq+c_f*Nxe-(1+c_f) * Nj=0.Using three kinds of anti-characterisitic parameters and each counter-movement equation, with utilizing three kinds of spies Property parameter and each Research on movement equation planet row motion have in itself as effect.These theoretical tools are inherently It is the different expression-forms of the relation of three kinds of parts of planet row.Each equation of motion of planet row and each counter-movement equation are mathematically Can mutually it derive.

Three kinds of parts of planet row can be connected with the part of other planet rows, and here it is connected between planet row.Ordinary circumstance Under exist between adjacent two planet rows and connect between one or two planet row, the connecting object connected between planet row is mainly These three parts of sun gear, planet carrier, ring gear.Object in the connection and connection under same connection function has identical Rotating speed, an object is connected with an any portion being connected, its rotating speed effect is identical.Existing planet row knot The object connected in structure transmission mechanism between planet row is seldom planetary gear.The present invention proposes, in being connected between planet row, a row The a certain layer planetary gear of planet row aligns with a certain layer planetary gear axle center of other planet rows to be connected, and such connection necessarily makes Each certain layer of planetary gear for participating in connection possesses identical rotating speed, and each planet carrier for participating in connection possesses another identical rotating speed. Attachment structure between such planet row, we are referred to as the star attachment structure of planet row.For example, No.1 planet row individual layer planetary gear It is connected with No. two planet row outer layer planetary gear stars and is indicated as Nx1d=Nx2w and Nj1=Nj2, No.1 planet row internal layer planet Wheel is connected with No. two floor planetary gear star of planet row two and is indicated as Nx1n=Nx2e and Nj1=Nj2, and other stars connect can class according to this Push away.Star attachment structure needs the planetary gear set number for participating in each planet row of connection identical, so participates in certain each layer row of star connection Star-wheel can connect correspondingly.Each certain layer of planetary gear axle center that star attachment structure needs to participate in each planet row of connection is to too The distance in sun wheel axle center is equal, each certain layer of planetary gear axle center that participation star connects is alignd, and so participates in each of star connection Certain layer of planetary gear mutually could wait rotating speed to connect.Star attachment structure does not require that each layer planetary gear of planet row necessarily has identical Radius, tooth form, the number of teeth.The radius of each planetary gear of planet row, tooth form, the number of teeth will not be identical under normal circumstances, identical simply few In the case of special case.The gearing of the star attachment structure of planet row, the most star characteristics for containing each planet row of gearratio formula Parameter.Connection needs to connect machinery, including is directly connected to machinery and is indirectly connected with machinery, is directly connected to the connection and connection of machinery In object possess common axis of rotation, torque and rotating speed, be indirectly connected with machinery connection and connection in object can possess Different rotary shaft, torque and rotating speeds.Decelerator needs and input and output are mechanical is connected, here it is I/O lockdown connection, Locking connection also can be considered the input connection that rotating speed is zero.Connection is connected general designation connection with I/O lockdown between planet row, even Connect and also determine the performance characteristics of decelerator with the object in being connected, connection be connected in object composition drive path.This hair The connection of bright multiple rows of star denominator subtractive decelerator has following characteristics：Only one locking connection, only one input connection, Only one output connection, the input, output, locking connecting object can also replace with same connection rotating speed identical its His object；Star connection is connected as between planet row.

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 the condition of contact solution planet row equation of motion and the planet row star equation of motion with each planet row characterisitic parameter It is referred to as gearratio formula with star characterisitic parameter for the formula of function representation decelerator gearratio.After gearratio formula turns to integral expression, There is band positive sign item simultaneously and with negative sign item in its denominator, and each planet row characterisitic parameter includes star characteristic ginseng in gearratio formula Numerical Range is suitable, denominator absolute value minimization can be provided and the numerical solution of molecule absolute value not minimization, we claim the transmission There is denominator subtractive than formula.The structure of decelerator of the present invention is that gearratio formula has in multiple rows of planet row star attachment structure Denominator subtractive person, it is connected by selecting star to connect with I/O lockdown, planet row species order, can selects to be driven road Footpath, by analyzing its gearratio formula, can find its gearratio formula has denominator subtractive person, using its drive path as The structure of decelerator of the present invention.By selecting planet row to construct, adjusting the number of teeth of each part of decelerator, each planet row can be adjusted The value of each characterisitic parameter, the denominator absolute value minimization for the gearratio formula that can make there is denominator subtractive and molecule is absolute Value not minimization, so that gearratio absolute value maximizes, make decelerator gear ratio value big equal or close to design Gear ratio value, realize and efficiently slow down.

Decelerator of the present invention has a variety of drive paths, is respectively combined with a variety of multiple rows of planet row species sequential combination forms, Form a variety of each gearratio formula tables.For example, following three rows of planetary row's drive path and its each gearratio formula table：

Drive path one：No.1 planet row floor planetary gear and No. two planet row floor planetary gear and No. three planet rows Layer planetary gear star connection (Nx1=Nx2=Nx3 and Nj1=Nj2=Nj3), locking connecting object is No.1 planet row sun gear (t1) it is No. two planet row sun gears (t2), to input connecting object, and output connecting object is No. three planet row sun gears (t3).Ginseng See Fig. 1.

When participate in connection planet row species order for 64 kind of three rows of planetary seeding class sequential combination form for the moment, According to the condition of contact that connection, each I/O lockdown connect between one given planet row of drive path, with reference to various three rows The combining form of planet row species order, the equation of motion of each planet row, the star equation of motion can be listed and solve each transmission Each gearratio formula in path.Each gearratio formula of drive path one is shown in Table one：

Table one：Multiple rows of one each gearratio formula table of star denominator subtractive decelerator drive path

Planet row in the multiple rows of star denominator subtractive decelerator of the present invention, can also according to drive path, with reference to gearratio Formula carrys out some parts of economization planet row, using planet row the star equation of motion and the characterisitic parameter containing star gearratio formula very Easily finding out can be with the object of economization, usually sun gear or ring gear.Be not I/O lockdown connecting object, it is not right Some part economizations beyond gearratio formula works, drive path fall, the economization decelerator of part planet row part Structure is referred to as the economization form of decelerator of the present invention.Such as in above-mentioned drive path one three planet rows ring gear, this three Individual part is not the object of I/O lockdown connection, and not in drive path, its presence or absence does not have shadow to gearratio formula Ring, can economization.The economization form of decelerator of the present invention, structure can be simplified, improve transmission efficiency, space bit can also be saved Put, increase the combining form of planet row species order.The economization form of decelerator of the present invention should also belong to the protection model of the present invention Enclose.

The drive path of the present invention, respective drive path include the object in connection and connection under each connection function, place Object in the same connection and connection for being directly connected under effect has identical rotating speed, and an object is connected with one Rotating speed identical any portion is connected, and its rotating speed effect is identical.On the premise of the object in keeping connecting is constant, institute A variety of trends can be had by stating same connection, and each object in same connection can have different arrangements, can be between multiple connections There is different order, different trends and the arrangement of each connection in these drive paths still have identical rotating speed, have no effect on The gearratio of each drive path, each gearratio formula table is not influenceed.The trend of different each connections is with arranging formed transmission Path is referred to as the isomeric form of each drive path.The planet carrier of each planet row can also have shaft type planet carrier or bearing in decelerator The difference of formula planet carrier, also different isomeric forms, is also easy to the isomeric form for causing relevant connection.These isomeric forms In, the difference respectively connected moves towards that the properties such as the process efficiency of decelerator, transmission efficiency, gap, return difference can be changed, can basis It is actually needed selection and uses drive path of the present invention and its various isomeric forms.

Each drive path, in the case where locking connection is constant, input connection is changed to output connection, output connection is changed to Input connection, exactly former drive path are changed to inverse drive path, and the gearratio formula of inverse drive path is driven for former drive path Than the formula reciprocal of formula.The gearratio of each inverse drive path is the inverse of each former drive path gearratio.Planet row decelerator, In the case that connection, planet row construction are constant between planet seeding class order, planet row, keep locking connection constant, keep each The connecting object of connection is constant, is connected using its input connection as output, is connected using its output connection as input, what is obtained subtracts Fast device is known as the inverse decelerator of protoplanet row's decelerator.Drive path and former decelerator drive path are inverse each other in inverse decelerator Drive path, the gearratio of the gearratio and former decelerator of inverse decelerator are reciprocal each other.The multiple rows of star denominator subtractive of the present invention subtracts The inverse decelerator of fast device also has above-mentioned property.

Minimum, very big, minimization of the present invention, maximization refer to gearratio formula denominator, gearratio formula molecule, passed It is dynamic than formula or associated actuator than the minimum, very big of absolute value, minimization, maximization.Gearratio formula of the present invention point The minimization of female absolute value refers to the absolute value of its denominator at least below 0.32.Needing the driving torque direction of concern decelerator When it is necessary to paying 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, the drive path that optimum choice connects containing star, analysis choosing Select gearratio formula, find out the gearratio formula with denominator subtractive, its corresponding drive path or its isomeric form or its Structure of the economization form as decelerator of the present invention.2, gearratio formula is equal to the gear ratio value of design, solve equation, seek Look for make gearratio formula denominator absolute value minimization and each planet row characterisitic parameter of molecule absolute value not minimization to include star special The numerical solution of property parameter.As a rule, numerical solution whether there is array solution, can use one of which.3, by selecting planet row structure Make, adjust the number of teeth of each part of decelerator includes the value of star characterisitic parameter to adjust each planet row characterisitic parameter, makes it equal to Or close to numerical solution, so that the actual transmission ratio of decelerator is equal or close to the big gear ratio value of design.Slow down Device is reversely using as accelerator.

Existing planet row decelerator does not have multiple rows of planet row star connection of the similar present invention between planet row in terms of connection Pattern.To obtain compared with big speed ratio, existing planet row decelerator is conceived to selection and uses gearratio formula in planet row structure Molecule absolute value the greater, the absolute value of gearratio formula denominator is not less than 0.32.Nobody proposes star between planet row Attachment structure, which is corresponding with some gearratio formulas, has denominator subtractive.Nobody proposes to utilize the transmission with denominator subtractive Than formula and the method for corresponding drive path, nobody is proposed by selecting planet row to construct, adjustment each part number of teeth of decelerator Including star characterisitic parameter adjusting each planet row characterisitic parameter makes gearratio formula denominator absolute value minimization and molecule absolute value Minimization is not so that the method for gearratio absolute value maximization.The key problem in technology of the multiple rows of star denominator subtractive decelerator of the present invention It is to select the drive path of the connection containing star with denominator subtractive characteristic gearratio formula as reducer structure of the present invention And the method using gearratio formula denominator subtractive.

Multiple rows of star denominator subtractive decelerator of the present invention, it is beneficial in that：Enrich planet row decelerator It is theoretical.Propose and set about finding planet row in terms of star connection, I/O lockdown connection between planet row species order, planet row The method of reducer structure, it is proposed that the drive path and its its isomery shape of the connection containing star of multiple rows of star denominator subtractive decelerator Formula and its province subtract form and their inverse drive path.Proposing can profit by optimizing the drive path searching connected containing star There is the method for the gearratio formula of denominator subtractive.Propose by selecting planet row to construct, each portion of adjustment decelerator The part number of teeth includes the value of star characterisitic parameter to adjust planet row characterisitic parameter, it is possible to utilizes with denominator subtractive characteristic Gearratio formula, the method for forming the planet row decelerator equal or close to design gear ratio value.

Brief description of the drawings

Fig. 1 is that the drive path one of the multiple rows of star denominator subtractive decelerator of the present invention illustrates intention, and the present invention is implemented The schematic diagram of example 1.Wherein, No.1 planet row 1, No. two planet rows 2, No. three planet rows 3.Three planet row equal economizations internal tooth in figure Circle.

In above figure, locking connection is illustrated into ground connection legend by industrial practice.Planet row species is with individual layer star planet in figure Row's signal, planet row species can the rest may be inferred for other.Planet row is represented by industrial practice with half range planet row gear in figure, planet Arrange each part and only illustrate connection and structural relation, do not reflect actual size.The omissions such as each bearing are not drawn into.

Embodiment

Embodiment 1：Embodiments of the invention 1 --- only single three row's star denominator subtractive decelerator drive paths one. No.1 planet row is designated as 1, and No. two planet rows are designated as 2, and No. three planet rows are denoted as 3, respectively connect referring to Fig. 1.The transmission of decelerator It is than formula：(b2-b1) b3/ (b3-b1)/b2, when the gear ratio value of design is 1000, (b2-b1) b3/ (b3- are made B1)/b2=1000, is solved equation, and can be had unlimited group solution, arbitrarily be taken one of which (b1=1.019607843, b2= 1.65646471 b3=1.02) it is used as numerical solution.Actual each planet row characteristic parameter value takes b1=104/102, b2=166/ 100, b3=102/100, close to numerical solution.That is the No.1 planet row sun gear number of teeth 104, the planetary gear number of teeth 102；No. two planets Arrange the sun gear number of teeth 166, the planetary gear number of teeth 100；No. three the planet row sun gear numbers of teeth 102, the planetary gear numbers of teeth 100.At this moment it is driven Value than formula denominator is approximately equal to 0.00065, and actual transmission ratio is about 1003.4, the phase of gear ratio value 1000 with design Than deviation about 0.34%, performance indications of the actual each planet row characteristic parameter value of the group as decelerator can be received.From this The drive path of embodiment 1 can be seen that with gearratio formula does not have c1, c2, c3 in gearratio formula, three planet rows it is interior Gear ring can economization, formed economization form.

In the actual value of each planet row characterisitic parameter of regulation, simple mathematical formulae can be used, row can also be used The methods of table method, convergence Gui Yuanfa, trial-and-error method.

In the decelerator of the present embodiment 1, the characterisitic parameter value of planet row 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 is close to set Gear ratio value needed for meter.So 1 such decelerator of the present embodiment there can be many group specific implementation values, it can be taken In one group, the present embodiment 1 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 Have and arranged no less than three rows of planetary, employ that its gearratio formula of the present invention has the drive path of denominator subtractive or its is different Configuration formula or its economization form are combined as reducer structure with planet row species order, by adjusting each planet row characterisitic parameter The absolute value for causing its gearratio formula denominator including star characterisitic parameter is less than 0.32, no matter this decelerator is independent deceleration Device, or as the part in gearing, protection scope of the present invention all should be fallen into.

Claims (3)

1. multiple rows of star denominator subtractive decelerator, comprising being arranged no less than three rows of planetary, the planet row can be individual layer star planet Row, double-deck star planet row or three layers of star planet row, star connection are connected as between its planet row, i.e.,：Multiple rows of planet row respectively has certain layer of row The distance in star-wheel axle center to sun gear axle center is equal to each other, and planetary gear set number is equal, and multiple rows of planet row is respectively with this layer of planetary gear phase To connection, each planetary gear for participating in connection possesses identical rotating speed, and each planet carrier for participating in connection possesses another identical rotating speed, It is characterized in that the structure of the decelerator is that gearratio formula has denominator subtractive characteristic in multiple rows of planet row star attachment structure Person, the present invention propose the drive path that multiple rows of planet row connects containing star and its isomeric form and its economization form and they Inverse drive path, can by selecting drive path or its isomeric form or its economization form and their inverse drive path, Selection wherein gearratio formula has structure of the denominator subtractive person as decelerator of the present invention, and the gearratio formula, which has, divides Female subtractive is：After gearratio formula turns to integral expression, its denominator have simultaneously band positive sign item with negative sign item, and gearratio formula In each characterisitic parameter of each planet row codomain it is suitable, can provide make its denominator absolute value minimization and molecule absolute value not The numerical solution of minimization.

2. multiple rows of star denominator subtractive decelerator as claimed in claim 1, is further characterized in that the decelerator has used utilization The method of gearratio formula denominator subtractive, i.e.,：Gearratio formula is equal to the gear ratio value of design, solve equation, find Make gearratio formula denominator absolute value minimization and each planet row characterisitic parameter of molecule absolute value not minimization includes star characteristic The numerical solution of parameter, by selecting planet row to construct, the number of teeth of adjustment each part of decelerator adjust each planet row characterisitic parameter Include the value of star characterisitic parameter, the actual transmission ratio of decelerator is 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. multiple rows of star denominator subtractive decelerator as described in claim 1,2, independent decelerator, accelerator or work can be used as For the part in gearing.