CN108087517B - Subdivision differential speed reducer - Google Patents
Subdivision differential speed reducer Download PDFInfo
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- CN108087517B CN108087517B CN201810079034.2A CN201810079034A CN108087517B CN 108087517 B CN108087517 B CN 108087517B CN 201810079034 A CN201810079034 A CN 201810079034A CN 108087517 B CN108087517 B CN 108087517B
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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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
- F16H37/0806—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts
- F16H37/0813—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts with only one input shaft
- F16H37/082—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts with only one input shaft and additional planetary reduction gears
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Abstract
A subdivision differential speed reducer comprises a machine shell and a differential speed reducer arranged in the machine shell, wherein the differential speed reducer comprises a first-stage differential speed reducer and a second-stage differential speed reducer, the first-stage differential speed reducer is in transmission connection with the second-stage differential speed reducer through a carrier, the carrier is in transmission connection with a motor through an outer shaft, and driving wheels of the first-stage differential speed reducer and the second-stage differential speed reducer are both connected with a main shaft. The subdivision differential speed reducer has high precision, large torsional rigidity, small elastic return difference, small return clearance, large transmission ratio range, high transmission efficiency and small volume when transmitting the same torque and power under the rated torque, and can simultaneously meet the requirements of precision and output torque: the first differential speed reducer and the second differential speed reducer are respectively driven in a differential mode once, and the subdivision differential is achieved through continuous circulation, so that the higher output precision is achieved on the premise that the same torque is kept.
Description
Technical Field
The invention belongs to the technical field of mechanical engineering, and relates to a speed reducer, in particular to a subdivision differential speed reducer.
Background
With the development of society and science and technology, the human cost rises day by day, and the demand of robot is bigger and bigger, and the reduction gear is the core part of robot, and its movement gap has very big influence to the overall performance of robot, and the reduction gear that present robot used has following problem:
1. high-end robots (such as industrial robots) widely use RV reducers and harmonic reducers, and such reducers are complex in technology, have strict requirements on processing technologies such as materials, machining, heat treatment and the like, are high in price and are difficult to popularize for civilian use;
2. the planetary reducer used by the robot at the lower end (such as a toy robot) has poor precision and large clearance return difference, and cannot meet the requirements of the civil robot.
The principle of the method is shown in the attached drawings 16-18, the upper layer and the lower layer are perforated circular discs, solid line holes are fixed discs 22, dotted line holes are movable discs 21, the number of the holes can be changed according to the requirement of design precision, the number difference is constant, for example, the fixed discs and the movable discs are respectively 24 holes and 25 holes, a pin plug moves 0.6 degrees every time the pin plug is inserted into the movable wheel, and the movable wheel moves one hole after being inserted into one circle (24 times) (B =14.4 degrees); the pin plug speed reducer adopts the movement of pulling the pin plug to achieve speed reduction, so that the efficiency is low, and the high-speed occasion cannot be met.
The utility model patent with application number CN2017208877684, a differential reducer, which adopts differential motion instead of plugging and unplugging motion, better solves the problems of "poor precision and large clearance return difference" existing in the prior art, and the principle is as shown in fig. 19-20: fig. 19 is a front view and fig. 20 is a perspective view (solid line gear is a fixed wheel, broken line gear is a driving wheel, and a middle pinion is a differential wheel).
As can be seen from fig. 19, the working motor drives the sun gear 39 to rotate through the input shaft, the sun gear 39 drives the planetary gears 37 to rotate, the planetary gears revolve around the teeth of the ring gear of the fixed gear 36 while rotating, and the differential gear 35 drives the differential gear 35 to revolve around the teeth of the ring gear of the fixed gear 32 while rotating through the differential gear carrier 34, the differential gear 35 drives the driving gear 32 to rotate, and the driving gear 32 and the output shaft 31 are fixedly connected, so that the output shaft 31 rotates.
However, further research shows that although the differential speed reducer can be used at a high speed relative to the pin plug speed reducer, the differential speed reducer cannot be used at a high power (cannot output a large torque), and the differential speed reducer cannot simultaneously take precision and output torque into consideration, that is, the higher the precision requirement is, the smaller the torque that can be output is, that is, the higher the design precision of the differential speed reducer is, the smaller the tooth profile (or modulus) is, the smaller the torque that can be output is, so that the application range thereof is greatly limited.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a novel subdivided differential speed reducer is provided to overcome the above-mentioned deficiencies of the prior art.
The technical scheme for solving the technical problems is as follows:
a subdivision differential speed reducer comprises a shell, a motor and a differential speed reducer arranged in the shell; the differential speed reducing device comprises a first-stage differential speed reducing device and a second-stage differential speed reducing device, the first-stage differential speed reducing device is arranged on the upper layer of the casing, the second-stage differential speed reducing device is arranged on the lower layer of the casing, and the first-stage differential speed reducing device is in transmission connection with the second-stage differential speed reducing device through a bracket wheel;
the first-stage differential speed reducer comprises an upper fixed wheel, an upper moving wheel and at least 2 upper differential wheels, wherein the upper fixed wheel and the upper moving wheel are toothed rings with the same reference circle diameter and teeth facing to the axis, the teeth of the upper fixed wheel are the same as or similar to the teeth of the upper moving wheel, but the teeth of the upper fixed wheel are different, the upper fixed wheel and the upper moving wheel are adjacently and coaxially arranged, the upper moving wheel is positioned at the upper part of the upper fixed wheel, the periphery of the upper fixed wheel is fixedly connected with a machine shell through a screw, the upper moving wheel is arranged on a main shaft through a moving wheel frame, a bracket wheel is arranged on the main shaft at the lower part of the upper fixed wheel through a bearing, the upper differential wheel is arranged on an upper bracket shaft at the upper part of the bracket wheel through a bearing, and at least one tooth of the upper differential wheel is meshed with the teeth of the toothed rings of the upper fixed wheel and the upper moving wheel in an initial state;
the bracket wheel is in transmission connection with an upper outer shaft gear arranged on one side of the machine shell, the upper outer shaft gear is connected with an outer shaft on one side of the machine shell, the lower end of the outer shaft is connected with a lower outer shaft gear, and the lower outer shaft gear is in transmission connection with a motor gear of a motor positioned on the lower part of the machine shell; when the motor is started, the outer shaft is driven to rotate by the lower outer shaft gear, the outer shaft drives the bracket wheel to rotate by the upper outer shaft gear, and the upper differential wheel on the upper part of the bracket wheel simultaneously rotates around the upper bracket shaft and revolves around the spindle, so that the spindle is driven to rotate by the upper driving wheel;
the two-stage differential speed reducer is arranged at the lower part of the bracket wheel and comprises a lower fixed wheel, a lower driving wheel and at least 2 lower differential wheels, wherein the lower fixed wheel and the lower driving wheel are toothed rings with the same reference circle diameter and the gear teeth facing to the axis;
when the motor is started, the outer shaft is driven to rotate by the lower outer shaft gear, the outer shaft drives the bracket wheel to rotate by the upper outer shaft gear, and the lower differential wheel at the lower part of the bracket wheel simultaneously rotates around the lower bracket shaft and revolves around the spindle, so that the spindle is driven to rotate by the lower driving wheel;
the tooth number of the lower fixed wheel is the same as that of the upper fixed wheel, the tooth number of the lower driving wheel is the same as that of the upper driving wheel, the tooth number of the lower driving wheel is larger than that of the lower fixed wheel, the tooth number of the upper driving wheel is larger than that of the upper fixed wheel, the difference between the tooth pitch radian B2 of the upper fixed wheel or the lower fixed wheel and the tooth pitch radian B1 of the upper driving wheel or the lower driving wheel is a constant B smaller than 1, and B is equal to B2-B1 and smaller than 1;
the pitch radian B2 of the upper fixed wheel or the lower fixed wheel is an included angle formed by two adjacent gear teeth of the upper fixed wheel or the lower fixed wheel and the center of the gear ring, and the pitch radian B1 of the upper driving wheel or the lower driving wheel is an included angle formed by two adjacent gear teeth of the upper driving wheel or the lower driving wheel and the center of the gear ring, and the unit is degree;
the upper fixed wheel and the lower fixed wheel are arranged in different phases, the phase difference is 1/2B, and the upper differential wheel and the lower differential wheel are uniformly distributed.
The further technical scheme is as follows: the lower bracket shafts at the lower part of the bracket wheels and the upper bracket shafts at the upper part of the bracket wheels are arranged in a staggered way, and when the number of the upper and lower differential wheels is 2, the arrangement directions of the upper and lower bracket shafts are vertical to each other.
The teeth of the upper fixed wheel, the upper driving wheel, the lower fixed wheel and the lower driving wheel are the same or similar in shape, and the shape of the teeth is arc, polygonal, involute, cycloid or hyperbolic.
Due to the adoption of the technical scheme, compared with the prior art, the subdivision differential speed reducer has the following beneficial effects:
1. the precision is high, the torsional rigidity is large, under the rated torque, the clearance return difference is small, the driving is sectional driving, and the return clearance (return difference) is small;
2. the transmission ratio range is large, and a larger reduction ratio can be realized by adjusting the differential spacing or reducing the number of teeth of the sun gear;
3. the transmission efficiency is high, and the volume is small when the same torque and power are transmitted;
4. meanwhile, the device has the characteristic of large output torque, and can simultaneously consider the requirements of precision and output torque: the first-stage differential speed reducer and the second-stage differential speed reducer are respectively driven in a differential mode once, and are continuously circulated to achieve subdivision differential, so that higher output precision is achieved on the premise of keeping the same torque;
if the differential speed reducer is a double-subdivision differential speed reducer, the fixed wheel is 24 teeth (15 degrees for B2), the moving wheel is 25 teeth (14.4 degrees for B1), the differential coefficient is 0.6 degrees (B is equal to B2-B1 =0.6 degrees), namely, the rotation is 0.6 degrees once in difference, the fixed wheel is in the middle, the upper part and the lower part are moving wheels, the tooth forms are the same, the upper fixed wheel and the lower fixed wheel are fixed on the outer wall, the upper moving wheel and the lower moving wheel are both fixed on the main shaft and can do work, but the initial phases are different (the difference is 1/2B and is half of the offset differential coefficient, 0.3 degrees in the example), when the upper part or the lower part is not differentiated, the transmission gear is in a clearance moving state, and when the difference of the upper part is up to 0.3 degrees, the lower part begins to differentiate; when the lower part begins to be differentiated to 0.6 degrees, the upper part begins to be differentiated again, and the subdivision is carried out alternately, so that the purpose of subdivision is achieved, and the output with the precision of 0.3 degree is achieved, namely the return stroke difference is limited to 0.3 degree.
The technical features of a subdivided differential speed reducer according to the present invention will be further described with reference to the accompanying drawings and embodiments.
Drawings
Fig. 1 to 2 are schematic structural views of a subdivided differential speed reducer according to the present invention:
FIG. 1 is a front view, and FIG. 2 is a cross-sectional view A-A of FIG. 1;
fig. 3-8 are schematic diagrams of the transmission mechanism of a subdivided differential speed reducer according to the present invention:
FIG. 3 is a bottom view of FIG. 4, FIG. 4 is a front view, FIG. 5 is a top view of FIG. 4, FIG. 6 is an upward perspective view, FIG. 7 is a cross-sectional view, and FIG. 8 is a downward perspective view;
fig. 9 to 10 are schematic views of the connection structure of the carrier wheel and the upper and lower differential wheels:
FIG. 9 is a front view, and FIG. 10 is a top view;
fig. 11 to 15 are schematic views of the connection structure of the carrier wheel, the upper differential wheel, the lower differential wheel and the upper and the lower shaft gears:
fig. 11 is a sectional view, fig. 12 is a bottom view of fig. 13, fig. 13 is a front view, fig. 14 is a top view of fig. 13, and fig. 15 is a perspective view;
fig. 16 to 18 are schematic structural views of the pin plug speed reducer:
FIG. 16 is a front view, FIG. 17 is a left side view of FIG. 16, and FIG. 18 is a view showing a pitch arc of the surface plate;
fig. 19 to 20 are schematic structural views of a differential speed reducer:
fig. 19 is a front view, and fig. 20 is a perspective view.
In FIGS. 1 to 15
1-motor, 2-lower outer shaft gear, 3-motor gear, 4-outer shaft, 5-upper outer shaft gear, 6-carriage wheel, 7-upper carriage shaft, 8-upper fixed wheel, 9-bearing, 10-upper differential wheel, 11-upper driving wheel, 12-main shaft, 13-casing, 14-screw, 15-lower differential wheel, 16-lower fixed wheel, 17-lower driving wheel, 18-lower carriage shaft;
FIGS. 16 to 18;
21-movable disc, 22-fixed disc, 23-pin plug, 24-rotating shaft, 25-bearing;
in fig. 19 to 20:
30-motor input shaft hole, 31-output shaft, 32-driving wheel, 33-differential wheel shaft, 34-differential wheel carrier, 35-differential wheel, 36-fixed wheel, 37-planetary wheel, 38-planetary wheel shaft and 39-sun wheel.
Detailed Description
Example one
A subdivision differential speed reducer comprises a shell 13, a motor 1 and a differential speed reducer arranged in the shell; the differential speed reducing device comprises a first-stage differential speed reducing device and a second-stage differential speed reducing device, the first-stage differential speed reducing device is arranged on the upper layer of the casing, the second-stage differential speed reducing device is arranged on the lower layer of the casing, and the first-stage differential speed reducing device is in transmission connection with the second-stage differential speed reducing device through a bracket wheel 6;
the first-stage differential speed reduction device comprises an upper fixed wheel 8, an upper moving wheel 11 and at least 2 upper differential wheels 10, wherein the upper fixed wheel 8 and the upper moving wheel 11 are toothed rings with the same reference circle diameter and the gear teeth facing to the axis, the gear teeth of the upper fixed wheel and the gear teeth of the upper moving wheel are the same in tooth shape or similar in tooth shape and different in tooth number, the upper fixed wheel 8 and the upper moving wheel 11 are adjacently and coaxially installed, the upper moving wheel is positioned at the upper part of the upper fixed wheel, the periphery of the upper fixed wheel is fixedly connected with a machine shell 13 through screws, the upper moving wheel is installed on a main shaft 12 through a moving wheel frame, a bracket wheel 6 is installed on the main shaft at the lower part of the upper fixed wheel 8 through a bearing, the upper differential wheels are symmetrically installed on an upper bracket shaft 7 at the upper part of the bracket wheel 6 through a bearing 9, and at least one gear tooth of the upper differential wheel 10 is meshed with the gear teeth of the toothed rings of the upper fixed wheel 8 and the upper moving wheel 11 at the same time in an initial state;
the bracket wheel 6 is in transmission connection with an upper outer shaft gear 5 arranged on one side of the machine shell, the upper outer shaft gear 5 is connected with an outer shaft 4 on one side of the machine shell, the lower end of the outer shaft 4 is connected with a lower outer shaft gear 2, and the lower outer shaft gear 2 is in transmission connection with a motor gear 3 of a motor 1 positioned on the lower portion of the machine shell; when the motor is started, the outer shaft 4 is driven to rotate through the lower outer shaft gear 2, the outer shaft 4 drives the bracket wheel 6 to rotate through the upper outer shaft gear 5, and the upper differential wheel on the upper part of the bracket wheel 6 simultaneously rotates around the upper bracket shaft 7 and revolves around the spindle, so that the spindle 12 is driven to rotate through the upper driving wheel 11;
the two-stage differential speed reducer is arranged at the lower part of the bracket wheel 6 and comprises a lower fixed wheel 16, a lower driving wheel 17 and at least 2 lower differential wheels 15, the lower fixed wheel and the lower driving wheel are toothed rings with the same reference circle diameter and the gear teeth facing to the axis, the gear teeth of the lower fixed wheel and the gear teeth of the lower driving wheel are the same in tooth form or similar in tooth form and different in tooth number, the lower fixed wheel and the lower driving wheel are adjacently and coaxially arranged, the lower driving wheel is positioned at the lower part of the lower fixed wheel, the periphery of the lower fixed wheel is fixedly connected with the shell 13 through screws, the lower driving wheel is arranged on the main shaft 12 through a movable wheel frame, the lower differential wheels are uniformly arranged on a lower bracket shaft 18 at the lower part of the bracket wheel 6 through bearings, and at least one gear tooth of each lower differential wheel 15 is meshed with the gear teeth of the toothed rings of the lower fixed wheel and the lower driving wheel at the same time in an initial state;
when the motor is started, the outer shaft 4 is driven to rotate through the lower outer shaft gear 2, the outer shaft 4 drives the bracket wheel 6 to rotate through the upper outer shaft gear 5, and the lower differential wheel at the lower part of the bracket wheel 6 simultaneously rotates around the lower bracket shaft 18 and revolves around the main shaft, so that the main shaft is driven to rotate through the lower driving wheel 17;
the tooth number of the lower fixed wheel 16 is the same as that of the upper fixed wheel 8, the tooth number of the lower driving wheel 17 is the same as that of the upper driving wheel 11, the tooth number of the upper driving wheel 11 is larger than that of the upper fixed wheel 8, the tooth number of the lower driving wheel 17 is larger than that of the lower fixed wheel 16, namely, the difference between the tooth pitch radian B2 of the upper fixed wheel or the lower fixed wheel and the tooth pitch radian B1 of the upper driving wheel or the lower driving wheel is a constant B smaller than 1, namely B is equal to B2-B1 and is smaller than 1;
the pitch radian B2 of the upper fixed wheel or the lower fixed wheel is an included angle formed by two adjacent gear teeth of the upper fixed wheel or the lower fixed wheel and the center of the gear ring, and the pitch radian B1 of the upper driving wheel or the lower driving wheel is an included angle formed by two adjacent gear teeth of the upper driving wheel or the lower driving wheel and the center of the gear ring, and the unit is degree;
in the embodiment, the value of the constant B is 0.6, the number of teeth of the upper driving wheel and the lower driving wheel is 25, the pitch radian B1 is 1.44, the number of teeth of the upper fixed wheel and the lower fixed wheel is 24, the pitch radian B2 is 1.5, and the difference B =1.5-1.44=0.6 between the pitch radian B2 of the upper fixed wheel and the pitch radian B1 of the upper driving wheel; the phase of the upper differential wheel and the lower differential wheel is staggered 1/2B, namely 0.3 degrees; the upper fixed wheel 8 and the lower fixed wheel 16 are installed in different phases, the phase difference is 1/2B, and the upper differential wheel 10 and the lower differential wheel 15 are uniformly distributed.
The lower 2 lower carrier shafts of the carrier wheels 6 are arranged alternately with the upper 2 upper carrier shafts 7 in such a way that the upper and lower carrier shafts are arranged in a direction perpendicular to each other (if the upper carrier shafts are arranged transversely, the lower carrier shafts are arranged longitudinally, and thus the upper and lower differential wheels are arranged perpendicularly to each other).
The teeth of the upper fixed wheel, the upper driving wheel, the lower fixed wheel and the lower driving wheel are the same or similar in shape, and the shape of the teeth is arc, polygonal, involute, cycloid or hyperbolic.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
As a variation of the above embodiment:
1. the constant B influences the precision of each differential differentiation, the greater the precision, the smoother the constant B, the value of the constant B can be determined according to the actual requirement, generally the value of the constant B is 0.6, 0.5, 0.4, 0.3, 0.25, 0.2 or 0.15, and the like, and the smaller the numerical value and the smaller the differential distance, the higher the resolution (precision) of the differential distance; the figure shows 2 times of subdivision, if necessary, 3 times, 4 times, 5 times, 6 times of subdivision can be realized, the larger the subdivision times, the higher the precision is, but the larger the volume is;
2. the upper and lower differential wheels of this embodiment are provided with two each, and the number of differential wheels is influenced by the constant B, and the output can be made more stable by providing a plurality of differential wheels under the allowable condition.
Principle of operation
A motor gear 3 on a motor 1 drives a lower outer shaft gear 2, then drives an outer shaft 4 and an upper outer shaft gear 5 to transmit power to a bracket wheel 6 to drive an upper bracket shaft 7 and a lower bracket shaft 7 fixed on the bracket wheel to rotate, a bearing 9 is arranged at the upper end of the bracket shaft 7, an upper differential wheel and a lower differential wheel are arranged on the bearing 9, an upper fixed wheel 8 is used for differentially driving an upper driving wheel 11 when the upper differential wheel 10 rotates, the upper driving wheel 11 is connected to a main shaft 12, the main shaft 12 is rotated when the upper driving wheel rotates, and the upper fixed wheel 8 and a shell 13 are fixed through a screw 14. The lower differential wheel 15 and the upper differential wheel 10 are staggered by a certain angle (90 degrees), and power is still transmitted to the main shaft 12 through the lower differential fixed wheel 16 and the lower driving wheel 17;
the differential precision of a single-stage differential reducer is 0.2 degrees, and the upper part and the lower part are mutually inserted in a staggered way, so that the total output is 0.1 degree, namely the output shaft is 0.1 degree, and the higher output precision is realized on the premise of keeping the same torque.
If the differential speed reducer is a double-subdivision differential speed reducer, the upper fixed wheel and the lower fixed wheel are 24 teeth (15 degrees for B2), the upper driving wheel and the lower driving wheel are 25 teeth (14.4 degrees for B1), the differential coefficient is 0.6 degrees (B is equal to B2-B1 =0.6 degrees), namely, the upper fixed wheel and the lower fixed wheel rotate 0.6 degrees once in each difference, the upper fixed wheel and the lower fixed wheel are positioned between the upper driving wheel and the lower driving wheel, the upper fixed wheel and the lower fixed wheel are fixed on the outer wall, the tooth shapes of the upper fixed wheel and the lower fixed wheel are the same but the initial phases are different (the difference is B/2, the offset is half of the differential coefficient, and the tooth shape of the upper fixed wheel and the lower fixed wheel is 0.3 degrees in the example);
the upper driving wheel and the lower driving wheel are fixed on the main shaft and can do work, when the difference is not carried out on the upper part or the lower part, the transmission gear is in a clearance moving state, and when the difference is started to reach 0.3 degrees on the upper part, the difference is started on the lower part; when the lower part begins to be differentiated to 0.6 degrees, the upper part begins to be differentiated again, and the subdivision is alternately carried out, so that the purpose of subdivision is achieved, the output with the precision of 0.3 degree is achieved, and the return difference gap can be controlled within 0.3 degree.
(the principle of the engine is the same as that of a multi-cylinder engine, a plurality of cylinders are fixedly connected with a main crankshaft, but because the initial phase is different, some cylinders suck air, some cylinders exhaust air and some cylinders do work, the output of the engine is more uniform).
Claims (3)
1. A subdivision differential speed reducer comprises a shell (13), a motor (1) and a differential speed reducer arranged in the shell; the method is characterized in that: the differential speed reducing device comprises a first-stage differential speed reducing device and a second-stage differential speed reducing device, the first-stage differential speed reducing device is arranged on the upper layer of the shell, the second-stage differential speed reducing device is arranged on the lower layer of the shell, and the first-stage differential speed reducing device is in transmission connection with the second-stage differential speed reducing device through a bracket wheel (6);
the first-stage differential speed reduction device comprises an upper fixed wheel (8), an upper driving wheel (11) and at least 2 upper differential wheels (10), the upper fixed wheel (8) and the upper driving wheel (11) are gear rings with the same reference circle diameter and gear teeth facing to the axis, the gear teeth of the upper fixed wheel and the gear teeth of the upper driving wheel have the same or similar tooth shape and different tooth number, the upper fixed wheel (8) and the upper driving wheel (11) are adjacently and coaxially arranged, the upper driving wheel is positioned at the upper part of the upper fixed wheel, the periphery of the upper fixed wheel is fixedly connected with a machine shell (13) through a screw, the upper driving wheel is arranged on a main shaft (12) through a movable wheel frame, the bracket wheel (6) is arranged on a main shaft at the lower part of the upper fixed wheel (8) through a bearing, the upper differential wheel is arranged on an upper bracket shaft (7) at the upper part of the bracket wheel (6) through a bearing (9), and at least one gear tooth of the upper differential wheel (10) is meshed with the gear teeth of gear rings of an upper fixed wheel (8) and an upper driving wheel (11) simultaneously in an initial state;
the bracket wheel (6) is in transmission connection with an upper outer shaft gear (5) arranged on one side of the casing, the upper outer shaft gear is connected with an outer shaft (4) on one side of the casing, the lower end of the outer shaft is connected with a lower outer shaft gear (2), and the lower outer shaft gear is in transmission connection with a motor gear (3) of a motor (1) positioned on the lower portion of the casing; when the motor is started, the outer shaft (4) is driven to rotate through the lower outer shaft gear, the outer shaft drives the bracket wheel (6) to rotate through the upper outer shaft gear (5), the upper differential wheel on the upper portion of the bracket wheel (6) simultaneously rotates around the upper bracket shaft (7) and revolves around the spindle, and therefore the spindle (12) is driven to rotate through the upper driving wheel (11);
the two-stage differential speed reducer is arranged at the lower part of a bracket wheel (6) and comprises a lower fixed wheel (16), a lower driving wheel (17) and at least 2 lower differential wheels (15), wherein the lower fixed wheel and the lower driving wheel are gear rings with the same reference circle diameter and gear teeth facing to the axis, the gear teeth of the lower fixed wheel and the gear teeth of the lower driving wheel are the same in tooth shape or similar in tooth number and different in tooth number, the lower fixed wheel and the lower driving wheel are adjacently and coaxially arranged, the lower driving wheel is positioned at the lower part of the lower fixed wheel, the periphery of the lower fixed wheel is fixedly connected with a machine shell (13) through screws, the lower driving wheel is arranged on a main shaft (12) through a movable wheel frame, the lower differential wheels are arranged on a lower bracket shaft (18) at the lower part of the bracket wheel (6) through bearings, and at least one gear tooth of the lower differential wheels (15) is simultaneously meshed with the gear teeth of the gear rings of the lower fixed wheel and the lower driving wheel in an initial state;
when the motor is started, the outer shaft (4) is driven to rotate through the lower outer shaft gear (2), the outer shaft drives the bracket wheel (6) to rotate through the upper outer shaft gear (5), and the lower differential wheel at the lower part of the bracket wheel (6) simultaneously rotates around the lower bracket shaft (18) and revolves around the spindle, so that the spindle is driven to rotate through the lower driving wheel (17);
the lower fixed wheel (16) and the upper fixed wheel (8) are the same in tooth number, the lower driving wheel (17) and the upper driving wheel (11) are the same in tooth number, the tooth number of the upper driving wheel (11) and the tooth number of the lower driving wheel (17) are respectively larger than the tooth number of the upper fixed wheel (8) and the tooth number of the lower driving wheel (17), namely, the difference between the tooth pitch radian B2 of the upper fixed wheel or the lower fixed wheel and the tooth pitch radian B1 of the upper driving wheel or the lower driving wheel is a constant B smaller than 1, namely B is equal to B2-B1 and smaller than 1;
the pitch radian B2 of the upper fixed wheel or the lower fixed wheel is an included angle formed by two adjacent gear teeth of the upper fixed wheel or the lower fixed wheel and the center of the gear ring, and the pitch radian B1 of the upper driving wheel or the lower driving wheel is an included angle formed by two adjacent gear teeth of the upper driving wheel or the lower driving wheel and the center of the gear ring, and the unit is degree;
the upper fixed wheel (8) and the lower fixed wheel (16) are arranged in different phases, the phase difference is 1/2B, and the upper differential wheel (10) and the lower differential wheel (15) are uniformly distributed.
2. A subdivided differential reducer according to claim 1 in which: the lower bracket shafts at the lower part of the bracket wheels (6) and the upper bracket shafts (7) at the upper part are arranged in a staggered way, and when the number of the upper and lower differential wheels is 2, the arrangement directions of the upper and lower bracket shafts are vertical to each other.
3. A subdivided differential reducer according to claim 2 in which: the teeth of the upper fixed wheel, the upper driving wheel, the lower fixed wheel and the lower driving wheel are the same or similar in shape, and the shape of the teeth is arc, polygonal, involute, cycloid or hyperbolic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810079034.2A CN108087517B (en) | 2018-01-26 | 2018-01-26 | Subdivision differential speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810079034.2A CN108087517B (en) | 2018-01-26 | 2018-01-26 | Subdivision differential speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108087517A CN108087517A (en) | 2018-05-29 |
| CN108087517B true CN108087517B (en) | 2022-03-22 |
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| CN201810079034.2A Active CN108087517B (en) | 2018-01-26 | 2018-01-26 | Subdivision differential speed reducer |
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Citations (8)
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| US4864893A (en) * | 1986-07-28 | 1989-09-12 | Kabushiki Kaisha Toshiba | Planetary gear having its orbital gears out of phase |
| US4942781A (en) * | 1988-01-06 | 1990-07-24 | Kabushiki Kaisha Toshiba | Differential planet gear unit |
| CN1629513A (en) * | 2004-08-06 | 2005-06-22 | 李本平 | Planetary differential worm stepless speed regulation soft start moment limiting device |
| CN101191531A (en) * | 2006-11-28 | 2008-06-04 | 欧仁伟 | Planet decelerating method and device for differential gear |
| CN101328959A (en) * | 2007-06-20 | 2008-12-24 | 沈阳元通传动装置制造有限公司 | Stepless automatic transmission and differential gear transmission system using the same |
| CN104989803A (en) * | 2015-08-03 | 2015-10-21 | 许奉成 | Differential planetary reducer |
| CN107355524A (en) * | 2017-07-20 | 2017-11-17 | 柳州市罗伯特科技有限公司 | A kind of differential differential speed reducer |
| CN207762214U (en) * | 2018-01-26 | 2018-08-24 | 柳州市怀远数控技术开发有限公司 | A kind of subdivision differential differential speed reducer |
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- 2018-01-26 CN CN201810079034.2A patent/CN108087517B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4864893A (en) * | 1986-07-28 | 1989-09-12 | Kabushiki Kaisha Toshiba | Planetary gear having its orbital gears out of phase |
| US4942781A (en) * | 1988-01-06 | 1990-07-24 | Kabushiki Kaisha Toshiba | Differential planet gear unit |
| CN1629513A (en) * | 2004-08-06 | 2005-06-22 | 李本平 | Planetary differential worm stepless speed regulation soft start moment limiting device |
| CN101191531A (en) * | 2006-11-28 | 2008-06-04 | 欧仁伟 | Planet decelerating method and device for differential gear |
| CN101328959A (en) * | 2007-06-20 | 2008-12-24 | 沈阳元通传动装置制造有限公司 | Stepless automatic transmission and differential gear transmission system using the same |
| CN104989803A (en) * | 2015-08-03 | 2015-10-21 | 许奉成 | Differential planetary reducer |
| CN107355524A (en) * | 2017-07-20 | 2017-11-17 | 柳州市罗伯特科技有限公司 | A kind of differential differential speed reducer |
| CN207762214U (en) * | 2018-01-26 | 2018-08-24 | 柳州市怀远数控技术开发有限公司 | A kind of subdivision differential differential speed reducer |
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|---|---|
| CN108087517A (en) | 2018-05-29 |
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Effective date of registration: 20221230 Address after: Floor 20, Shop F-1, Jinhu International Building, south of Yongfu West Street, Qinzhou, Guangxi Zhuang Autonomous Region, 535000 Patentee after: Guangxi Dashihui Technology Co.,Ltd. Address before: 545007 No. 414, 4th Floor, Building 7, 12 Fuxin Road, Liuzhou City, Guangxi Zhuang Autonomous Region Patentee before: LIUZHOU HUAIYUAN CNC TECHNOLOGY DEVELOPMENT Co.,Ltd. |