CN108533708B

CN108533708B - Thrust hobbing gear and transmission device using same

Info

Publication number: CN108533708B
Application number: CN201810611813.2A
Authority: CN
Inventors: 王踊
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-06-15
Filing date: 2018-06-15
Publication date: 2022-08-09
Anticipated expiration: 2038-06-15
Also published as: CN108533708A

Abstract

The invention relates to a hobbing and a transmission device using the hobbing, relating to the field of mechanical transmission, and mainly aiming at providing a hobbing which does not need a rolling needle for transmission. The raceways and rolling elements may be combined into cylindrical, conical, flat or other shaped hobbing. When used in a transmission system, the common features are: the thrust hobbing gear meshes with at least two gears simultaneously. The thrust hobbing gear can be used in plane small tooth difference transmission, nutation transmission and other transmission mechanisms.

Description

Thrust hobbing gear and transmission device using same

Technical Field

The invention relates to a structure of a hobbing gear and a transmission device using the hobbing gear as a transmission part, belonging to the technical field of machinery.

Background

The known hobbing gears are arranged with rolling bodies uniformly in a circle around the center of a body or in a radial shape, and the rolling bodies are fixed at fixed positions of the body by a retainer or the body, wherein the protruding parts of the rolling bodies form tooth surfaces of the hobbing. As in japanese patent application laid-open No. 2006-82718 and japanese patent application laid-open No. 2009-004859, both of the above structures are adopted, the above rolling elements may have tooth climbing phenomenon when being disengaged from the tooth grooves of the gears engaged therewith, that is, the rolling elements are disengaged from the body in the direction of the teeth of the gears engaged therewith, and friction between the rolling elements and the obstacle is increased due to the block of the cage or the body, but the friction is not disengaged, but the process increases noise, loses energy, and increases fatigue loss of materials. The rolling elements and the body or the retainer are in a sliding friction state in the whole meshing process, so that a needle bearing is installed between the rolling elements and the body, but the complexity of a hobbing structure is increased, the stress limit of hobbing is reduced, and the transmission ratio of the hobbing gear is limited. Japanese patent application 2009-004859 proposes a method of changing the contact angle between the hob and the meshing teeth to suppress the tooth-skip phenomenon, but inevitably, the hob slips in the tooth grooves, causing unnecessary wear.

Disclosure of Invention

The invention aims to improve the structure of a hobbing gear and manufacture a brand-new thrust hobbing gear, so that the hobbing gear is simpler, more efficient and easier to manufacture.

The technical scheme of the invention is as follows: the thrust hobbing gear is characterized in that at least two rolling bodies which are in contact with different raceways are arranged between at least two opposite circulating raceways, the types of the rolling bodies are distinguished by whether the rolling bodies are in complete contact with the same raceway or not, the rolling bodies are not of the same type when the contact raceways are different, and the rolling bodies are of the same type when the contact raceways are completely the same. The diameters of the different types of rolling bodies are not required to be equal, but the diameters of the different types of rolling bodies are ensured to be uniformly separated by another type of rolling body, the rolling bodies are sequentially and uniformly arranged to form a complete cycle, the rolling bodies can roll relative to the roller paths, wherein at least one type of rolling bodies are partially exposed from the roller paths, and the exposed parts are used as the teeth of the gear hobbing gear. Different types of adjacent rolling bodies can transmit thrust along the radial direction of the rolling bodies, and the roller paths and the rolling bodies can be combined into cylindrical hobbing, conical hobbing, planar hobbing or hobbing with other shapes. When the gear hobbing is arranged in a transmission device, the gear hobbing needs to be meshed with at least two gears at the same time, and transmission is completed by thrust between rolling bodies. The thrust hobbing gear can be applied to plane small tooth difference transmission, nutation transmission or other transmission devices.

The obvious advantages of the invention are: rolling friction is generated between the rolling bodies which are mutually contacted and between the rolling bodies and the roller paths, rolling needles do not need to be installed or special lubrication is not needed, all parts of the hobbing gear are stressed more uniformly, larger torque can be borne in a smaller size, the hobbing gear is quieter and more stable in the transmission process, and the application scene of the hobbing gear is widened.

According to the thrust hobbing gear structure that this application provided, can design a four raceway thrust hobbing gear, can make the thrust contained angle between the rolling element littleer, characterized by: between at least four different raceways which are coaxially and independently rotatable, two or more rolling bodies are arranged, the same rolling bodies not being in direct contact, i.e.: each rolling element is flanked by other kinds of rolling elements. There should also be a connecting or clamping member between the four races that keeps the different races in coaxial relative position at all times, and this connecting or clamping member can be the member that contains the bearing. Such a clamping member may also be applied to thrust hobbing gears having two or more independent races.

The present application will disclose several shapes of rolling elements and gear hobbing for further illustration of the present invention and not for limiting the shapes of rolling elements and gear hobbing referred to in the present invention. According to the thrust hobbing gear structure provided by the application, the rolling bodies can be in any shape with a rotating shaft, and a single rolling body can be a whole or formed by combining different components. As an improved design of the rolling body, when the diameter of one rolling body changes on the axis of the rolling body, the corresponding contour line connecting lines of the rolling body should form an obtuse angle or a smooth curve, so that the stress is more uniformly distributed.

According to the thrust hobbing gear structure provided by the application, as a design that the rolling body and the raceway are matched with each other, the raceway is provided with a rib matched with the rolling body. As an alternative, there is also a design between the rolling bodies which prevents the rolling bodies from sliding relative to each other in the direction of the axes of the rolling bodies. The design may be made by designing adjacent rolling elements to have a shape of a radial concave-convex shape in which they are fitted to each other and by designing the raceway and the rolling elements in contact with each other to have a shape of a mutual fit, or by designing a cage between the rolling elements and by making the cage movable along the raceway.

According to the thrust hobbing gear structure that this application provided, can design a thrust cylinder hobbing gear. The method is characterized in that:

at least two or four coaxial cylindrical raceways with different diameters are arranged between the raceways, different rollers are uniformly arranged between the raceways, the rollers of the same kind are not in direct contact, at least one of the different rollers exposes a part from the raceways, and the exposed part is used as the tooth of the hobbing gear. The rollers may be exposed from the ends of the raceways or may be exposed from the waists of the raceways. When the roller is exposed from the waist part of the roller path, the roller path on the same side is changed into an upper coaxial roller path and a lower coaxial roller path, besides being used as an external tooth or an internal tooth, other types of roller elements can be integrated up and down or separated, and the roller path is formed when the roller is designed to be separated: the upper layer and the lower layer of rolling bodies jointly form the rolling bodies on the same side.

According to the thrust hobbing gear structure provided by the application, a thrust tapered hobbing gear can be designed. The method is characterized in that:

at least two or a plurality of coaxially opposite conical surface roller paths are arranged, at least two conical rollers are uniformly arranged between the roller paths, the same conical rollers are not in direct contact, at least one of the conical rollers is partially exposed from the roller paths, and the exposed part is used as the tooth of the conical hobbing gear. The tapered rollers may be exposed from the end portions of the raceways or may be exposed from the waists of the raceways. When the tapered roller is exposed from the waist of the roller path, the roller path of the same layer becomes a plurality of roller paths close to the shaft center and far from the shaft center, and the tapered roller is characterized in that the extension line of the roller path surface and the extension line of the tapered roller shaft have a common vertex in the geometric space. As an improved design of the thrust tapered hobbing gear, the flange of the tapered roller and the raceway and the contact surface of the tapered roller and the retainer can be spherical surfaces, the center of the sphere can be the vertex of the tapered hobbing gear, and the flange of the raceway and the retainer are also designed in a matched mode.

The thrust cone-hobbing gear according to the present application can be used as a nutating gear or a fixed-axis gear in a nutating transmission. In the nutation drive mechanism, the tooth profile of the teeth meshing with the thrust tapered gear should be a sinusoidal curve or an equidistant curve of a sinusoidal curve, as measured from a direction perpendicular to the fixed-axis gear shaft. The axis of the fixed shaft gear is used as a Y axis, the circumference of a circle where the meshing points of the two gears are located is used as an X axis, and the circle is a circle which takes the Y axis as a symmetrical axis. If the included angle between the axis of the pendulum shaft gear and the Y axis is theta, the distance between the meshing point and the Y axis is r, and the tooth number of the fixed shaft gear is Z, the sine curve accords with the following formula:

y ═ Asin (Z · X) formula (1)

A ═ r · tan θ formula (2)

Wherein Y is the height of the tooth profile, and X is the radian of the tooth profile on the circumference.

The sine curve or the equidistant curve of the sine curve is used as the tooth profile of the gear meshed with the gear hobbing, so that the gear hobbing can be meshed with the gear hobbing more stably. When the equidistant curved surface is taken as the tooth profile meshing surface, the minimum curvature radius of the sinusoidal curved surface is set as R ₁ The radius of the rolling element engaged with it is R ₂ Then, there are: r ₂ ≤2·R ₁ Equation (3) holds.

For example, referring to the schematic view of FIG. 8, axis Y of the nutating gear ₂ Axis Y capable of winding fixed-axis gear ₁ The pendulum shaft nutates. Rolling elements O on nutating gears ₃ On the outer side is onePoint P is the meshing point of the rolling body and the teeth on the fixed shaft gear, and the point P follows the rolling body O ₃ Making nutation rolling, at this time point P is spaced from Y ₁ Distance of axis r ₁ When O is present ₃ Move to O ₃₁ In position, point P moves to P ₁ At the position of distance Y ₁ Distance of axis r ₂ ，r ₁ To r ₂ From point P to point P ₁ The point is the variable of r in equation (2). Circle center of rolling body is from O ₃ To O ₃₁ Can be regarded as one with R _a Is a major radius, R _b Is an ellipse with a short radius, in which ₁ The projection of the motion in the cylindrical space of the axis is shown, and the motion track of the circle center of the rolling body is the curve shown in the formulas (1) and (2).

In order to make the thrust tapered hobbing gear and the conical gear engaged with the thrust tapered hobbing gear completely concentric and to increase the torque bearable of the thrust tapered hobbing gear, the diameter of the hobbing rolling body needs to be increased, the tooth profile of the tooth engaged with the hobbing can adopt a curve which is equidistant from the sine curve and is generated by taking the sine curve shown in the formulas (1) and (2) as a generatrix, and the formula (3) is established in order to ensure the smooth motion of the rolling body.

According to the thrust hobbing gear that this application provided, can use thrust circular cone hobbing gear or use thrust cylinder hobbing gear in the poor drive mechanism of plane few tooth in nutation drive mechanism, its common characteristic is: the thrust hobbing gear is simultaneously meshed with two gears with different tooth numbers, and small tooth difference transmission is completed through plane pendulum shaft movement or nutation pendulum shaft movement.

The thrust cylindrical hobbing gear is used in a plane small-tooth-difference transmission mechanism and is characterized in that: the cylindrical hobbing gear of the inner gear ring is used as an outer gear, the middle part of the cylindrical hobbing gear of the inner gear ring is provided with two large gears and two small gears with different tooth numbers which are simultaneously meshed with the hobbing gear of the inner gear ring used as the outer gear, the axes of the outer gear, the large gears and the small gears are parallel, the axis of the outer gear is fixed, the large gears and the small gears simultaneously perform swing shaft motion around the axis of the outer gear, the axis connecting lines of the outer gear, the large gears and the small gears are kept on the same straight line in the process, and the axes of the large gears and the small gears are respectively arranged on two sides of the axis of the outer gear. Because the sizes of the large gear and the small gear are different, the radiuses of the large gear and the small gear which do swing shaft movement are also different, and the sizes, the masses and the movement radiuses of the crankshafts or other parts which move together with the large gear and the small gear are different, the inertia balance of the large gear and the small gear which do swing shaft movement needs to be found through design, and the whole parts are in a stable balanced state.

If the distance between the axis of the big gear and the axis of the outer wheel is R ₃ The pinion axis being spaced from the outer wheel axis by a distance R ₄ The sum of the mass of the large gear and the mass of all parts which do swing axis motion along with the large gear is M ₁ The sum of the mass of the pinion and the masses of all parts oscillating with the pinion is M ₂ Then, there are: m ₁ ·R ₃ ² ＝M ₂ ·R ₄ ² Equation (4) holds.

The thrust conical hobbing gear used in the nutation small tooth difference transmission mechanism is characterized in that: there are two first gears and second gear of upper and lower opposition, first gear and second gear are the bevel gear that the number of teeth is different, the axis of first gear and second gear is same straight line, for the main axis, be the third gear between first gear and the second gear, the third gear is a thrust circular cone gear hobbing that the gear hobbing is all exposed on upper and lower two sides, three gear cone summit is the same point, install the universal joint in the summit position, the centre of sphere and the conical surface summit position of universal joint are the same point, the one end of universal joint links firmly with the raceway fixture of third gear tip, the other end links firmly with the torsion dish.

The axis of the third gear is a minor axis, the minor axis and the major axis are intersected at the vertex of the conical surface and can do nutation pendulum shaft motion around the main shaft, and the hobbing exposed from the upper surface and the lower surface of the third gear is respectively meshed with the first gear and the second gear simultaneously. The upper and lower raceways at the large end of the third gear are held by a mechanism that maintains the minor axis at a fixed nutating angle relative to the major axis.

From the above description, it is known that the inertia of the whole device is not easy to reach balance when in operation, the inventor proposes that most of the boundaries of the parts such as the raceway, the clamping mechanism, the hobbing and the like which do nutation motion in the above parts are composed of a conical surface taking the vertex of the conical surface as the vertex and a concentric spherical surface taking the vertex of the conical surface as the center of a sphere, and the mass distribution of the large-end clamping mechanism is used for balancing the motion inertia.

For example, with reference to the schematic diagram of FIG. 9, with a main axis Y ₁ Is a longitudinal axis, passing through the apex O of the cone ₂ And is perpendicular to Y ₁ Straight line X of ₁ The horizontal axis is the vertical section divided into four quadrants, the upper right quadrant is the first quadrant, the upper left quadrant is the second quadrant, the lower left quadrant is the third quadrant, and the lower right quadrant is the fourth quadrant. On the same longitudinal section, the following are provided: the mass of the parts in the first quadrant is M ₃ With center of mass at M ₃ A location; the mass of the part in the second quadrant is M ₄ With center of mass at M ₄ A location; the mass of the part in the third quadrant is M ₅ With center of mass at M ₅ A location; the mass of the component in the fourth quadrant is M ₆ With center of mass at M ₆ A position. M ₃ From the longitudinal axis Y ₁ A distance of R ₅ ，M ₄ From the longitudinal axis Y ₁ A distance of R ₆ ，M ₅ From the longitudinal axis Y ₁ A distance of R ₇ ，M ₆ From the longitudinal axis Y ₁ A distance of R ₈ Because most of mass points are distributed according to a concentric sphere, the mass distribution of the large-end clamping mechanism in each quadrant can be easily adjusted, so that the mass distribution of the large-end clamping mechanism in the horizontal axis X is enabled to be more easily adjusted ₁ About the longitudinal axis Y ₁ When the rotating device is rotated horizontally, the rotating device,

M ₃ ·R ₅ ² +M ₆ ·R ₈ ² ＝M ₄ ·R ₆ ² +M ₅ ·R ₇ ² formula (5)

This is always true.

Also because of the concentric ball design, it is easier to make

M ₃ ·R ₅ ² ＝M ₄ ·R ₆ ² Formula (6)

M ₅ ·R ₇ ² ＝M ₆ ·R ₈ ² Formula (7)

M ₃ ·R ₅ ² ＝M ₄ ·R ₆ ² ＝M ₅ ·R ₇ ² ＝M ₆ ·R ₈ ² Formula (8)

Is always true

The advantages of the present invention will be further apparent from the following description of embodiments with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic diagram of several principles of the arrangement of the raceways and the rolling bodies in the thrust hobbing gear. FIG. 1a is a case that two rows of rolling bodies are directly clamped between two raceways; FIG. 1b shows the case in which four raceways hold two rolling elements; fig. 1c is a superposition of fig. 1a and 1 b.

Fig. 2 is a cross-sectional view of a thrust cylindrical hobbing gear with teeth exposed both inside and outside.

Fig. 3 is a structural analysis diagram of split combined rolling elements and raceways.

Fig. 4 is a schematic cross-sectional view of the cone rolling element and raceway engagement in a cone thrust hob.

Fig. 5 is a cross-sectional view of a raceway, rib and rolling element mating design.

Fig. 6 is a cross-sectional view of a design example in which adjacent rolling elements have a shape of a radial projection and recess that are engaged with each other, and a raceway and a rolling element that is in contact with each other have a shape of a mutual engagement.

Fig. 7 is a sectional view of a design case in which a cage is designed between rolling elements and the cage can move along a raceway.

Fig. 8 is a schematic diagram illustrating the nutating gear mesh principle of equations (1) and (2).

Fig. 9 is a schematic diagram of the distribution of center of mass and balance in a nutating thrust hobbing drive.

Fig. 10 is a sectional view of the thrust tapered hobbing gear with teeth exposed on the upper and lower sides.

Figure 11 is a schematic cross-sectional view of a case of thrust cone-hobbing gears used in a nutating drive.

Fig. 11a is a detailed sectional schematic view of the cone hobbing of fig. 11, and fig. 11b is a schematic view of a bearing therein.

Fig. 12 is a schematic sectional view of a case of applying a thrust cylindrical hobbing gear in a planar small tooth difference transmission, and fig. 12a is a schematic view of a bearing therein.

FIG. 13 is an enlarged sectional view of the thrust cylinder hobbing gear race and rolling element contact portion with four races at one end.

FIG. 14 is an enlarged sectional view of a thrust tapered hobbing gear race and rolling element contact part with four races at one end.

Fig. 15 is a schematic view of four raceways at one end, with different rolling elements inserted into each other tangentially.

The symbols in the drawings illustrate that: a 1-first rolling element; a 11-rolling elements cooperating with the raceway ribs; a 2-second rolling element; a 3-third rolling element; a 4-fourth rolling element; a 5-recessed parts on the rolling elements; a 6-the convex part on the rolling body; b 1-first race; b 11-one end of the first race where the teeth are exposed; b 2-second raceway; b 22-one end of the second race where the second race is divided to expose the gear teeth; b 3-third raceway; b 4-fourth raceway; b 5-raceway with ribs; b 6-flange of raceway; b 7-design of the shape of the rolling body on the raceway; c-plug; d is a jack; f is the direction of the transmission thrust between the rolling bodies; e — exposed gear hobbing; e1 — teeth meshing with a hob; e2 — teeth disengaged from hobbing; j 1-hole for insertion of a first rolling element; j 2-hole for insertion of a second rolling element; h-inclined plane; k is a retainer; Y1-Main shaft; y2-pendulum shaft; y3-axis of rolling element; p-raceway clamping members; y4-pendulum shaft; p 1-raceway clamping part of thrust cone hobbing gear small end; p 2-raceway clamping part of thrust cone hobbing gear big end; t-fixing bolt; q 1-bearing or rolling elements for clamping components; s 1-planar bull gear; s 2-flat pinion; s 3-bevel pinion; s 4-large bevel gear; n-universal joint or universal coupling; g1 — input shaft; g2 — output shaft; g 3-crankshaft; w-end face.

Detailed Description

Preferred embodiments of the present invention are described with reference to the accompanying drawings.

FIG. 1 is a schematic diagram showing several principles of the arrangement of the raceways and the rolling elements in a thrust hobbing gear. Wherein, fig. 1a is a case of directly clamping two rows of rolling elements between two raceways, in the figure, rolling elements a1 and a2 are placed between two raceways b1 and b2, because the distance between b1 and b2 is slightly larger than the diameter of a1 or a2, when enough rolling elements are loaded in the raceways, a1 and a2 can be extruded to different raceways, so as to realize mutual spacing and contact different raceways, and f in the figure indicates the connecting line of the tangent points between the rolling elements, i.e. the transmission direction of the thrust, which is seen as a broken line in the figure. Therefore, the rigidity requirement is provided for the rolling bodies and the raceways, and the higher the rigidity is, the smaller the thrust loss is. According to measurement and calculation, under the condition of the same material and gear diameter, the raceway hobbing design has better application effect in bevel gears than column gears.

To further improve the efficiency of the thrust transfer, a four race design is provided, as in the case of figure 1b where the four races sandwich two rolling elements, rolling elements a1 and a2 are spaced apart, a1 rolls in races b1 and b4, a2 rolls in races b2 and b3, and a1 and a2 are tangent to races b1 and b4, so that it can be seen that rolling element a2 extending from races b2 and b3 is tangent to a1 in races b1 and b 4. The diameter of the rolling elements a2 in the raceways b2 and b3 may be different from the diameter of the extensions to increase the anti-wiggle moment. In order to further improve the torsional pendulum resistance, it may be designed that rolling element a1 also extends from raceways b1 and b4 to raceways b2 and b3 and is tangent to rolling element a2, as can be seen in fig. 15. In fig. 15, rolling elements a1 and a2 are spaced apart, a1 is in contact with raceways b1 and b4 (the b4 raceway is omitted in the figure) at the same time, and protrudes to be tangent to rolling element a2 in raceways b2 and b3 (the b3 raceway is omitted in the figure), a2 rolls in raceways b2 and b3, and protrudes to be tangent to rolling element a1 in raceways b1 and b4 (the b4 raceway is omitted in the figure), and extends to be out of the raceways downward from rolling element a1 to become a gear e.

Fig. 1c is a superposition of fig. 1a and fig. 1b, and more rolling elements participate together, and the principle is similar, and the thrust direction line f is divided into two lines, so that the balance and stability are better.

Fig. 3 to 7 are detailed enlarged views of the contact portions of the rolling elements and the raceways, mainly for the purpose of keeping the rolling elements rolling in the raceways in a designed course and facilitating installation.

Figure 11 is a schematic cross-sectional view of a case of thrust cone-hobbing gears used in a nutating drive. In this case, the two bevel gears s3 and s4 are coaxially disposed in opposite relationship at the same vertex, and have different numbers of teeth, and their common axis is the main axis Y ₁ . The nutation gear is a thrust cone hobbing gear, and the axis of the nutation gear is a pendulum shaft axis Y ₂ The axis of the pendulum shaft does nutation swing around the main shaft, and in the process, the teeth of the thrust cone hobbing gear are always kept on different sides and are meshed with two main shaft gears, the upper right part is meshed with s3 in the drawing, and the lower left part is meshed with s 4. The small end of the thrust cone hobbing gear is fixedly connected with one end of a universal coupling n at the vertex position through a raceway clamping device p1, the other end of the universal coupling is fixedly connected with a bevel gear s4, when the bevel gear s4 is fixed, a large-end raceway clamping device p2 of the thrust cone hobbing gear can be connected with an input shaft, and as the clamping part of the large-end raceway clamping device p2 is a conical surface attached to a raceway b5 and the outer end surface w is a circular surface symmetrical to a main shaft, when the clamping device p2 rotates around the main shaft, under the combined action of the clamping surface, the raceway and the fixed vertex of the universal coupling, the thrust hobbing can complete small tooth difference transmission between the two bevel gears s3 and s 4. If the number of teeth of the thrust cone hobbing gear is z1, the number of teeth of the gear s3 is z2, and the number of teeth of the gear s4 is z3, the relationship between the three can be: z 1-z 2+ 2-z 3+1, the transmission ratio is z 3: 1.

for ease of installation, the raceway clamping mechanisms p1 and p2 may be separately manufactured and secured after installation. In order to better balance inertia of the nutation gear and the linkage part during nutation pendulum shaft motion, the end face of the raceway b5 and the inner surface of the clamping mechanism p2 are concentric circles with the vertex as a sphere center, and dynamic balance is achieved by adjusting the outer diameter of the clamping mechanism p 2.

Fig. 12 is a schematic sectional view of a case of applying a thrust cylindrical hobbing gear in a planar small tooth difference transmission. In this case, the raceway clamping mechanism p is a thrust cylindrical gear, the upper and lower sides of the raceway b1 are both provided with ribs, the raceways b2 and b22 are both provided with ribs on only one side, and the raceways are provided with ribsA part of the rolling bodies exposed between b2 and b22 becomes a gear hobbing e which forms an inner gear ring with the axis as a main axis Y ₁ The two cycloid gears s1 and s2 are respectively engaged with the left and right portions of the ring gear. The axis of the cycloid gear s1 is a pendulum axis Y ₂ The axis of the cycloid gear s2 is a pendulum axis Y ₄ When the input shaft g1 rotates around the main shaft, the two cycloid gears do cycloid movement under the action of the crankshaft g3, and the two gears are always meshed with the inner gear ring formed by the hobbing e simultaneously. Because the tooth numbers of the cycloid gears s1 and s2 are different, the small tooth difference transmission is completed under the thrust action between the rolling bodies, and the output shaft g2 is driven to rotate.

Because the teeth numbers of the cycloid gears s1 and s2 are different, the diameter and the amplitude of the pendulum shaft movement are different, the pendulum shaft amplitude of the small gear s2 is larger than that of the large gear s1, and in order to balance the inertia, the inertia balance can be achieved by means of adjusting the thickness of the middle part of the gear, the weight of a component which moves along with the pendulum shaft and the like. If the distance between the axis of the large gear and the axis of the outer wheel is R3, the distance between the axis of the small gear and the axis of the outer wheel is R4, the sum of the mass of the large gear and the mass of all parts which move along with the large gear in a pendulum shaft mode is M1, and the sum of the mass of the small gear and the mass of all parts which move along with the small gear in a pendulum shaft mode is M2, the formula is realized by adjusting the mass of each part: m1. R3 ² ＝M2·R4 ² And (4) true.

When four races are used at the same end of the rolling elements, which should be clamped using a clamping mechanism, fig. 13 and 14 are enlarged cross-sectional views of the thrust-hobbing gear race and the rolling element contact when there are four races, in this case the clamping member is in contact with the race by the rolling elements q1, ensuring that the races rotate freely without change in position.

In addition, the thrust hobbing gear provided by the invention can be used in combination with other types of transmission mechanisms, and can be used in combination with a motor or other power mechanisms, and is used in mechanical equipment needing transmission, such as robot joints, automobile steering, hoisting equipment, elevators and the like.

Claims

1. Thrust gear hobbing, characterized by:

at least two rolling bodies which are in contact with different raceways are arranged between at least two oppositely-arranged circulating raceways, whether the rolling bodies are the same in type is distinguished by whether the rolling bodies are in full contact with the same raceway, the rolling bodies which are not the same in type are different in contact raceway, the rolling bodies which are the same in type are guaranteed if the rolling bodies are the same in contact raceway, and each rolling body is uniformly separated by another rolling body, namely: the rolling bodies are arranged beside each type of rolling bodies, the rolling bodies are sequentially and uniformly arranged to form a complete cycle, the rolling bodies can roll relative to the roller path, one part of at least one type of rolling bodies is exposed from the roller path, the exposed part is used as the tooth of the hobbing gear, thrust can be transmitted between different types of adjacent rolling bodies, the roller path and the rolling bodies can be combined into cylindrical hobbing and conical hobbing, and when the gear is used in a transmission system, the thrust hobbing gear is meshed with at least two gears simultaneously.

2. The thrust hobbing gear of claim 1, wherein:

at least two rolling bodies are arranged between at least two different raceways which are coaxial and can rotate independently, and the same rolling body is not in direct contact, namely: each rolling body is provided with another type of rolling body on both sides; there should also be a connecting or clamping member between the races to maintain the different races in coaxially opposed positions at all times, and when such a clamping member is applied to the large end of the nutating gear, the contact surfaces of the clamping member and the races should be inclined with the axis of nutation being the axis of symmetry, and the outer end surfaces of the clamping member should have a surface with the axis of main axis being the axis of symmetry.

3. The thrust hobbing gear of claim 1, wherein:

the rolling bodies are in any shape with a rotating shaft, and a single rolling body is a whole or is formed by combining different components; the rolling bodies of the same rotating shaft are integrated or segmented; when the diameter of a rolling element changes on the axis, the outer side of the corresponding contour line should form a smooth curve in order to distribute the stress more uniformly.

4. The thrust hobbing gear of claim 1, wherein:

the rolling paths are provided with flanges matched with the rolling bodies, or the rolling bodies are also provided with a design for preventing the rolling bodies from sliding relatively along the axial direction of the rolling bodies, the design is completed by the design that the adjacent rolling bodies have matched radial concave-convex shapes and are embedded with each other, and the rolling paths and the contacted rolling bodies have mutually matched shapes, or the design that a retainer is designed among the rolling bodies and can move along the rolling paths.

5. The thrust hobbing gear of claim 1, which is a thrust cylinder hobbing, characterized by:

the thrust hobbing gear is an internal gear or an external gear or both internal and external gears, at least two internal and external coaxial cylindrical raceways capable of independently rotating are provided, different rollers are uniformly arranged between the raceways, the rollers of the same type are not in direct contact, at least one roller in the different rollers is exposed out of the raceways, the exposed part is used as the tooth of the hobbing gear, the rollers are exposed out of the end parts of the raceways or exposed out of the waist parts of the raceways, when the rollers are exposed out of the waist parts of the raceways, the raceways on the same side are changed into the upper and lower coaxial raceways, except the rollers serving as the external gears or the internal gears, the rollers which do not participate in meshing are integrated up and down or are separated, and the separated design is formed: the upper layer and the lower layer of rolling bodies jointly form the rolling bodies on the same side.

6. The thrust hobbing gear of claim 1, which is a thrust cone hobbing gear, characterized in that:

at least two upper and lower coaxially opposite conical surface raceways are arranged, at least two types of tapered rollers are uniformly arranged between the raceways, the tapered rollers of the same type are not in direct contact, at least one type of tapered roller in the tapered rollers is exposed out of one part of the raceway, the exposed part is used as the tooth of a tapered hobbing gear, and the tapered rollers are exposed out of the end part of the raceway or the waist part of the raceway; when the tapered roller is exposed from the waist of the roller path, the roller path on the same layer is changed into a plurality of roller paths close to the shaft center and far away from the shaft center, and the tapered roller gear is characterized in that the extension line of the roller path surface and the extension line of the tapered roller shaft have a common vertex on the geometric space, the contact surface of the tapered roller and the roller path and the contact surface of the tapered roller and the retainer are spherical surfaces or conical surfaces, the vertex of the spherical center or the conical surface of the spherical surface is the vertex of the tapered hobbing gear, and the flanges of the roller paths and the retainer are also designed in a matched mode.

7. The thrust hobbing gear as claimed in claim 1, which can be used in a flat low differential or nutating drive system, characterized by:

the thrust hobbing gear is meshed with two gears with different tooth numbers at least at the same time, and small tooth difference transmission is completed by thrust between rolling bodies through plane pendulum shaft motion or nutation pendulum shaft motion of the gears.

8. A thrust hobbing gear as claimed in claim 1 or 2 or 3 or 4 or 5 or 7, which is a cylindrical hobbing gear, for use in a planar small tooth difference transmission, characterized in that:

an inner gear ring cylindrical hobbing gear is used as an outer gear, two large gears and small gears with different tooth numbers are meshed with the inner gear ring hobbing gear used as the outer gear at the same time in the middle, the axes of the outer gear, the large gears and the small gears are parallel, the axis of the outer gear is fixed, the large gears and the small gears simultaneously perform swing shaft motion around the axis of the outer gear, the axis connecting lines of the outer gear, the large gears and the small gears are kept on the same straight line in the process, and the axes of the large gears and the small gears are respectively arranged on two sides of the axis of the outer gear; if the distance between the axis of the big gear and the axis of the outer wheel is R ₃ The pinion axis being spaced from the outer wheel axis by a distance R ₄ The sum of the mass of the large gear and the mass of all parts which do swing axis motion along with the large gear is M ₁ The sum of the mass of the pinion and the masses of all parts oscillating with the pinion is M ₂ Then, there is the formula: m ₁ ·R ₃ ² ＝M ₂ ·R ₄ ² Is established by。

9. A thrust hobbing gear as claimed in claim 1 or 2 or 3 or 4 or 5 or 7, which is a conical hobbing gear and is used in a nutating low differential gearing, characterised in that:

the bevel gear comprises two bevel gears with different numbers of teeth, which are arranged in an up-down opposite mode, the axes of the two bevel gears are the same straight line and are used as a main shaft, a thrust cone hobbing gear is arranged between the two bevel gears, the vertexes of the conical surfaces of the three bevel gears are the same point, a coupling with a deflectable angle is arranged at the vertex position, the crossing point of two shafts of the coupling and the vertex position of the conical surface are the same point, one end of the coupling is fixedly connected with a raceway clamping mechanism at the small end of the thrust cone hobbing gear, the axes of the thrust cone hobbing gear are secondary axes, the secondary axes and the main shaft are crossed at the vertex and can do nutation pendulum shaft motion around the main shaft, the exposed hobbing teeth on the thrust cone hobbing gear are respectively and simultaneously meshed with the upper bevel gear and the lower bevel gear, the raceway at the large end of the thrust cone hobbing gear is clamped by a mechanism, and the secondary axes keep a fixed nutation angle relative to the main shaft; the inner surface of the raceway clamping part is formed into a shape which comprises a curved surface with a nutation axis as a symmetry axis; and/or the outer surface of the raceway clamping part is formed into a shape including a curved surface with the main shaft as a symmetry axis.

10. Use of a thrust hobbing gear as claimed in any one of claims 1 or 2 or 3 or 4 or 6 in a nutating drive as a fixed axis gear in the nutating drive, or a nutating gear, wherein:

the tooth profile of the tooth meshed with the thrust cone hobbing gear is a sinusoidal curve or an equidistant curve of a sinusoidal curve, for example, if the axis of the fixed shaft gear is used as a Y axis, the circumference of a circle where a certain moving point on the tooth profile curve is located is used as an X axis, the circle is a circle which takes the Y axis as a symmetric axis, the included angle between the axis of the nutation gear of the pendulum shaft and the Y axis is set as theta, the distance between the moving point on the tooth profile curve and the Y axis is set as r, and the tooth number of the fixed shaft gear is set as Z, the sinusoidal curve conforms to the following formula:

Y＝Asin(Z·X)

A＝r·tanθ

wherein Y is the height of the tooth profile, and X is the radian of the tooth profile on the circumference of a circle which takes the Y axis as the symmetry axis; when the equidistant curve of the sinusoidal curve is a tooth profile curve, assuming that the minimum curvature radius of the sinusoidal curve is R1 and the radius of the rolling element meshing with the sinusoidal curve on the thrust hobbing gear is R2, the formula R2 ≦ 2 · R1 holds.