CN109707802B - Two-stage integrated plane oscillating tooth speed reducer based on guide frame coupling - Google Patents
Two-stage integrated plane oscillating tooth speed reducer based on guide frame coupling Download PDFInfo
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- CN109707802B CN109707802B CN201910137862.1A CN201910137862A CN109707802B CN 109707802 B CN109707802 B CN 109707802B CN 201910137862 A CN201910137862 A CN 201910137862A CN 109707802 B CN109707802 B CN 109707802B
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Abstract
The invention discloses a guide frame coupling-based two-stage integrated planar oscillating tooth speed reducer, wherein a first-stage power output and a second-stage power input are integrated and designed into a guide frame, a wave generator and an input shaft are designed into an integrated shock wave device with a concentric structure in first-stage transmission, the first-stage oscillating tooth rack is fixed, the input end is the shock wave device, the output end is the guide frame, a shaft type output and disc type output structure can be designed according to the actual engineering requirements in second-stage transmission, a second-stage central wheel A is fixed for the shaft type output structure, and the second-stage oscillating tooth rack A drives an output shaft to output power; for a disc type output structure, a second-stage movable rack B is fixed, and a second-stage central wheel B outputs power. The invention has the advantages of stable transmission, flexibility, reliability, good self-balancing property, compact structure and the like.
Description
Technical Field
The invention relates to an oscillating tooth transmission device, in particular to a two-stage integrated plane oscillating tooth speed reducer based on guide frame coupling.
Background
With the continuous development of the oscillating tooth transmission, a plurality of novel oscillating tooth reducers are published one after another, and a patent with the application number of CN201510629776.4 is an oscillating tooth cam mechanism which can realize the conversion of constant-speed input into various forms of oscillating cam output motion by changing the tooth profile curve of a closed groove of an oscillating disc, and through multi-stage series connection, although the large reduction ratio transmission can be realized, the mechanism size is obviously increased, the mechanism is not suitable for being applied to the fields of drilling platforms, robot joints and the like which are limited by space size, particularly the rapid development of science and technology, a novel transmission device with small size, light weight and large transmission ratio is urgently needed, a plane oscillating tooth reducer is a representative transmission type in the oscillating tooth transmission, the axial size is small, and because a roller path of a wave generator and the end face of a central wheel is processed in a plane, the manufacturing process is good, but the transmission of the single-stage plane oscillating tooth reducer, if a plurality of single-stage plane oscillating tooth reducers are connected in series, although a large transmission ratio can be realized, the axial size is large, and the application is limited, so that a double-stage integrated plane oscillating tooth reducer which has the advantages of a plane oscillating tooth reducer and can keep a small axial size while realizing the large transmission ratio is developed, and the development requirements of more new technologies and new equipment can be met.
Disclosure of Invention
In view of the above technical problems, an object of the present invention is to provide a two-stage integrated planar oscillating tooth speed reducer based on guide frame coupling, which realizes seamless connection from a first-stage output to a second-stage input in a transmission process, reduces transmission efficiency loss between two stages, reduces an axial size, and has the advantages of good self-balance and compact structure.
In order to realize the purpose, the invention is realized according to the following technical scheme:
the utility model provides an integrated plane oscillating tooth reduction gear of doublestage based on saddle coupling which characterized in that: the input shaft and the wave generator are fixedly connected into a whole, the input shaft and the wave generator form a shock wave device with the same axle center, one end of the input shaft extends to the outside of the first shell and is connected with a prime motor, and the end face of one end of the wave generator is provided with an eccentric circular rolling path; in the operation process of the mechanism, the first-stage movable rack, the second shell, the third shell and the fourth shell are connected together through bolts and are kept fixed; the second-stage central wheel A, the second adjusting gasket and the fourth shell are connected together through bolts and are kept stationary; z are uniformly distributed on the first stage movable rack in the radial direction1Each movable tooth groove is internally provided with a first-stage movable tooth which performs reciprocating linear motion and outputs power to the guide frame; the guide frame has a wave number Z on its left end face2The right end surface of the guide frame is provided with an eccentric circular raceway; z are uniformly distributed on the second-stage movable rack A in the radial direction3Each movable tooth groove is internally provided with a second-stage movable tooth which performs reciprocating linear motion; the output shaft is fixedly connected with the second-stage movable gear rack A into a wholeThe body, the left end of output shaft stretches into first level loose-teeth frame hole, and the right-hand member of output shaft stretches into second level centre wheel A and extends to the outside and links to each other with the load, and second level loose-teeth frame A passes through third bearing and first bearing location, and second level loose-teeth frame A and output shaft be connected as an organic whole, and the second bearing supports the rotation of guide frame assurance guide frame, and second level centre wheel A left end face has the wave number to be Z4The rolling paths of the sinusoidal rolling paths are all trapezoidal sections, and the meshing of movable teeth is increased; by varying the thickness pretension of the first shim and the second shim, wherein Z1、Z2、Z3、Z4Is a positive integer.
In the technical scheme, the roller bearing is selected as the second bearing to ensure the stable operation of the guide frame.
The invention also provides another two-stage integrated plane oscillating tooth speed reducer based on guide frame coupling, which is characterized in that: the input shaft and the wave generator are fixedly connected into a whole, the input shaft and the wave generator are coaxial and form a shock wave device, one end of the input shaft extends to the outside of the first shell and is connected with a prime motor, and the end face of one end of the wave generator is provided with an eccentric circular rolling path; in the operation process of the mechanism, the first-stage movable rack, the second shell, the third shell and the seventh shell are connected together through bolts and are kept fixed; the second-stage movable rack B is connected with the seventh shell, the third adjusting gasket, the fifth shell, the second adjusting gasket and the sixth shell through bolts and is kept fixed; z are uniformly distributed on the first stage movable rack in the radial direction1Each movable tooth groove is internally provided with a first-stage movable tooth which makes reciprocating linear motion and outputs power to the guide frame; the guide frame has a wave number Z on its left end face2The right end surface of the guide frame is provided with an eccentric circular raceway; z are uniformly distributed on the second-stage movable rack B in the radial direction3The number of the movable tooth grooves is one,each movable tooth groove is internally provided with a second-stage movable tooth which performs reciprocating linear motion and outputs power to a second-stage central wheel B of the disc type output mechanism, and the left end surface of the second-stage central wheel B has a wave number Z4The right end face of the sinusoidal roller path is provided with a threaded hole which is used as an output disc to be connected with load output power, the step end face of the second-stage center wheel B and the inner end face of the sixth shell are provided with circular roller paths, balls are clamped between the circular roller paths, and the circular roller paths are used as plane bearings and used for positioning the second-stage center wheel B; the support shaft left end stretches into the hole of the first-stage oscillating tooth rack, clearance fit is adopted between the support shaft left end and the first-stage oscillating tooth rack, the support shaft right end stretches into the hole of the second-stage center wheel B, the second-stage center wheel B is supported through a sixth bearing and a seventh bearing, the support shaft supports the guide frame through a second bearing, the support shaft penetrates through the center hole of the second-stage oscillating tooth rack B, clearance fit is adopted between the support shaft and the second-stage oscillating tooth rack B, and Z is located between the support1、Z2、Z3、Z4Is a positive integer.
In the above technical scheme, the sixth bearing and the seventh bearing both adopt tapered roller bearings, so that the rotation precision of the second-stage central wheel B is improved.
Compared with the prior art, the invention has the following advantages:
1. the wave generator and the input shaft are designed into an integrated concentric structure, and the self-balance performance is greatly improved by utilizing double bearings for supporting.
2. The first-stage power output and the second-stage power input are designed into a dual-function guide frame, so that the transmission ratio of the mechanism is increased, and the mechanism is ensured to have smaller axial size, so that the mechanism can be applied to the field with limited space size.
3. The second-stage oscillating tooth rack A is fixedly connected with the output shaft, and the two ends of the output shaft are respectively supported by the first-stage oscillating tooth rack A and the second-stage central wheel A of the fixing piece, so that the shaft is prevented from swinging, and the stable operation of the mechanism is ensured.
4. The two modes of shaft output by the output shaft or disc output by the second-stage center wheel B can be adopted according to the actual engineering conditions, and the two modes are flexible and reliable.
5. The guide frame coupling-based two-stage integrated plane oscillating tooth speed reducer has the advantages of pre-tightening function, compact structure, small size and large transmission ratio, and can remarkably improve the application potential.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic transmission diagram of a shaft type output structure according to the present invention;
FIG. 2 is an assembled schematic view of a shaft output structure according to the present invention;
FIG. 3 is a schematic transmission diagram of a disc output structure according to the present invention;
FIG. 4 is an assembly view of a disk output structure according to the present invention;
FIG. 5 is a schematic right end view of a wave generator according to the present invention;
FIG. 6 is a right end view of the guide frame according to the present invention;
in the figure: 1-an input shaft; 2-a first housing; 3-a first spacer; 4-a second housing; 5-a wave generator; 6-a third shell; 7-first-stage movable rack; 8-a guide frame; 9-a fourth shell; 10-second stage oscillating tooth rack A; 11-second stage centre wheel a; 12-an output shaft; 13-a first bearing; 14-a second spacer; 15-second stage oscillating teeth; 16-a second bearing; 17-first stage oscillating teeth; 18-a third bearing; 19-a fourth bearing; 20-a sleeve; 21-a fifth bearing; 22-supporting shaft; 23-a sixth bearing; 24-a seventh bearing; 25-a sixth housing; 26-a ball bearing; 27-second stage centre wheel B; 28-a fifth housing; 29-a third spacer; 30-a seventh housing; 31-second stage oscillating tooth rack B.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
In the description of the present invention, it is to be understood that the terms "radial," "axial," "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus are not to be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, in an embodiment of the present invention, a two-stage integrated planar oscillating tooth speed reducer based on guide coupling is provided, which includes: shock wave device, first order oscillating tooth frame, guide frame, second level oscillating tooth frame group and correspond the second level central wheel group of being connected with second level oscillating tooth frame group respectively, wherein the shock wave device is formed by wave generator 5 and the design of 1 concentric connections of input shaft, 5 right-hand member faces of wave generator are equipped with eccentric circle raceway, first order oscillating tooth frame with the meshing of eccentric circle raceway of wave generator 5, first order oscillating tooth frame is equipped with Z1A radial tooth socket, the left end surface of the guide frame 8 close to the side of the first stage movable tooth frame is provided with a wave number Z2The radial tooth socket of the first-stage movable tooth rack is meshed with the sinusoidal raceway on the left end face of the guide frame, an eccentric circular raceway is arranged on the right end face of the guide frame 8 close to one side of the second-stage movable tooth rack group, and the second-stage movable tooth rack group is respectively meshed with the sinusoidal raceway on the right end face of the guide frameThe eccentric circular roller path is engaged.
The second-stage oscillating tooth rack set comprises two second-stage oscillating tooth racks, namely a second-stage oscillating tooth rack A and a second-stage oscillating tooth rack B, wherein the second-stage oscillating tooth rack A is output in a shaft type mode, and the second-stage oscillating tooth rack B is output in a disc type mode.
As shown in fig. 2, the shaft type output structure mainly includes an input shaft 1, a first housing 2, a first adjusting shim 3, a second housing 4, a wave generator 5, a third housing 6, a first stage oscillating rack 7, a guide frame 8, a fourth housing 9, a second stage oscillating rack a10, a second stage center wheel a11, an output shaft 12, a first bearing 13, a second adjusting shim 14, a second stage oscillating tooth 15, a second bearing 16, a first stage oscillating tooth 17, a third bearing 18, a fourth bearing 19, a sleeve 20 and a fifth bearing 21, wherein the input shaft 1 and the wave generator 5 are fixedly connected into a whole and are concentric to form a shock wave device, thereby reducing eccentricity caused by assembly, one end of the input shaft 1 extends to the outside of the first housing 2 and is connected with a prime mover, and an end face of one end of the wave generator 5 has an eccentric circular raceway; in the operation process of the mechanism, the first-stage oscillating tooth rack 7, the second shell 4, the third shell 6 and the fourth shell 9 are connected together through bolts and are kept fixed; the second-stage central wheel A11, the second adjusting gasket 14 and the fourth shell 9 are connected together through bolts and are kept fixed; z are uniformly distributed on the first-stage movable rack I7 in the radial direction1Each movable tooth groove is internally provided with a first-stage movable tooth 17 which makes reciprocating linear motion and outputs power to the guide frame 8; the guide frame 8 has double functions, the guide frame 8 is used as a first-stage central wheel to play a role in power output, and the wave number Z is arranged on the left end face of the guide frame 82The guide frame 8 is used as a second-stage wave generator to play a role in power input, and the right end face of the guide frame 8 is provided with an eccentric circular raceway; z are uniformly distributed on the second-stage movable rack A10 in the radial direction3Each movable tooth groove is internally provided with a second-stage movable tooth 15 which carries out reciprocating linear motion; the output shaft 12 is fixedly connected with the second-stage oscillating rack A10 into a whole, the left end of the output shaft 12 extends into an inner hole of the first-stage oscillating rack 7, the right end of the output shaft 12 extends into the second-stage central wheel A11 and extends to the outside to be connected with a load, and the first-stage oscillating rack 7 and the second-stage oscillating rack are connected with the loadThe core wheel A11 is a fixed part, and is positioned by the third bearing 18 and the first bearing 13, the second-stage movable rack A10, and meanwhile, the second bearing 16 supports the guide frame 8, so that the rotation of the guide frame 8 is ensured, in order to ensure the smooth and accurate running of the guide frame 8, the second bearing 16 adopts a roller bearing, and the left end surface of the second-stage core wheel A11 has a wave number Z4The rolling paths of the sinusoidal rolling paths are all trapezoidal sections, and the meshing of movable teeth is increased; the pretensioning effect can be achieved by varying the thickness of the first adjusting shim 3 and the second adjusting shim 14, where Z is1、Z2、Z3、Z4Is a positive integer.
As shown in fig. 3, the disk output structure mainly includes an input shaft 1, a first housing 2, a first adjusting shim 3, a second housing 4, a wave generator 5, a third housing 6, a first stage oscillating tooth 17, a guide frame 8, a second adjusting shim 14, a second stage oscillating tooth 15, a fourth bearing 19, a second bearing 16, a sleeve 20, a fifth bearing 21, a support shaft 22, a sixth bearing 23, a seventh bearing 24, a sixth housing 25, a ball 26, a second stage center wheel B27, a fifth housing 28, a third adjusting shim 29, a seventh housing 30, a second stage oscillating tooth frame B31, and a first stage oscillating tooth frame two 32, the input shaft 1 and the wave generator 5 are fixedly connected into a whole and are concentric to form a shock wave generator, so that the eccentricity generated by assembly is reduced, one end of the input shaft 1 extends to the outside of the first shell 2 and is connected with a prime motor, and the end surface of one end of the wave generator 5 is provided with an eccentric circular raceway; in the operation process of the mechanism, the first-stage movable rack II 32, the second shell 4, the third shell 6 and the seventh shell 30 are connected together through bolts and are kept fixed; the second-stage oscillating rack B31, the seventh shell 30, the third adjusting gasket 29, the fifth shell 28, the second adjusting gasket 14 and the sixth shell 25 are connected together through bolts and are kept fixed; z are uniformly distributed on the second stage of movable rack 32 in the radial direction1Each movable tooth groove is internally provided with a first-stage movable tooth 17 which makes reciprocating linear motion and outputs power to the guide frame 8; the guide frame 8 has double functions, the guide frame 8 is used as a first-stage central wheel to play a role in power output, and the wave number Z is arranged on the left end face of the guide frame 82The guide frame 8 is used as a second-stage wave generator to play a role in power input, and the right end face of the guide frame 8 is provided with an eccentric circleA raceway; z are uniformly distributed on the second-stage movable rack B31 in the radial direction3Each movable tooth groove is internally provided with a second-stage movable tooth 15 which carries out reciprocating linear motion and outputs power to a second-stage center wheel B27 of the disc-type output mechanism, and the left end face of a second-stage center wheel B27 has a wave number Z4The right end face of the sinusoidal roller path is provided with a threaded hole which can be used as an output disc to be connected with load to output power, the step end face of the second-stage center wheel B27 and the inner end face of the sixth shell 25 are provided with circular roller paths, balls 26 are clamped between the circular roller paths to play a role of a plane bearing and play a role of positioning the second-stage center wheel B27; the left end of the supporting shaft 22 extends into an inner hole of the second first-stage oscillating rack 32, the two are in clearance fit, assembly is convenient, the right end of the supporting shaft 22 extends into an inner hole of the second-stage center wheel B27, the second-stage center wheel B27 is supported through a sixth bearing 23 and a seventh bearing 24, the supporting shaft 22 supports the guide frame 8 through the second bearing 16, and the sixth bearing 23 and the seventh bearing 24 both adopt tapered roller bearings, so that the rotation precision of the second-stage center wheel B27 is improved; the support shaft 22 passes through the central hole of the second-stage oscillating rack B31 and adopts clearance fit between the two, wherein Z1、Z2、Z3、Z4Is a positive integer.
As shown in fig. 4, the right end face of the wave generator 5 has an eccentric circular raceway with a trapezoidal cross section, and the eccentricity is α1Radius of the eccentric circle is b1Coefficient of shock wave lambda1＝b1/ɑ1。
As shown in fig. 5, the right end face of the guide frame 8 has an eccentric circular raceway with an eccentricity of α2Radius of the eccentric circle is b2Coefficient of shock wave lambda2＝b2/ɑ2。
The guide 8 has a left end surface with wave number Z2Sinusoidal tracks of theta2For the rotation angle of the guide frame 8, the parameter equation of the theoretical tooth profile line of the sinusoidal raceway is as follows:
the first-stage transmission ratio calculation formula is as follows:
the left end face of the second-stage centre wheel A11 and the left end face of the second-stage centre wheel B27 both have wave number Z4Sinusoidal tracks of theta3The angle of rotation of the second stage output member (for shaft output arrangements, theta)3Represents the angle of rotation of the second-stage oscillating rack A10; for a disk output configuration, θ3Representing the angle of rotation of the second-stage center wheel B27), the parameter equation of the sine raceway theoretical tooth profile line is as follows:
for a shaft type output structure, the transmission ratio calculation formula of the transmission system is as follows:
for a disc output configuration, the transmission ratio calculation formula for the transmission system is:
θ1angle of rotation of input shaft 1, theta1、θ2、θ3The relationship between them satisfies:
θ1＝i1θ2＝i1i21θ3(shaft type output structure)
θ1＝i1θ2＝i1i22θ3(disk output structure).
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (4)
1. The utility model provides an integrated plane oscillating tooth reduction gear of doublestage based on saddle coupling which characterized in that: comprises an input shaft (1), a first shell (2), a first adjusting gasket (3), a second shell (4), a wave generator (5), a third shell (6), a first-stage oscillating tooth rack (7), a guide frame (8), a fourth shell (9), a second-stage oscillating tooth rack A (10), a second-stage central wheel A (11), an output shaft (12), a first bearing (13), a second adjusting gasket (14), a second-stage oscillating tooth (15), a second bearing (16), a first-stage oscillating tooth (17), a third bearing (18), a fourth bearing (19), a sleeve (20) and a fifth bearing (21), wherein the input shaft (1) and the wave generator (5) are fixedly connected into a whole and form a shock wave device with the same axle center, one end of the input shaft (1) extends to the outside of the first shell (2), the end surface of one end of the wave generator (5) is provided with an eccentric circular raceway; in the operation process of the mechanism, the first-stage movable rack (7), the second shell (4), the third shell (6) and the fourth shell (9) are connected together through bolts and are kept fixed; the second-stage central wheel A (11), a second adjusting gasket (14) and a fourth shell (9) are connected together through bolts and are kept stationary; z are uniformly distributed on the first stage movable rack (7) in the radial direction1Each movable tooth groove is internally provided with a first-stage movable tooth (17) which performs reciprocating linear motion and outputs power to the guide frame (8); the guide frame (8) has a wave number Z on the left end surface2The right end surface of the guide frame (8) is provided with an eccentric circular raceway; z are uniformly distributed on the second-stage movable tooth rack A (10) in the radial direction3Each movable tooth groove is internally provided with a second-stage movable tooth (15) which performs reciprocating linear motion; the output shaft (12) is fixedly connected with the second-stage oscillating rack A (10) into a whole, the left end of the output shaft (12) extends into an inner hole of the first-stage oscillating rack (7), the right end of the output shaft (12) extends into the second-stage central wheel A (11) and extends to the outside to be connected with a load, the second-stage oscillating rack A (10) is positioned through a third bearing (18) and a first bearing (13), the second-stage oscillating rack A (10) is integrally connected with the output shaft (12), the second bearing (16) supports the guide frame (8) to ensure the rotation of the guide frame (8), and the left end face of the second-stage central wheel A (11) is provided with a waveNumber Z4The rolling paths of the sinusoidal rolling paths are all trapezoidal sections, and the meshing of movable teeth is increased; by varying the thickness pretension of the first adjusting shim (3) and the second adjusting shim (14), wherein Z1、Z2、Z3、Z4Is a positive integer; the eccentric distance of an eccentric circular raceway of the end face of the wave generator (5) is alpha1Radius of the eccentric circle is b1Coefficient of shock wave lambda1＝b1/ɑ1(ii) a The eccentric circle raceway of the right end face of the guide frame (8) has an eccentric distance of alpha2Radius of the eccentric circle is b2Coefficient of shock wave lambda2＝b2/ɑ2；θ2The parameter equation of the theoretical tooth profile line of the sinusoidal raceway is as follows:
the first-stage transmission ratio calculation formula is as follows:
θ3the parameter equation of the theoretical tooth profile line of the sinusoidal raceway is that the second-stage movable tooth rack A (10) rotates by an angle:
the transmission ratio calculation formula of the transmission system is as follows:
θ1is the angle through which the input shaft (1) rotates, theta1、θ2、θ3The relationship between them satisfies:
θ1＝i1θ2＝i1i21θ3。
2. the two-stage integrated planar oscillating tooth speed reducer according to claim 1, characterized in that: the second bearing (16) is a roller bearing to ensure the guide frame (8) to run stably.
3. The utility model provides an integrated plane oscillating tooth reduction gear of doublestage based on saddle coupling which characterized in that: comprises an input shaft (1), a first shell (2), a first adjusting gasket (3), a second shell (4), a wave generator (5), a third shell (6), a first-stage movable tooth (17), a guide frame (8), a second adjusting gasket (14), a second-stage movable tooth (15), a second bearing (16), a fourth bearing (19), a sleeve (20), a fifth bearing (21), a support shaft (22), a sixth bearing (23), a seventh bearing (24), a sixth shell (25), a ball (26), a second-stage central wheel B (27), a fifth shell (28), a third adjusting gasket (29), a seventh shell (30) and a second-stage movable rack B (31), wherein the input shaft (1) and the wave generator (5) are fixedly connected into a whole, the input shaft and the wave generator (5) are coaxial and form a shock wave generator, one end of the input shaft (1) extends to the outside of the first shell (2), the end surface of one end of the wave generator (5) is provided with an eccentric circular raceway; in the operation process of the mechanism, the first-stage movable rack (7), the second shell (4), the third shell (6) and the seventh shell (30) are connected together through bolts and are kept fixed; the second-stage movable rack B (31), a seventh shell (30), a third adjusting gasket (29), a fifth shell (28), a second adjusting gasket (14) and a sixth shell (25) are connected together through bolts and are kept stationary; z are uniformly distributed on the first stage movable rack (7) in the radial direction1Each movable tooth groove is internally provided with a first-stage movable tooth (17) which makes reciprocating linear motion and outputs power to the guide frame (8); the guide frame (8) has a wave number Z on the left end surface2The right end surface of the guide frame (8) is provided with an eccentric circular raceway; z are uniformly distributed on the second-stage movable rack B (31) in the radial direction3Each movable tooth slot is internally provided with a second-stage movable tooth (15) which performs reciprocating linear motion and outputs power to a second-stage central wheel B (27) of the disc type output mechanism, and the left end surface of the second-stage central wheel B (27) has a wave number Z4The right end surface of the sine roller path is provided with a threaded holeThe output disc is used for connecting load output power, the step end face of the second-stage central wheel B (27) and the inner end face of the sixth shell (25) are provided with circular raceways, balls (26) are clamped between the circular raceways and used as plane bearings for positioning the second-stage central wheel B (27); the hole of back shaft (22) left end stretched into first order oscillating tooth frame (7), adopt clearance fit between the two, back shaft (22) right-hand member stretches into the hole of second level centre wheel B (27), and support second level centre wheel B (27) through sixth bearing (23) and seventh bearing (24), back shaft (22) support guide frame (8) through second bearing (16), back shaft (22) pass the centre bore of second level oscillating tooth frame B (31), and adopt clearance fit between the two, wherein Z1、Z2、Z3、Z4Is a positive integer; the eccentric distance of an eccentric circular raceway of the end face of the wave generator (5) is alpha1Radius of the eccentric circle is b1Coefficient of shock wave lambda1＝b1/ɑ1(ii) a The eccentric circle raceway of the right end face of the guide frame (8) has an eccentric distance of alpha2Radius of the eccentric circle is b2Coefficient of shock wave lambda2＝b2/ɑ2；θ2The parameter equation of the theoretical tooth profile line of the sinusoidal raceway is as follows:
the first-stage transmission ratio calculation formula is as follows:
θ3the parameter equation of the sine raceway theoretical tooth profile line is that the second-stage center wheel B (27) rotates by an angle:
the transmission ratio calculation formula of the transmission system is as follows:
θ1is the angle through which the input shaft (1) rotates, theta1、θ2、θ3The relationship between them satisfies: theta1＝i1θ2＝i1i22θ3。
4. The two-stage integrated planar oscillating tooth speed reducer based on the guide frame coupling according to claim 3, wherein: the sixth bearing (23) and the seventh bearing (24) both adopt tapered roller bearings, so that the rotation precision of the second-stage central wheel B (27) is improved.
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| CN111022608B (en) * | 2019-11-25 | 2021-06-08 | 燕山大学 | Two-stage sine hammer-shaped roller oscillating tooth speed reducer |
| CN111043275B (en) * | 2019-11-25 | 2021-06-22 | 燕山大学 | Small-size doublestage hammer shape roller oscillating tooth reduction gear |
| CN113775726B (en) * | 2021-09-23 | 2024-04-26 | 燕山大学 | Double-stage movable tooth speed reducer driven by eccentric circle and sinusoidal rollaway nest combination |
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