CN109780161A - Few teeth difference bipyramid tooth mechanical differential structure - Google Patents
Few teeth difference bipyramid tooth mechanical differential structure Download PDFInfo
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- CN109780161A CN109780161A CN201910254567.4A CN201910254567A CN109780161A CN 109780161 A CN109780161 A CN 109780161A CN 201910254567 A CN201910254567 A CN 201910254567A CN 109780161 A CN109780161 A CN 109780161A
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Abstract
The present invention is a kind of few teeth difference bipyramid tooth mechanical differential structure, it is related to a kind of deceleration mechanism, including deflecting bevel gear component, planet stent component, bi-bevel gear component, fixed cylinder, the deceleration mechanism does not include flexible gear, the few teeth difference differential generator of the deceleration mechanism keeps one rotation speed of bi-bevel gear and two rotation speed of bi-bevel gear unequal, and the difference of two rotation speed of one rotation speed of bi-bevel gear and bi-bevel gear is smaller, in deceleration mechanism operational process, bipyramid tooth planetary reducer is driven by few teeth difference differential generator, the difference of two revolving speed of output shaft revolving speed and one revolving speed of bi-bevel gear and bi-bevel gear of the deceleration mechanism is related, it is big with transmission ratio, output torque is big, the advantages of long service life.The deceleration mechanism has reverse self-locking function.
Description
Technical field
The present invention is a kind of few teeth difference bipyramid tooth mechanical differential structure, is related to a kind of deceleration mechanism, more particularly to one
Speed difference when kind is using a motor drive bipyramid tooth planetary reducer obtains the few teeth difference bipyramid of slow-speed of revolution output
Tooth mechanical differential structure.
Background technique
RV retarder and harmonic speed reducer are not only applicable to articulated robot, are also applied to the common machine of non-articulated robot
Tool field, RV retarder have the advantages that transmission ratio is big, output torque is big, RV reducer structure complexity, disadvantage at high cost,
Constrain the popularization and application of RV retarder.Harmonic speed reducer has the advantages that transmission ratio is big, structure is simple, harmonic speed reducer it is soft
The property strength of gear teeth is low, leads to that the output torque of harmonic speed reducer is small, service life is short.With RV retarder or harmonic speed reducer phase
Than the transmission ratio of planetary reducer is small, and turbine and worm retarder working efficiency is low, harmonic speed reducer cost ratio RV retarder
At low cost, in the standard machinery field of non-articulated robot, the application of harmonic speed reducer is more extensive.
Common harmonic speed reducer includes internal circular spline, flexible gear, wave producer, and under normal circumstances, internal circular spline is than soft
Property more two teeth of gear, wave producer rotate a circle, and the angle of two teeth of relative rotation between internal circular spline and flexible gear is interior
Tooth firm gear and the number of teeth of flexible gear are more, and the angle between internal circular spline and flexible gear when two teeth of relative rotation is smaller,
The transmission ratio of the harmonic speed reducer is bigger, but the more multiple tooth thickness of the number of teeth is smaller, and the gear teeth of internal circular spline and flexible gear are mechanical strong
Spend it is smaller, harmonic speed reducer transmitting torque it is smaller.
Currently, only turbine and worm retarder has reverse self-locking function, common RV retarder under certain condition can
Reverse self-locking, common harmonic speed reducer do not have reverse self-locking function.If retarder has reverse self-locking function, electric motor circuit breaking
The opposing torque of back loading device cannot drive retarder generate displacement, avoid because it is uncontrollable displacement caused by collide, fall with
And other accidents.
If having the advantages that, a kind of deceleration mechanism is big with transmission ratio, output torque is big, which does not have flexible gear,
And the deceleration mechanism has reverse self-locking function, then the deceleration mechanism can substitute common harmonic speed reducer applied to common machine
Tool field.
Summary of the invention
The purpose of the present invention is overcoming the flexible gear intensity of common harmonic speed reducer low, lead to the output of harmonic speed reducer
The disadvantage that torque is small, service life is short provides a kind of few teeth difference bipyramid tooth differential for having the advantages that transmission ratio is big, output torque is big
Deceleration mechanism.Embodiment of the present invention is as follows:
The deceleration mechanism includes deflecting bevel gear component, planet stent component, bi-bevel gear component, fixed cylinder, and tooth is bored in deflecting
Wheel component includes turning axis, deflecting bevel gear, axle sleeve four, planet stent component include output shaft, bevel planet gear, axle sleeve three,
Planet axis, planet stent, bi-bevel gear component include bi-bevel gear one, bi-bevel gear two, axle sleeve one, retaining ring one, pin one, axle sleeve
Two, spline, input shaft, or axle sleeve one, axle sleeve two, axle sleeve three, axle sleeve four are replaced using bearing respectively in above-mentioned component, it should
Loading ability of bearing radial load and axial load.Deflecting bevel gear component is mounted on planet stent component radial outside, and tooth is bored in deflecting
Wheel component and planet stent component are mounted on fixed cylinder radially inner side, and bi-bevel gear component is deflecting bevel gear component and planet branch
Frame component links together.The input shaft of bi-bevel gear component and the output shaft of planet stent component are coaxial.
The deceleration mechanism is in use, the output shaft of input shaft axial direction left end and motor links together, output shaft
The load device that axial right end drives with the deceleration mechanism links together.When the deceleration mechanism is run, motor drive
When input shaft is rotated along input shaft Forward to slow down direction of rotation, the deceleration mechanism is in Forward to slow down operating status, electronic
When machine drives input shaft to rotate along the opposite direction of input shaft Forward to slow down direction of rotation, the deceleration mechanism, which is in, reversely to be subtracted
Fast operating status.The deceleration mechanism is out of service, and the opposing torque that load device generates cannot be driven in the reverse direction input shaft rotation
When, the deceleration mechanism is in reverse self-locking state.
The bi-bevel gear one of the deceleration mechanism has the inside gear teeth one, the outside gear teeth one, the inside gear teeth one and the outside gear teeth
First is that the conical gear teeth, bi-bevel gear two has the inside gear teeth two, the outside gear teeth two, and the inside gear teeth two and the outside gear teeth are second is that circular cone
The shape gear teeth.The inside gear teeth one are equal with two number of teeth of the inside gear teeth, the bevel planet gear of planet stent component respectively with the inside gear teeth
One and the inside gear teeth two engage.The deflecting bevel gear of deflecting bevel gear component nibbles with the outside gear teeth one and the outside gear teeth two respectively
It closes.One number of teeth of the outside gear teeth of bi-bevel gear one and two number of teeth of the outside gear teeth of bi-bevel gear two are few teeth difference corresponding relationships, outside
The difference of two number of teeth of one number of teeth of side wheel tooth and the outside gear teeth is defined as few teeth difference one, and few teeth difference one is not less than a number of teeth, also, few
Tooth poor one is less than a quarter of two number of teeth of the outside gear teeth less than a quarter or few teeth difference one of one number of teeth of the outside gear teeth.
One number of teeth of the outside gear teeth and two number of teeth of the outside gear teeth are unequal, lead to turning axis axis and output shaft axis out of plumb, turning axis
Angle α is offset between axis and output shaft vertical line, migration included angle α is acute angle.If two tooth of the outside gear teeth of bi-bevel gear two
Number is less than one number of teeth of the outside gear teeth of bi-bevel gear one, then migration included angle α is deviated from output shaft vertical line to bi-bevel gear two,
If one number of teeth of the outside gear teeth of bi-bevel gear one is less than two number of teeth of the outside gear teeth of bi-bevel gear two, migration included angle α is from defeated
Shaft vertical line is deviated to bi-bevel gear one.
When the deceleration mechanism is run, motor drive input shaft is rotated along input shaft Forward to slow down direction of rotation, or
Person's motor drive input shaft is rotated along the opposite direction of input shaft Forward to slow down direction of rotation, and input shaft is driven by spline
The equidirectional rotation of bi-bevel gear two, the outside gear teeth two of bi-bevel gear two drive the rotation of deflecting bevel gear, and deflecting bevel gear passes through
The outside gear teeth one drive bi-bevel gear one to rotate, and one direction of rotation of bi-bevel gear and two direction of rotation of bi-bevel gear are on the contrary, few tooth
Poor one factor keeps one rotation speed of bi-bevel gear and two rotation speed of bi-bevel gear unequal, and bi-bevel gear one rotates speed
The difference of degree and two rotation speed of bi-bevel gear is smaller, bi-bevel gear one and the driving bevel planet gear rotation jointly of bi-bevel gear two,
While surrounding the rotation of planet axis axis, bevel planet gear can also revolve bevel planet gear around output shaft axis, planet cone
Gear drives planet stent slow-speed of revolution rotation, and planet stent drives the equidirectional rotation of the output shaft slow-speed of revolution by planet axis.
Axle sleeve one, axle sleeve two, axle sleeve three, axle sleeve four are cylindrical, and it is axle sleeve axis hole that radial direction is intermediate, and axial one end is axis
Cover the thrust shaft shoulder.Planet axis is cylindrical.Turning axis is cylindrical, and axial one end is turning axis positioning shaft shoulder.Planet bores tooth
It is bevel gear axis hole among wheel radial, radial outside is the gear teeth, and axial one end is gear front end face, and the axial other end is gear
Rear end face.It is bevel gear axis hole among deflecting bevel gear is radial, radial outside is the gear teeth, and axial one end is gear front end face,
The axial other end is gear rear end face.In a ring, planet stent radially inner side is rack bore to planet stent, and planet stent is radial
Inner surface is evenly distributed with several bracket mounting planes, there is a bracket fixed shaft hole at each bracket mounting plane center.
Output shaft is cylindrical, output shaft from axial one end be successively to the other end shaft part one, axle journal one, the fixed shaft shoulder,
Axle journal two, several uniformly distributed radial fixed shaft holes of fixed shaft shoulder radially-outer surface, shaft part one are radial outer close to one one end of axle journal
There is radial dowel hole one on surface, has positioning shaft shoulder one between axle journal two and the fixed shaft shoulder.
Input shaft is cylindrical, and input shaft axial direction right end is axle journal three, and three radially-outer surface of axle journal has outside keyway, input shaft
Axial left end is shaft part two, is positioning shaft shoulder two between axle journal three and shaft part two.
Retaining ring one is cylindrical, and one radial center of retaining ring is retaining ring axis hole, and one radially-outer surface of retaining ring has radial retaining ring
Pin hole.Pin one is cylindrical.Fixed cylinder is cylindrical, and fixed cylinder radially-outer surface has a cylindrical circular fixed station, fixed
Platform has radial fixed station axis hole, and fixed station axis hole is connected with fixed cylinder radially inner side.The axis of fixed station axis hole and deflecting
Axis axis is overlapped.
It is bi-bevel gear axis hole one among bi-bevel gear one is radial, bi-bevel gear one is successively inside outward from radially inner side
The gear teeth one, the outside gear teeth one, the inside gear teeth one, the outside gear teeth one are in axial the same side.There is wheel hub in the axial left end of bi-bevel gear two,
It is bi-bevel gear axis hole two among wheel hub is radial, two inner radial surface of bi-bevel gear axis hole has internal keyway, and bi-bevel gear two is axial
The intermediate radial direction of right end is axle sleeve mounting hole two, and the axial right end of bi-bevel gear two is successively the inside gear teeth outward from radially inner side
Two, the outside gear teeth two, the inside gear teeth two, the outside gear teeth two are in axial the same side.
For planet stent component in assembly, the fixation shaft shoulder that several bevel planet gears are mounted on output shaft is radial outer
Side is aligned the bevel gear axis hole of each bevel planet gear with the fixed shaft hole of output shaft, makes each bevel planet gear
Gear rear end face is located at radial outside, several axle sleeves three is separately mounted in the bevel gear axis hole of bevel planet gear, axis
The axle sleeve thrust shaft shoulder of set three and the gear rear end face contact of bevel planet gear are installed together, and planet stent are mounted on several
The axle sleeve thrust shaft shoulder grafting touching of the bracket mounting plane and axle sleeve three of planet stent is mounted on one by a three radial outside of axle sleeve
It rises, the bracket fixed shaft hole of planet stent is aligned with the axle sleeve axis hole of axle sleeve three, several planet axis are sequentially inserted into respectively
The bracket fixed shaft hole of planet stent, the axle sleeve axis hole of axle sleeve three, output shaft fixed shaft hole in, so that bevel planet gear is enclosed
It is rotated around planet axis axis.
The bevel gear axis hole of deflecting bevel gear is mounted on turning axis radial outside, made by the deceleration mechanism in assembly
The gear front end face of deflecting bevel gear is mounted on axle sleeve four cone of deflecting bevel gear close to the turning axis positioning shaft shoulder of turning axis
In gear shaft holes, contacts turning axis radially-outer surface with the axle sleeve axis hole inner radial surface of axle sleeve four and be installed together, make axis
The axle sleeve thrust shaft shoulder of set four and the gear rear end face contact of deflecting bevel gear are installed together, and do not have turning axis to determine turning axis
In the fixed station axis hole for the fixed station that one end of the position shaft shoulder is fixed on fixed cylinder, makes the axle sleeve thrust shaft shoulder of axle sleeve four and consolidate
Determine platform and be located at the end thereof contacts of fixed cylinder radially inner side to be installed together, is located at turning axis, deflecting bevel gear, axle sleeve four and fixes
Barrel dliameter inwardly, enables deflecting bevel gear to rotate around turning axis axis.
Planet stent component is mounted on fixed cylinder radially inner side, bi-bevel gear one is mounted on the axis of planet stent component
To the right, one diameter of axle journal for making the bi-bevel gear axis hole one of bi-bevel gear one be mounted on the output shaft of planet stent component is outside
Side, engages the inside gear teeth one of bi-bevel gear one with the bevel planet gear of planet stent component, and axle sleeve one is mounted on output
One radially-outer surface of axle journal of axis makes one inner radial surface of bi-bevel gear axis hole of one radially-outer surface of axle sleeve Yu bi-bevel gear one
Contact is installed together, and installs the axle sleeve thrust shaft shoulder of axle sleeve one and bi-bevel gear one without the end thereof contacts of the inside gear teeth one
Together, retaining ring one is mounted on one radially-outer surface of shaft part of output shaft, pin one is mounted in the retaining ring pin hole of retaining ring one
In the dowel hole one of output shaft.Axle sleeve two is mounted on two radially-outer surface of axle journal of output shaft, makes the axle sleeve of axle sleeve two
The thrust shaft shoulder is contacted with the positioning shaft shoulder one of output shaft and is installed together.
Input shaft is mounted on the axial left side of planet stent component, spline is mounted in the outside keyway of input shaft,
Bi-bevel gear two is mounted on the axial left side of planet stent component, makes the inside gear teeth two and planet stent component of bi-bevel gear two
Bevel planet gear engagement, so that the bi-bevel gear axis hole two of bi-bevel gear two is mounted on three radially-outer surface of axle journal of input shaft,
It is mounted on spline in the internal keyway of bi-bevel gear two, so that the axle sleeve mounting hole two of bi-bevel gear two is mounted on two diameter of axle sleeve outside
Surface, the end thereof contacts for making the axle sleeve thrust shaft shoulder of axle sleeve two and bi-bevel gear two have the inside gear teeth two are installed together.
Deflecting bevel gear component is mounted on the radial outside of planet stent component, also, deflecting bevel gear component is installed
Position between two axial direction of bi-bevel gear one and bi-bevel gear, the deflecting bevel gear of deflecting bevel gear component respectively with bipyramid tooth
The outside gear teeth one of wheel one and the outside gear teeth two of bi-bevel gear two engage.Fixed cylinder is fixed not after the deceleration mechanism assembly
Dynamic, the deflecting bevel gear of deflecting bevel gear component only surrounds the one degree of freedom of turning axis axis rotation.
One group of bi-bevel gear two, bevel planet gear, planet axis, planet stent, the bi-bevel gear of the deceleration mechanism is in pairs
Tooth planetary reducer is bored, the driving link of bipyramid tooth planetary reducer is first is that bi-bevel gear one, driving link is second is that bipyramid
Gear two, driven member are planet stents.Bipyramid tooth planetary reducer does deceleration transmission.One direction of rotation of bi-bevel gear and double
Two direction of rotation of bevel gear is opposite.One rotation speed of bi-bevel gear and two rotation speed of bi-bevel gear are unequal, bevel planet gear
While surrounding the rotation of planet axis axis, bevel planet gear can also revolve around output shaft axis, bevel planet gear driving row
Prong frame slow-speed of revolution rotation, planet stent rotation speed be equal to one rotation speed of bi-bevel gear and two rotation speed of bi-bevel gear it
Absolute value of the difference.If two number of teeth of the outside gear teeth of bi-bevel gear two is less than one number of teeth of the outside gear teeth of bi-bevel gear one, bipyramid
Two rotation speed of gear is greater than one rotation speed of bi-bevel gear, planet stent direction of rotation and two direction of rotation phase of bi-bevel gear
Together.If one number of teeth of the outside gear teeth of bi-bevel gear one is less than two number of teeth of the outside gear teeth of bi-bevel gear two, bi-bevel gear one is revolved
Rotary speed is greater than two rotation speed of bi-bevel gear, and planet stent direction of rotation is identical as one direction of rotation of bi-bevel gear.
The outside gear teeth of the outside gear teeth two and bi-bevel gear one of deflecting bevel gear and bi-bevel gear two are altogether the same as composition
One few teeth difference differential generator forms the speed reducer by few teeth difference differential generator driving bipyramid tooth planetary reducer
Structure.
Deceleration mechanism operational process is:
When the deceleration mechanism Forward to slow down operating status, motor drive input shaft around output shaft axis along input shaft just
To being rotated in deceleration, direction rotates, input shaft by spline drive bi-bevel gear two around output shaft axis along bi-bevel gear two just
To being rotated in deceleration, direction rotates, and at the same time, the outside gear teeth two of bi-bevel gear two drive deflecting bevel gear to surround turning axis axis
Line is rotated along deflecting bevel gear Forward to slow down direction of rotation, and deflecting bevel gear drives bi-bevel gear one to enclose by the outside gear teeth one
It is rotated around output shaft axis along one Forward to slow down direction of rotation of bi-bevel gear, one direction of rotation of bi-bevel gear and bi-bevel gear two
Direction of rotation on the contrary, and the factor of few teeth difference one make one rotation speed of bi-bevel gear and two rotation speed of bi-bevel gear not phase
Deng if two rotation speed of bi-bevel gear is greater than one rotation speed of bi-bevel gear, bi-bevel gear one and the driving jointly of bi-bevel gear two
Bevel planet gear surrounds planet axis axis along the direction of rotation rotation of bevel planet gear Forward to slow down, in order to offset bi-bevel gear one
Drive the speed difference of bevel planet gear jointly with bi-bevel gear two, bevel planet gear can also revolve around output shaft axis, planet
Bevel gear driving planet stent slow-speed of revolution rotation, planet stent rotation speed are equal to two rotation speed of bi-bevel gear and bi-bevel gear
The difference of one rotation speed.Planet stent Forward to slow down direction of rotation is identical as two Forward to slow down direction of rotation of bi-bevel gear, planet
Bracket drives the equidirectional rotation of the output shaft slow-speed of revolution by planet axis.
The deceleration mechanism reversely run slowly state when, motor drive input shaft around output shaft axis along input
Axis Forward to slow down direction of rotation opposite direction rotation, input shaft by spline drive bi-bevel gear two surround output shaft axis along
The direction that is reversely rotated in deceleration of bi-bevel gear two rotates, and at the same time, the outside gear teeth two of bi-bevel gear two drive deflecting bevel gear
It is rotated around turning axis axis along deflecting bevel gear Forward to slow down direction of rotation opposite direction, deflecting bevel gear passes through outboard wheel
Tooth one drives bi-bevel gear one to rotate around output shaft axis along the direction that is reversely rotated in deceleration of bi-bevel gear one, bi-bevel gear one
Direction of rotation and two direction of rotation of bi-bevel gear on the contrary, and the factor of few teeth difference one make one rotation speed of bi-bevel gear and bipyramid
Two rotation speed of gear is unequal, if two rotation speed of bi-bevel gear is greater than one rotation speed of bi-bevel gear, one He of bi-bevel gear
Driving bevel planet gear is reversely rotated in deceleration direction rotation bi-bevel gear two around planet axis axis along bevel planet gear jointly,
In order to offset the speed difference that bi-bevel gear one and bi-bevel gear two drive bevel planet gear jointly, bevel planet gear can also surround defeated
The revolution of shaft axis, bevel planet gear drive planet stent slow-speed of revolution rotation, and planet stent rotation speed is equal to bi-bevel gear two
The difference of one rotation speed of rotation speed and bi-bevel gear.Reversely be rotated in deceleration direction and bi-bevel gear two of planet stent is reversely slowed down
Direction of rotation is identical, and planet stent drives the equidirectional rotation of the output shaft slow-speed of revolution by planet axis.
When the deceleration mechanism reverse self-locking state, electric motor circuit breaking, the opposing torque that load device generates makes output shaft
There is rotating tendency, opposing torque passes sequentially through output shaft, planet axis, planet stent, bevel planet gear and respectively drives bi-bevel gear
One and bi-bevel gear two, torque direction one and anti-when opposing torque drives the reverse self-locking of bi-bevel gear one by bevel planet gear
Torque direction two is identical when driving the reverse self-locking of bi-bevel gear two by bevel planet gear to torque, bi-bevel gear one and bipyramid
Gear two drives the deflecting bevel gear of deflecting bevel gear component to rotate around output shaft axis jointly, due to deflecting bevel gear component
Deflecting bevel gear only surround the one degree of freedom of turning axis axis rotation, turning axis and deflecting bevel gear prevent opposing torque
It drives the deceleration mechanism to rotate, realizes deceleration mechanism reverse self-locking.
The deceleration mechanism does not include flexible gear, and the few teeth difference differential generator of the deceleration mechanism makes bi-bevel gear one
Rotation speed and two rotation speed of bi-bevel gear are unequal, and one rotation speed of bi-bevel gear and two rotation speed of bi-bevel gear
Difference it is smaller, in deceleration mechanism operational process, by few teeth difference differential generator drive bipyramid tooth planetary reducer, institute
It is related to state the difference of two revolving speed of output shaft revolving speed and one revolving speed of bi-bevel gear and bi-bevel gear of deceleration mechanism, big with transmission ratio,
The advantages of output torque is big, long service life.The deceleration mechanism has reverse self-locking function.
Detailed description of the invention
Fig. 1 is the axonometric drawing of the deceleration mechanism.
Fig. 2 is the isometric cutaway view of the deceleration mechanism.
Fig. 3 is the isometric cutaway view of fixed cylinder.
Fig. 4 is the isometric cutaway view that deflecting bevel gear component, bi-bevel gear component, planet stent component are installed together.
Fig. 5 is the isometric cutaway view of planet stent component.
Fig. 6 is the axonometric drawing of output shaft.
Fig. 7 is the axonometric drawing of planet stent.
Fig. 8 is the axonometric drawing of bevel planet gear or deflecting bevel gear.
Fig. 9 is the axonometric drawing of planet axis.
Figure 10 is the axonometric drawing of axle sleeve one or axle sleeve two or axle sleeve three or axle sleeve four.
Figure 11 is the isometric cutaway view of deflecting bevel gear component.
Figure 12 is the axonometric drawing of retaining ring one.
Figure 13 is the isometric cutaway view of bi-bevel gear one.
Figure 14 is the isometric cutaway view of bi-bevel gear two.
When Figure 15 is the deceleration mechanism Forward to slow down operating status, bi-bevel gear component and the driving of deflecting bevel gear component
The schematic diagram of planet stent component rotation.
When Figure 16 is the deceleration mechanism reverse self-locking state, deflecting bevel gear component, bi-bevel gear component, planet stent
The schematic diagram of moment conditions between component.
When Figure 17 is the deceleration mechanism Forward to slow down operating status, bi-bevel gear one and bi-bevel gear two drive planet branch
The schematic diagram of frame component rotation.U II is greater than U I in figure, then U III is identical as II direction of rotation U.
Figure 18 be the deceleration mechanism reversely run slowly state when, bi-bevel gear one and bi-bevel gear two drive planet branch
The schematic diagram of frame component rotation.U II is greater than U I in figure, then U III is identical as II direction of rotation U.
Figure 19 is the deceleration mechanism along axis cut-away illustration.
Figure 20 is the axonometric drawing of input shaft.
U I is the linear velocity of the inside gear teeth one division circle position rotation of bi-bevel gear one in figure, and U II is bi-bevel gear two
Two reference circle position of the inside gear teeth rotation linear velocity, U III is to divide on planet stent with the inside gear teeth one of bi-bevel gear one
Spend radius of circle it is equal or with bi-bevel gear two two reference radius of the inside gear teeth it is equal position rotation linear velocity.α is
Migration included angle α between turning axis axis and output shaft vertical line.
Bi-bevel gear 1, bevel planet gear 2, axle sleeve 33, planet axis axis 4, planet axis 5, planet branch are labeled in figure
It is frame 6, bi-bevel gear 27, axle sleeve 28, spline 9, input shaft 10, output shaft axis 11, turning axis 12, turning axis axis 13, defeated
Shaft vertical line 14, deflecting bevel gear 15, output shaft 16, pin 1, retaining ring 1, axle sleeve 1, shaft part 1, dowel hole
One 21, axle journal 1, fixed shaft hole 23, the fixed shaft shoulder 24, axle journal 2 25, positioning shaft shoulder 1, shaft part 2 27, bracket installation are flat
Face 28, rack bore 29, bracket fixed shaft hole 30, bevel gear axis hole 31, gear rear end face 32, the axle sleeve thrust shaft shoulder 33, axle sleeve
Axis hole 34, retaining ring pin hole 35, retaining ring axis hole 36, bi-bevel gear axis hole 1, the inside gear teeth 1, the outside gear teeth 1, bipyramid
Tooth is bored in gear shaft holes 2 40, the inside gear teeth 2 41, the outside gear teeth 2 42, deflecting bevel gear Forward to slow down direction of rotation 43, deflecting
Take turns rotational trajectory 44, two Forward to slow down direction of rotation 45 of bi-bevel gear, two rotational trajectory 46 of bi-bevel gear, one forward direction of bi-bevel gear
Be rotated in deceleration direction 47, one rotational trajectory 48 of bi-bevel gear, reverse self-locking when torque direction 2 49, reverse self-locking when torque direction
One 50, planet stent Forward to slow down direction of rotation 51, planet stent rotational trajectory 52, bevel planet gear Forward to slow down direction of rotation
53, be reversely rotated in deceleration direction 55, bi-bevel gear two of bevel planet gear rotational trajectory 54, planet stent is reversely rotated in deceleration direction
56, be reversely rotated in deceleration direction 57, bi-bevel gear one of bevel planet gear is reversely rotated in deceleration direction 58, axle journal 3 59, outside keyway
60, positioning shaft shoulder 2 61, wheel hub 62, internal keyway 63, axle sleeve mounting hole 2 64, axle sleeve 4 65, fixed cylinder 66, fixed station 67, solid
Determine platform axis hole 68, turning axis positioning shaft shoulder 69, input shaft Forward to slow down direction of rotation 70, input shaft rotational trajectory 71.
Specific embodiment
The present invention is further discussed below with reference to the accompanying drawing.
Referring to Fig.1, Fig. 2, Figure 19, the deceleration mechanism include deflecting bevel gear component, planet stent component, bi-bevel gear
Component, fixed cylinder 66, deflecting bevel gear component include turning axis 12, deflecting bevel gear 15, axle sleeve 4 65, planet stent component packet
Include output shaft 16, bevel planet gear 2, axle sleeve 33, planet axis 5, planet stent 6, bi-bevel gear component include bi-bevel gear 1,
Bi-bevel gear 27, axle sleeve 1, retaining ring 1, pin 1, axle sleeve 28, spline 9, input shaft 10, or in above-mentioned component
Replace axle sleeve 1, axle sleeve 28, axle sleeve 33, axle sleeve 4 65 respectively using bearing, which bears with axial
Lotus.Deflecting bevel gear component is mounted on planet stent component radial outside, deflecting bevel gear component and the installation of planet stent component
In 66 radially inner side of fixed cylinder, bi-bevel gear component links together deflecting bevel gear component and planet stent component.Bipyramid
The input shaft 10 of geared parts and the output shaft 16 of planet stent component are coaxial.
The deceleration mechanism exports in use, the output shaft of the axial left end of input shaft 10 and motor links together
The load device that the axial right end of axis 16 drives with the deceleration mechanism links together.When the deceleration mechanism is run, motor
When input shaft 10 being driven to rotate along input shaft Forward to slow down direction of rotation 70, the deceleration mechanism is in Forward to slow down operation shape
State, when motor drive input shaft 10 is rotated along the opposite direction of input shaft Forward to slow down direction of rotation 70, the speed reducer
Structure is in the state that reversely runs slowly.The deceleration mechanism is out of service, and the opposing torque that load device generates cannot reversely drive
When driven input shaft 10 rotates, the deceleration mechanism is in reverse self-locking state.
The bi-bevel gear 1 of the deceleration mechanism has inside a gear teeth 1, the outside gear teeth 1, the inside gear teeth 1 and outer
Side wheel tooth 1 is the conical gear teeth, and bi-bevel gear 27 has the inside gear teeth 2 41, the outside gear teeth 2 42,2 41 He of the inside gear teeth
The outside gear teeth 2 42 are the conical gear teeth.The inside gear teeth 1 are equal with 2 41 number of teeth of the inside gear teeth, the row of planet stent component
Star bevel gear 2 engages with the inside gear teeth 1 and the inside gear teeth 2 41 respectively.The deflecting bevel gear 15 of deflecting bevel gear component is divided
It is not engaged with the outside gear teeth 1 and the outside gear teeth 2 42.One 39 number of teeth of the outside gear teeth and bi-bevel gear 27 of bi-bevel gear 1
2 42 number of teeth of the outside gear teeth be few teeth difference corresponding relationship, the difference definition of 2 42 number of teeth of one 39 number of teeth of the outside gear teeth and the outside gear teeth
For few teeth difference one, few teeth difference one is not less than a number of teeth, also, few teeth difference one be less than one 39 number of teeth of the outside gear teeth four/
One or few teeth difference one be less than 2 42 number of teeth of the outside gear teeth a quarter.One 39 number of teeth of the outside gear teeth and the outside gear teeth 2 42
The number of teeth is unequal, leads to turning axis axis 13 and 11 out of plumb of output shaft axis, turning axis axis 13 and output shaft vertical line 14
Between offset angle α, migration included angle α is acute angle.If 2 42 number of teeth of the outside gear teeth of bi-bevel gear 27 is less than bi-bevel gear one
1 one 39 number of teeth of the outside gear teeth, then migration included angle α is deviated from output shaft vertical line 14 to bi-bevel gear 27, if bi-bevel gear
One 1 one 39 number of teeth of the outside gear teeth is less than 2 42 number of teeth of the outside gear teeth of bi-bevel gear 27, then migration included angle α is from output shaft
Vertical line 14 is deviated to bi-bevel gear 1.
When the deceleration mechanism is run, motor drive input shaft 10 is revolved along input shaft Forward to slow down direction of rotation 70
Turn or motor drive input shaft 10 is rotated along the opposite direction of input shaft Forward to slow down direction of rotation 70, input shaft 10
The equidirectional rotation of bi-bevel gear 27 is driven by spline 9, the outside gear teeth 2 42 of bi-bevel gear 27 drive deflecting bevel gear 15
Rotation, deflecting bevel gear 15 drive bi-bevel gear 1 to rotate by the outside gear teeth 1, one 1 direction of rotation of bi-bevel gear and double
27 direction of rotation of bevel gear is on the contrary, the factor of few teeth difference one makes one 1 rotation speed of bi-bevel gear and bi-bevel gear 27 rotate speed
Spend unequal, and the difference of 27 rotation speed of one 1 rotation speed of bi-bevel gear and bi-bevel gear is smaller, bi-bevel gear 1 and double
Driving bevel planet gear 2 rotates bevel gear 27 jointly, and bevel planet gear 2 is while surrounding 4 rotation of planet axis axis, planet
Bevel gear 2 can also revolve around output shaft axis 11, and bevel planet gear 2 drives 6 slow-speed of revolution of planet stent rotation, planet stent 6
The equidirectional rotation of 16 slow-speed of revolution of output shaft is driven by planet axis 5.
Referring to figs. 1 to Figure 14, Figure 20, axle sleeve 1, axle sleeve 28, axle sleeve 33, axle sleeve 4 65 are cylindrical, in radial direction
Between be axle sleeve axis hole 34, axial one end is the axle sleeve thrust shaft shoulder 33.Planet axis 5 is cylindrical.Turning axis 12 is cylindrical, axis
It is turning axis positioning shaft shoulder 69 to one end.It is bevel gear axis hole 31 among bevel planet gear 2 is radial, radial outside is the gear teeth,
Axial one end is gear front end face, and the axial other end is gear rear end face 32.It is bevel gear shaft among deflecting bevel gear 15 is radial
Hole 31, radial outside are the gear teeth, and axial one end is gear front end face, and the axial other end is gear rear end face 32.Planet stent 6
In a ring, 6 radially inner side of planet stent is rack bore 29, and it is flat that 6 inner radial surface of planet stent is evenly distributed with the installation of several brackets
There is a bracket fixed shaft hole 30 at face 28, each 28 center of bracket mounting plane.
Output shaft 16 is cylindrical, and output shaft 16 is successively shaft part 1 to the other end, axle journal 1, consolidates from axial one end
Dead axle shoulder 24, axle journal 2 25, several uniformly distributed radial fixed shaft holes 23 of fixed 24 radially-outer surface of the shaft shoulder, shaft part 1 are close
One 22 one end radially-outer surface of axle journal has radial dowel hole 1, has positioning shaft shoulder between axle journal 2 25 and the fixed shaft shoulder 24
One 26.
Input shaft 10 is cylindrical, and the axial right end of input shaft 10 is axle journal 3 59, and 3 59 radially-outer surface of axle journal has external key
Slot 60, it is positioning shaft shoulder 2 61 between axle journal 3 59 and shaft part 2 27 that the axial left end of input shaft 10, which is shaft part 2 27,.
Retaining ring 1 is cylindrical, and one 18 radial center of retaining ring is retaining ring axis hole 36, and one 18 radially-outer surface of retaining ring has diameter
To retaining ring pin hole 35.Pin 1 is cylindrical.Fixed cylinder 66 is cylindrical, and it is in cylinder that 66 radially-outer surface of fixed cylinder, which has one,
The fixed station 67 of shape, fixed station 67 have radial fixed station axis hole 68, and fixed station axis hole 68 is connected with 66 radially inner side of fixed cylinder
It is logical.The axis of fixed station axis hole 68 is overlapped with turning axis axis 13.
It is bi-bevel gear axis hole 1 among bi-bevel gear 1 is radial, bi-bevel gear 1 is successively outward from radially inner side
The inside gear teeth 1, the outside gear teeth 1, the inside gear teeth 1, the outside gear teeth 1 are in axial the same side.27 axis of bi-bevel gear
There is wheel hub 62 to left end, intermediate 62 radial direction of wheel hub is bi-bevel gear axis hole 2 40, and 2 40 inner radial surface of bi-bevel gear axis hole has
Internal keyway 63, the axial right end of bi-bevel gear 27 it is radial it is intermediate be axle sleeve mounting hole 2 64, the axial right end of bi-bevel gear 27 from
Radially inner side is successively the inside gear teeth 2 41, the outside gear teeth 2 42 outward, and the inside gear teeth 2 41, the outside gear teeth 2 42 are axial same
Side.
Planet stent component is mounted on several bevel planet gears 2 in 24 diameter of the fixation shaft shoulder of output shaft 16 in assembly
Outward, the bevel gear axis hole 31 of each bevel planet gear 2 is aligned with the fixed shaft hole 23 of output shaft 16, makes each row
The gear rear end face 32 of star bevel gear 2 is located at radial outside, several axle sleeves 33 is separately mounted to the cone of bevel planet gear 2
In gear shaft holes 31, the axle sleeve thrust shaft shoulder 33 of axle sleeve 33 is contacted with the gear rear end face 32 of bevel planet gear 2 and is mounted on one
It rises, planet stent 6 is mounted on several 33 radial outsides of axle sleeve, the bracket mounting plane 28 and axle sleeve three of planet stent 6
3 contact of the axle sleeve thrust shaft shoulder 33 is installed together, the bracket fixed shaft hole 30 of planet stent 6 and the axle sleeve axis of axle sleeve 33
Hole 34 is aligned, several planet axis 5 are sequentially inserted into the bracket fixed shaft hole 30 of planet stent 6, the axle sleeve axis of axle sleeve 33 respectively
Hole 34, output shaft 16 fixed shaft hole 23 in, enable bevel planet gear 2 around planet axis axis 4 rotate.
It is outside to be mounted on 12 diameter of turning axis in assembly by the deceleration mechanism for the bevel gear axis hole 31 of deflecting bevel gear 15
Side makes the gear front end face of deflecting bevel gear 15 close to the turning axis positioning shaft shoulder 69 of turning axis 12, axle sleeve 4 65 is mounted on
In the bevel gear axis hole 31 of deflecting bevel gear 15, keep 12 radially-outer surface of turning axis and 34 diameter of axle sleeve axis hole of axle sleeve 4 65 inside
Surface contact is installed together, and contacts the axle sleeve thrust shaft shoulder 33 of axle sleeve 4 65 with the gear rear end face 32 of deflecting bevel gear 15
It is installed together, turning axis 12 is fixed on without one end of turning axis positioning shaft shoulder 69 fixed station 67 of fixed cylinder 66
In fixed station axis hole 68, the axle sleeve thrust shaft shoulder 33 of axle sleeve 4 65 and fixed station 67 is made to be located at one end of 66 radially inner side of fixed cylinder
Contact is installed together, and so that turning axis 12, deflecting bevel gear 15, axle sleeve 4 65 is located at 66 radially inner side of fixed cylinder, is bored deflecting
Gear 15 can be rotated around turning axis axis 13.
Planet stent component is mounted on 66 radially inner side of fixed cylinder, bi-bevel gear 1 is mounted on planet stent component
Axial right side, so that the bi-bevel gear axis hole 1 of bi-bevel gear 1 is mounted on the axle journal of the output shaft 16 of planet stent component
One 22 radial outsides engage the inside gear teeth 1 of bi-bevel gear 1 with the bevel planet gear 2 of planet stent component, axis
One 19 one 22 radially-outer surfaces of axle journal for being mounted on output shaft 16 are covered, one 19 radially-outer surface of axle sleeve and bi-bevel gear 1 are made
The contact of one 37 inner radial surface of bi-bevel gear axis hole is installed together, and makes the axle sleeve thrust shaft shoulder 33 and bi-bevel gear of axle sleeve 1
One 1 are installed together without the end thereof contacts of the inside gear teeth 1, retaining ring 1 are mounted on one 20 diameter of shaft part of output shaft 16
Exterior surface, pin 1 be mounted in the retaining ring pin hole 35 of retaining ring 1 and the dowel hole 1 of output shaft 16 in.Axis
282 25 radially-outer surfaces of axle journal for being mounted on output shaft 16 are covered, the axle sleeve thrust shaft shoulder 33 of axle sleeve 28 and output shaft 16 are made
The contact of positioning shaft shoulder 1 is installed together.
Input shaft 10 is mounted on the axial left side of planet stent component, spline 9 is mounted on the outside keyway of input shaft 10
In 60, bi-bevel gear 27 is mounted on the axial left side of planet stent component, make the inside gear teeth 2 41 of bi-bevel gear 27 with
The bevel planet gear 2 of planet stent component engages, and the bi-bevel gear axis hole 2 40 of bi-bevel gear 27 is made to be mounted on input shaft 10
3 59 radially-outer surface of axle journal, is mounted on spline 9 in the internal keyway 63 of bi-bevel gear 27, pacifies the axle sleeve of bi-bevel gear 27
Dress hole 2 64 is mounted on 28 radially-outer surface of axle sleeve, and the axle sleeve thrust shaft shoulder 33 of axle sleeve 28 and bi-bevel gear 27 is made to have inside
The end thereof contacts of the gear teeth 2 41 are installed together.
Deflecting bevel gear component is mounted on the radial outside of planet stent component, also, deflecting bevel gear component is installed
Position between 27 axial direction of bi-bevel gear 1 and bi-bevel gear, the deflecting bevel gear 15 of deflecting bevel gear component respectively with it is double
The outside gear teeth 1 of bevel gear 1 and the outside gear teeth 2 42 of bi-bevel gear 27 engage.It is solid after the deceleration mechanism assembly
Safety barrel 66 is fixed, and the deflecting bevel gear 15 of deflecting bevel gear component only has the freedom rotated around turning axis axis 13
Degree.
One 1 groups of bi-bevel gear 27, bevel planet gear 2, planet axis 5, planet stent 6, the bi-bevel gear of the deceleration mechanism
At bipyramid tooth planetary reducer, the driving link of bipyramid tooth planetary reducer first is that bi-bevel gear 1, driving link second is that
Bi-bevel gear 27, driven member are planet stents 6.Bipyramid tooth planetary reducer does deceleration transmission.Bi-bevel gear 1 rotates
Direction is opposite with 27 direction of rotation of bi-bevel gear.One 5 rotation speed of bi-bevel gear and 2 14 rotation speed of bi-bevel gear not phase
Deng, bevel planet gear 2 while surrounding 4 rotation of planet axis axis, bevel planet gear 2 can also be public around output shaft axis 11
Turn, bevel planet gear 2 drives 6 slow-speed of revolution of planet stent rotation, and 6 rotation speed of planet stent is equal to the rotation speed of bi-bevel gear 1
The absolute value of the difference of degree and 27 rotation speed of bi-bevel gear.If 2 42 number of teeth of the outside gear teeth of bi-bevel gear 27 is less than bipyramid tooth
One 1 one 39 number of teeth of the outside gear teeth is taken turns, then 27 rotation speed of bi-bevel gear is greater than one 1 rotation speed of bi-bevel gear, planet stent
6 direction of rotation are identical as 27 direction of rotation of bi-bevel gear.If one 39 number of teeth of the outside gear teeth of bi-bevel gear 1 is less than bipyramid tooth
272 42 number of teeth of the outside gear teeth is taken turns, then one 1 rotation speed of bi-bevel gear is greater than 27 rotation speed of bi-bevel gear, planet stent
6 direction of rotation are identical as one 1 direction of rotation of bi-bevel gear.
Deflecting bevel gear 15 and the outside gear teeth 2 42 of bi-bevel gear 27 and the outside gear teeth 1 of bi-bevel gear 1
A few teeth difference differential generator is collectively constituted, institute is formed by few teeth difference differential generator driving bipyramid tooth planetary reducer
State deceleration mechanism.
Referring to Fig.1, to Figure 19, deceleration mechanism operational process is by Fig. 2, Figure 15:
When the deceleration mechanism Forward to slow down operating status, motor drive input shaft 10 is around output shaft axis 11 along input
Axis Forward to slow down direction of rotation 70 rotate, input shaft 10 by spline 9 drive bi-bevel gear 27 around output shaft axis 11 along
The rotation of two Forward to slow down direction of rotation 45 of bi-bevel gear, at the same time, the outside gear teeth 2 42 of bi-bevel gear 27 drive deflecting cone
Gear 15 is rotated around turning axis axis 13 along deflecting bevel gear Forward to slow down direction of rotation 43, and deflecting bevel gear 15 passes through outer
Side wheel tooth 1 drives bi-bevel gear 1 to revolve around output shaft axis 11 along one Forward to slow down direction of rotation 47 of bi-bevel gear
Turn, one 1 direction of rotation of bi-bevel gear and 27 direction of rotation of bi-bevel gear on the contrary, and the factor of few teeth difference one make bi-bevel gear
One 1 rotation speeds and 27 rotation speed of bi-bevel gear are unequal, if 27 rotation speed of bi-bevel gear is revolved greater than bi-bevel gear 1
Driving bevel planet gear 2 surrounds planet axis axis 4 along planet cone tooth jointly for rotary speed, bi-bevel gear 1 and bi-bevel gear 27
53 rotation of Forward to slow down direction of rotation is taken turns, in order to offset bi-bevel gear 1 and bi-bevel gear 27 driving bevel planet gear 2 jointly
Speed difference, bevel planet gear 2 can also around output shaft axis 11 revolve, bevel planet gear 2 drive 6 slow-speed of revolution of planet stent rotation
Turn, 6 rotation speed of planet stent is equal to the difference of one 1 rotation speed of 27 rotation speed of bi-bevel gear and bi-bevel gear.Planet stent
Forward to slow down direction of rotation 51 is identical as two Forward to slow down direction of rotation 45 of bi-bevel gear, and planet stent 6 is driven by planet axis 5
The equidirectional rotation of 16 slow-speed of revolution of output shaft.
The deceleration mechanism reversely run slowly state when, motor drive input shaft 10 around output shaft axis 11 along
The rotation of 70 opposite direction of input shaft Forward to slow down direction of rotation, input shaft 10 drive bi-bevel gear 27 around output by spline 9
Axis axis 11 along bi-bevel gear two be reversely rotated in deceleration direction 56 rotate, at the same time, the outside gear teeth two of bi-bevel gear 27
42 driving deflecting bevel gears 15 are revolved around turning axis axis 13 along 43 opposite direction of deflecting bevel gear Forward to slow down direction of rotation
Turn, deflecting bevel gear 15 drives bi-bevel gear 1 around output shaft axis 11 along bi-bevel gear one by the outside gear teeth 1
Reversely be rotated in deceleration the rotation of direction 58, and one 1 direction of rotation of bi-bevel gear and 27 direction of rotation of bi-bevel gear are on the contrary, and lack tooth
Poor one factor keeps one 1 rotation speed of bi-bevel gear and 27 rotation speed of bi-bevel gear unequal, if bi-bevel gear 27 rotates
Speed is greater than one 1 rotation speed of bi-bevel gear, and driving bevel planet gear 2 surrounds row jointly for bi-bevel gear 1 and bi-bevel gear 27
Star axis axis 4 is reversely rotated in deceleration 57 rotation of direction along bevel planet gear, in order to offset bi-bevel gear 1 and bi-bevel gear two
The speed difference of 7 common driving bevel planet gears 2, bevel planet gear 2 can also revolve around output shaft axis 11, bevel planet gear 2
6 slow-speed of revolution of planet stent rotation is driven, 6 rotation speed of planet stent is equal to 27 rotation speed of bi-bevel gear and bi-bevel gear 1
The difference of rotation speed.Planet stent direction 55 and bi-bevel gear two direction 56 that is reversely rotated in deceleration that is reversely rotated in deceleration is identical, row
Prong frame 6 drives the equidirectional rotation of 16 slow-speed of revolution of output shaft by planet axis 5.
When the deceleration mechanism reverse self-locking state, electric motor circuit breaking, the opposing torque that load device generates makes output shaft
16 have a rotating tendency, opposing torque pass sequentially through output shaft 16, planet axis 5, planet stent 6, bevel planet gear 2 respectively drive it is double
Bevel gear 1 and bi-bevel gear 27, torque when opposing torque drives the reverse self-locking of bi-bevel gear 1 by bevel planet gear 2
Torque direction 2 49 is identical when direction 1 drives the reverse self-locking of bi-bevel gear 27 by bevel planet gear 2 with opposing torque,
Bi-bevel gear 1 and bi-bevel gear 27 drive the deflecting bevel gear 15 of deflecting bevel gear component to surround output shaft axis 11 jointly
Rotation becomes since the deflecting bevel gear 15 of deflecting bevel gear component only has the one degree of freedom rotated around turning axis axis 13
It prevents opposing torque from driving the deceleration mechanism rotation to axis 12 and deflecting bevel gear 15, realizes the deceleration mechanism reversely certainly
Lock.
By taking gear parameter each in illustrations as an example, if the transmission ratio i ' of the deceleration mechanism, if planet stent 6 revolves
Rotary speed Δ n, 16 rotation speed of output shaft are equal to 6 rotation speed Δ n of planet stent.If few teeth difference one is a number of teeth, each
Module m is equal to 2.5 millimeters, and 10 rotation speed of input shaft is equal to reference rotation speed n ', then 27 rotation speed of bi-bevel gear is equal to
Reference rotation speed n ', then outside 2 42 rotation speed of the gear teeth is equal to reference rotation speed n ', and the gear teeth one 39 tooth number Z 1 in outside is equal to 55, outside
2 42 tooth number Z 2 of the gear teeth is equal to 54, and 15 tooth number Z 3 of deflecting bevel gear is equal to 24, if 15 rotation speed X of deflecting bevel gear, due to phase
The number of teeth of two gears mutually engaged is inversely proportional with revolving speed, then equation is: 15 tooth number Z 3 of deflecting bevel gear is divided by the outside gear teeth two
42 tooth number Zs 2 are equal to the reference rotation speed n ' of the outside gear teeth 2 42 divided by 15 rotation speed X of deflecting bevel gear, then deflecting bevel gear 15
Rotation speed X is equal to 2.25 times of reference rotation speed n '.
I.e. equation is Z3 ÷ Z2=n ' ÷ X, brings 24 ÷ 54=n ' ÷ X of numerical value into, then X=2.25n '.
The gear teeth 2 42 rotation speed in outside is equal to reference rotation speed n ', and 15 rotation speed X of deflecting bevel gear is equal to 2.25 times of bases
Quasi- revolving speed n ', if one 39 rotation speed Y of the outside gear teeth, since the number of teeth of intermeshing two gears is inversely proportional with revolving speed, then
Equation is: one 39 tooth number Z 1 of the outside gear teeth divided by 15 tooth number Z 3 of deflecting bevel gear be equal to 15 rotation speed X of deflecting bevel gear divided by
One 39 rotation speed Y of the outside gear teeth, then outside one 39 rotation speed Y of the gear teeth is equal to 0.9818 times of reference rotation speed n '.
I.e. equation is Z1 ÷ Z3=X ÷ Y, brings 55 ÷ 24=X ÷ Y=2.25n ' ÷ Y of numerical value into, then Y=0.9818n '.
The gear teeth 2 42 rotation speed n ' in outside is greater than one 39 rotation speed Y of the outside gear teeth, then 27 rotation speed of bi-bevel gear
Greater than one 1 rotation speed of bi-bevel gear, 6 direction of rotation of planet stent is identical as 27 direction of rotation of bi-bevel gear, planet stent 6
Rotation speed Δ n is equal to the difference of one 39 rotation speed Y of 2 42 rotation speed n ' of the outside gear teeth and the outside gear teeth, and planet stent 6 revolves
Rotary speed Δ n is equal to 0.0182 times of reference rotation speed n '.
I.e. equation is Δ n=n '-Y, brings value, Δ n=n ' -0.9818n '=0.0182n ' into.
The transmission ratio i ' of the deceleration mechanism is equal to the ratio between reference rotation speed n ' and 6 rotation speed Δ n of planet stent, then described
The transmission ratio i ' of deceleration mechanism is equal to 54.95: 1.
I.e. equation is i '=n ': Δ n, brings '=1 ': 0.0182n numerical value i '=n into: 0.0182=54.95: 1.
If designing common harmonic speed reducer according to upper example equivalent diameter, it is driven using double wave, each module m is equal to
2.5 millimeters, internal circular spline tooth number Z G be equal to 56, flexible gear tooth number Z R be equal to 54, teeth number difference U be equal to internal circular spline tooth number Z G with
The difference of flexible gear tooth number Z R, if flexible gear is fixing piece, wave producer is driving link, and internal circular spline is driven member, then general
Logical harmonic speed reducer transmission ratio i is equal to the ratio between internal circular spline tooth number Z G and teeth number difference U, then common harmonic speed reducer transmission ratio i etc.
In 28: 1.
I.e. equation is i=ZG: (ZG-ZR) brings numerical value i=56 into: (56-54)=28: 1.
It is learnt by above-mentioned case, under the premise of equivalent diameter, the deceleration transmission ratio is greater than common harmonic speed reducer
Transmission ratio.
Claims (2)
1. a kind of few teeth difference bipyramid tooth mechanical differential structure, it is characterised in that: the deceleration mechanism include deflecting bevel gear component,
Planet stent component, bi-bevel gear component, fixed cylinder (66), deflecting bevel gear component include turning axis (12), deflecting bevel gear
(15), axle sleeve four (65), planet stent component include output shaft (16), bevel planet gear (2), axle sleeve three (3), planet axis (5),
Planet stent (6), bi-bevel gear component include bi-bevel gear one (1), bi-bevel gear two (7), axle sleeve one (19), retaining ring one
(18), pin one (17), axle sleeve two (8), spline (9), input shaft (10), or axis is replaced using bearing respectively in above-mentioned component
Cover one (19), axle sleeve two (8), axle sleeve three (3), axle sleeve four (65), the loading ability of bearing radial load and axial load；Tooth is bored in deflecting
Wheel component is mounted on planet stent component radial outside, and deflecting bevel gear component and planet stent component are mounted on fixed cylinder (66)
Radially inner side, bi-bevel gear component link together deflecting bevel gear component and planet stent component；Bi-bevel gear component
Input shaft (10) and the output shaft (16) of planet stent component are coaxial；
The deceleration mechanism is in use, input shaft (10) axial direction left end and the output shaft of motor link together, output shaft
(16) load device that axial right end drives with the deceleration mechanism links together；When the deceleration mechanism is run, motor
When input shaft (10) being driven to rotate along input shaft Forward to slow down direction of rotation (70), the deceleration mechanism is in Forward to slow down fortune
Row state, when motor drive input shaft (10) is rotated along the opposite direction of input shaft Forward to slow down direction of rotation (70), institute
It states deceleration mechanism and is in the state that reversely runs slowly；The deceleration mechanism is out of service, and the opposing torque that load device generates is not
When can be driven in the reverse direction input shaft (10) rotation, the deceleration mechanism is in reverse self-locking state；
The bi-bevel gear one (1) of the deceleration mechanism has the inside gear teeth one (38), the outside gear teeth one (39), the inside gear teeth one (38)
It is the conical gear teeth with the outside gear teeth one (39), bi-bevel gear two (7) has the inside gear teeth two (41), the outside gear teeth two (42), interior
Side wheel tooth two (41) and the outside gear teeth two (42) are the conical gear teeth；The inside gear teeth one (38) and the inside gear teeth two (41) number of teeth phase
Deng the bevel planet gear (2) of planet stent component is engaged with the inside gear teeth one (38) and the inside gear teeth two (41) respectively；Deflecting cone
The deflecting bevel gear (15) of geared parts engages with the outside gear teeth one (39) and the outside gear teeth two (42) respectively；Bi-bevel gear one
(1) the outside gear teeth two (42) number of teeth of the outside gear teeth one (39) number of teeth and bi-bevel gear two (7) is few teeth difference corresponding relationship, outside
The difference of side wheel tooth one (39) number of teeth and the outside gear teeth two (42) number of teeth is defined as few teeth difference one, and few teeth difference one is not less than a tooth
Number, also, few teeth difference one is less than a quarter of the outside gear teeth one (39) number of teeth or few teeth difference one is less than the outside gear teeth two
(42) a quarter of the number of teeth；The outside gear teeth one (39) number of teeth and the outside gear teeth two (42) number of teeth are unequal, lead to turning axis axis
Line (13) and output shaft axis (11) out of plumb, offset angle α between turning axis axis (13) and output shaft vertical line (14),
Migration included angle α is acute angle；If the outside gear teeth two (42) number of teeth of bi-bevel gear two (7) is less than the outboard wheel of bi-bevel gear one (1)
Tooth one (39) number of teeth, then migration included angle α is deviated from output shaft vertical line (14) to bi-bevel gear two (7), if bi-bevel gear one
(1) the outside gear teeth one (39) number of teeth be less than bi-bevel gear two (7) the outside gear teeth two (42) number of teeth, then migration included angle α be from
Output shaft vertical line (14) is deviated to bi-bevel gear one (1)；
When the deceleration mechanism is run, motor drive input shaft (10) is revolved along input shaft Forward to slow down direction of rotation (70)
Turn or motor drive input shaft (10) is rotated along the opposite direction of input shaft Forward to slow down direction of rotation (70), input
Axis (10) drives bi-bevel gear two (7) equidirectional rotation by spline (9), and the outside gear teeth two (42) of bi-bevel gear two (7) drive
Dynamic deflecting bevel gear (15) rotation, deflecting bevel gear (15) are double by the outside gear teeth one (39) driving bi-bevel gear one (1) rotation
Bevel gear one (1) direction of rotation makes bi-bevel gear one (1) with bi-bevel gear two (7) direction of rotation on the contrary, the factor of few teeth difference one
Rotation speed and bi-bevel gear two (7) rotation speed are unequal, and bi-bevel gear one (1) rotation speed and bi-bevel gear two
(7) difference of rotation speed is smaller, and bi-bevel gear one (1) and bi-bevel gear two (7) drive bevel planet gear (2) to rotate jointly, row
For star bevel gear (2) while surrounding planet axis axis (4) rotation, bevel planet gear (2) can also surround output shaft axis (11)
Revolution, bevel planet gear (2) drive planet stent (6) slow-speed of revolution rotation, and planet stent (6) passes through planet axis (5) driving output
The equidirectional rotation of axis (16) slow-speed of revolution；
Axle sleeve one (19), axle sleeve two (8), axle sleeve three (3), axle sleeve four (65) are cylindrical, and it is axle sleeve axis hole that radial direction is intermediate
(34), axial one end is the axle sleeve thrust shaft shoulder (33)；Planet axis (5) is cylindrical；Turning axis (12) is cylindrical, and axial one
End is turning axis positioning shaft shoulder (69)；It is bevel gear axis hole (31) among bevel planet gear (2) is radial, radial outside is the gear teeth,
Its axial one end is gear front end face, and the axial other end is gear rear end face (32)；It is cone among deflecting bevel gear (15) is radial
Gear shaft holes (31), radial outside are the gear teeth, and axial one end is gear front end face, and the axial other end is gear rear end face
(32)；In a ring, planet stent (6) radially inner side is rack bore (29), the inside table of planet stent (6) diameter to planet stent (6)
Face is evenly distributed with several bracket mounting planes (28), there is a bracket fixed shaft hole at each bracket mounting plane (28) center
(30)；
Output shaft (16) is cylindrical, output shaft (16) from axial one end be successively shaft part one (20), axle journal one to the other end
(22), the fixed shaft shoulder (24), axle journal two (25), several uniformly distributed radial fixed shaft holes of the fixed shaft shoulder (24) radially-outer surface
(23), shaft part one (20) has radial dowel hole one (21), axle journal two (25) close to axle journal one (22) one end radially-outer surface
There is positioning shaft shoulder one (26) between fixed the shaft shoulder (24)；
Input shaft (10) is cylindrical, and input shaft (10) axial direction right end is axle journal three (59), and axle journal three (59) radially-outer surface has
Outside keyway (60), it is locating shaft between axle journal three (59) and shaft part two (27) that input shaft (10) axial direction left end, which is shaft part two (27),
Shoulder two (61)；
Retaining ring one (18) is cylindrical, and retaining ring one (18) radial center is retaining ring axis hole (36), retaining ring one (18) radially-outer surface
There is radial retaining ring pin hole (35)；Pin one (17) is cylindrical；Fixed cylinder (66) is cylindrical, fixed cylinder (66) radially-outer surface
Have a cylindrical circular fixed station (67), fixed station (67) has a radial fixed station axis hole (68), fixed station axis hole (68) with
Fixed cylinder (66) radially inner side is connected；The axis of fixed station axis hole (68) is overlapped with turning axis axis (13)；
It is bi-bevel gear axis hole one (37) that bi-bevel gear one (1) is radial intermediate, bi-bevel gear one (1) from radially inner side outward successively
It is the inside gear teeth one (38), the outside gear teeth one (39), the inside gear teeth one (38), the outside gear teeth one (39) are in axial the same side；It is double
Bevel gear two (7) axial direction left end has wheel hub (62), and intermediate wheel hub (62) radial direction is bi-bevel gear axis hole two (40), bi-bevel gear axis
Hole two (40) inner radial surface has internal keyway (63), and the intermediate radial direction of bi-bevel gear two (7) axial direction right end is axle sleeve mounting hole two
(64), the axial right end of bi-bevel gear two (7) is successively the inside gear teeth two (41), the outside gear teeth two (42) outward from radially inner side,
The inside gear teeth two (41), the outside gear teeth two (42) are in axial the same side；
Planet stent component is mounted on several bevel planet gears (2) the fixation shaft shoulder (24) of output shaft (16) in assembly
Radial outside is aligned the bevel gear axis hole (31) of each bevel planet gear (2) with the fixed shaft hole (23) of output shaft (16),
So that the gear rear end face (32) of each bevel planet gear (2) is located at radial outside, several axle sleeves three (3) are separately mounted to
The axle sleeve thrust shaft shoulder (33) and bevel planet gear (2) in the bevel gear axis hole (31) of bevel planet gear (2), axle sleeve three (3)
Gear rear end face (32) contact be installed together, planet stent (6) is mounted on several axle sleeve three (3) radial outsides,
The bracket mounting plane (28) of planet stent (6) is contacted with the axle sleeve thrust shaft shoulder (33) of axle sleeve three (3) and is installed together, row
The bracket fixed shaft hole (30) of prong frame (6) is aligned with the axle sleeve axis hole (34) of axle sleeve three (3), several planet axis (5) point
It is not sequentially inserted into the bracket fixed shaft hole (30) of planet stent (6), the axle sleeve axis hole (34) of axle sleeve three (3), output shaft (16)
It in fixed shaft hole (23), rotate bevel planet gear (2) can around planet axis axis (4)；
It is radial that the deceleration mechanism is mounted on turning axis (12) in assembly, the bevel gear axis hole (31) of deflecting bevel gear (15)
Outside makes turning axis positioning shaft shoulder (69) of the gear front end face of deflecting bevel gear (15) close to turning axis (12), axle sleeve four
(65) it is mounted in the bevel gear axis hole (31) of deflecting bevel gear (15), makes turning axis (12) radially-outer surface and axle sleeve four (65)
Axle sleeve axis hole (34) inner radial surface contact be installed together, make axle sleeve four (65) the axle sleeve thrust shaft shoulder (33) and deflecting bore
Gear rear end face (32) contact of gear (15) is installed together, and turning axis (12) is not had the one of turning axis positioning shaft shoulder (69)
In the fixed station axis hole (68) for holding the fixed station (67) for being fixed on fixed cylinder (66), make the axle sleeve thrust shaft of axle sleeve four (65)
The end thereof contacts that shoulder (33) is located at fixed cylinder (66) radially inner side with fixed station (67) are installed together, and are made turning axis (12), are become
It is located at fixed cylinder (66) radially inner side to bevel gear (15), axle sleeve four (65), makes deflecting bevel gear (15) that turning axis can be surrounded
Axis (13) rotation；
Planet stent component is mounted on fixed cylinder (66) radially inner side, bi-bevel gear one (1) is mounted on planet stent component
Axial right side, so that the bi-bevel gear axis hole one (37) of bi-bevel gear one (1) is mounted on the output shaft (16) of planet stent component
Axle journal one (22) radial outside, make bi-bevel gear one (1) the inside gear teeth one (38) and planet stent component planet cone tooth
(2) engagement is taken turns, axle sleeve one (19) is mounted on axle journal one (22) radially-outer surface of output shaft (16), keeps axle sleeve one (19) radial
Outer surface contacts with bi-bevel gear axis hole one (37) inner radial surface of bi-bevel gear one (1) and is installed together, and makes axle sleeve one
(19) end thereof contacts of the axle sleeve thrust shaft shoulder (33) with bi-bevel gear one (1) without the inside gear teeth one (38) are installed together,
Retaining ring one (18) is mounted on shaft part one (20) radially-outer surface of output shaft (16), pin one (17) is mounted on retaining ring one (18)
Retaining ring pin hole (35) neutralize output shaft (16) dowel hole one (21) in；Axle sleeve two (8) is mounted on output shaft (16)
Axle journal two (25) radially-outer surface makes the axle sleeve thrust shaft shoulder (33) of axle sleeve two (8) and the positioning shaft shoulder one of output shaft (16)
(26) contact is installed together；
Input shaft (10) is mounted on the axial left side of planet stent component, spline (9) is mounted on the external key of input shaft (10)
In slot (60), bi-bevel gear two (7) is mounted on the axial left side of planet stent component, makes the nearside wheel of bi-bevel gear two (7)
Tooth two (41) is engaged with the bevel planet gear (2) of planet stent component, makes the bi-bevel gear axis hole two (40) of bi-bevel gear two (7)
It is mounted on axle journal three (59) radially-outer surface of input shaft (10), spline (9) is made to be mounted on the internal keyway of bi-bevel gear two (7)
(63) in, so that the axle sleeve mounting hole two (64) of bi-bevel gear two (7) is mounted on axle sleeve two (8) radially-outer surface, make axle sleeve two (8)
The axle sleeve thrust shaft shoulder (33) and bi-bevel gear two (7) there are the end thereof contacts of the inside gear teeth two (41) to be installed together；
Deflecting bevel gear component is mounted on the radial outside of planet stent component, also, deflecting bevel gear component be mounted on it is double
Position between bevel gear one (1) and bi-bevel gear two (7) axial direction, the deflecting bevel gear (15) of deflecting bevel gear component respectively with
The outside gear teeth one (39) of bi-bevel gear one (1) and the outside gear teeth two (42) engagement of bi-bevel gear two (7)；The speed reducer
Fixed cylinder (66) is fixed after structure assembly, and the deflecting bevel gear (15) of deflecting bevel gear component only surrounds turning axis axis
(13) one degree of freedom rotated；
The bi-bevel gear two (7) of the deceleration mechanism, bevel planet gear (2), planet axis (5), planet stent (6), bi-bevel gear
One (1) forms bipyramid tooth planetary reducer, the driving link of bipyramid tooth planetary reducer first is that bi-bevel gear one (1),
Driving link is second is that bi-bevel gear two (7), driven member are planet stent (6)；Bipyramid tooth planetary reducer does deceleration transmission；It is double
Bevel gear one (1) direction of rotation is opposite with bi-bevel gear two (7) direction of rotation；Bi-bevel gear one (5) rotation speed and bipyramid tooth
It is unequal to take turns two (14) rotation speeds, bevel planet gear (2) is while surrounding planet axis axis (4) rotation, bevel planet gear
(2) it can also revolve around output shaft axis (11), bevel planet gear (2) drives planet stent (6) slow-speed of revolution rotation, planet stent
(6) rotation speed is equal to the absolute value of the difference of bi-bevel gear one (1) rotation speed and bi-bevel gear two (7) rotation speed；If double
The outside gear teeth two (42) number of teeth of bevel gear two (7) is less than the outside gear teeth one (39) number of teeth of bi-bevel gear one (1), then bipyramid tooth
It takes turns two (7) rotation speeds and is greater than bi-bevel gear one (1) rotation speed, planet stent (6) direction of rotation and bi-bevel gear two (7) are revolved
It is identical to turn direction；If the outside gear teeth one (39) number of teeth of bi-bevel gear one (1) is less than the outside gear teeth two of bi-bevel gear two (7)
(42) number of teeth, then bi-bevel gear one (1) rotation speed is greater than bi-bevel gear two (7) rotation speed, planet stent (6) direction of rotation
It is identical as bi-bevel gear one (1) direction of rotation；
Deflecting bevel gear (15) and the outside gear teeth two (42) of bi-bevel gear two (7) and the outside gear teeth of bi-bevel gear one (1)
One (39) collectively constitute a few teeth difference differential generator, drive bipyramid tooth planetary reducer by few teeth difference differential generator
Form the deceleration mechanism.
2. a kind of application method of few teeth difference bipyramid tooth mechanical differential structure according to claim 1, it is characterised in that: institute
Stating deceleration mechanism operational process is:
When the deceleration mechanism Forward to slow down operating status, motor drive input shaft (10) around output shaft axis (11) along
Input shaft Forward to slow down direction of rotation (70) rotation, input shaft (10) is by spline (9) driving bi-bevel gear two (7) around output
Axis axis (11) is rotated along two Forward to slow down direction of rotation (45) of bi-bevel gear, at the same time, the outside of bi-bevel gear two (7)
The gear teeth two (42) drive deflecting bevel gear (15) around turning axis axis (13) along deflecting bevel gear Forward to slow down direction of rotation
(43) it rotates, deflecting bevel gear (15) surrounds output shaft axis (11) by the outside gear teeth one (39) driving bi-bevel gear one (1)
It is rotated along one Forward to slow down direction of rotation (47) of bi-bevel gear, bi-bevel gear one (1) direction of rotation and bi-bevel gear two (7) are revolved
Turn contrary, and the factor of few teeth difference one makes bi-bevel gear one (1) rotation speed and bi-bevel gear two (7) rotation speed not
It is equal, if bi-bevel gear two (7) rotation speed is greater than bi-bevel gear one (1) rotation speed, bi-bevel gear one (1) and bi-bevel gear
Two (7) drive bevel planet gear (2) around planet axis axis (4) along bevel planet gear Forward to slow down direction of rotation (53) jointly
Rotation, in order to offset the speed difference that bi-bevel gear one (1) and bi-bevel gear two (7) drive bevel planet gear (2) jointly, planet cone
Gear (2) can also revolve around output shaft axis (11), and bevel planet gear (2) drives planet stent (6) slow-speed of revolution rotation, planet
Bracket (6) rotation speed is equal to the difference of bi-bevel gear two (7) rotation speed and bi-bevel gear one (1) rotation speed；Planet stent
Forward to slow down direction of rotation (51) is identical as bi-bevel gear two Forward to slow down direction of rotation (45), and planet stent (6) passes through planet
Axis (5) drives the equidirectional rotation of output shaft (16) slow-speed of revolution；
The deceleration mechanism reversely run slowly state when, motor drive input shaft (10) around output shaft axis (11) along
The rotation of input shaft Forward to slow down direction of rotation (70) opposite direction, input shaft (10) pass through spline (9) driving bi-bevel gear two (7)
Around output shaft axis (11) along bi-bevel gear two be reversely rotated in deceleration direction (56) rotate, at the same time, bi-bevel gear two
(7) the outside gear teeth two (42) driving deflecting bevel gear (15) is around turning axis axis (13) along deflecting bevel gear Forward to slow down
The rotation of direction of rotation (43) opposite direction, deflecting bevel gear (15) are enclosed by the outside gear teeth one (39) driving bi-bevel gear one (1)
Around output shaft axis (11) along bi-bevel gear one be reversely rotated in deceleration direction (58) rotate, bi-bevel gear one (1) direction of rotation
With bi-bevel gear two (7) direction of rotation on the contrary, and the factor of few teeth difference one make bi-bevel gear one (1) rotation speed and bipyramid tooth
It is unequal to take turns two (7) rotation speeds, if bi-bevel gear two (7) rotation speed is greater than bi-bevel gear one (1) rotation speed, bipyramid tooth
One (1) of wheel and bi-bevel gear two (7) drive bevel planet gear (2) anti-along bevel planet gear around planet axis axis (4) jointly
To the direction that is rotated in deceleration (57) rotation, bevel planet gear is driven jointly in order to offset bi-bevel gear one (1) and bi-bevel gear two (7)
(2) speed difference, bevel planet gear (2) can also revolve around output shaft axis (11), and bevel planet gear (2) drives planet stent
(6) slow-speed of revolution rotates, and planet stent (6) rotation speed is equal to bi-bevel gear two (7) rotation speed and bi-bevel gear one (1) rotates
The difference of speed；Planet stent be reversely rotated in deceleration direction (55) and bi-bevel gear two be reversely rotated in deceleration direction (56) it is identical, row
Prong frame (6) drives the equidirectional rotation of output shaft (16) slow-speed of revolution by planet axis (5)；
When the deceleration mechanism reverse self-locking state, electric motor circuit breaking, the opposing torque that load device generates makes output shaft (16)
There is rotating tendency, opposing torque passes sequentially through output shaft (16), planet axis (5), planet stent (6), bevel planet gear (2) respectively
Bi-bevel gear one (1) and bi-bevel gear two (7) are driven, opposing torque passes through bevel planet gear (2) driving bi-bevel gear one (1)
When reverse self-locking torque direction one (50) and opposing torque by bevel planet gear (2) driving bi-bevel gear two (7) it is reversed from
Torque direction two (49) is identical when lock, the change of bi-bevel gear one (1) and the common driving deflecting bevel gear component of bi-bevel gear two (7)
It is rotated to bevel gear (15) around output shaft axis (11), since the deflecting bevel gear (15) of deflecting bevel gear component only surrounds
The one degree of freedom of turning axis axis (13) rotation, turning axis (12) and deflecting bevel gear (15) prevent described in opposing torque driving
The rotation of deceleration mechanism, realizes deceleration mechanism reverse self-locking.
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| CN201910254567.4A CN109780161A (en) | 2019-03-31 | 2019-03-31 | Few teeth difference bipyramid tooth mechanical differential structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110626166A (en) * | 2019-09-29 | 2019-12-31 | 大连碧蓝节能环保科技有限公司 | Double-channel stepless speed change fuel automobile power system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110626166A (en) * | 2019-09-29 | 2019-12-31 | 大连碧蓝节能环保科技有限公司 | Double-channel stepless speed change fuel automobile power system |
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Application publication date: 20190521 |