CN109780164A - Secondary seal formula Cylinder Sine end face movable teeth reducer - Google Patents

Secondary seal formula Cylinder Sine end face movable teeth reducer Download PDF

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Publication number
CN109780164A
CN109780164A CN201910076431.9A CN201910076431A CN109780164A CN 109780164 A CN109780164 A CN 109780164A CN 201910076431 A CN201910076431 A CN 201910076431A CN 109780164 A CN109780164 A CN 109780164A
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China
Prior art keywords
oscillating tooth
gear
shock wave
wave device
secondary seal
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Pending
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CN201910076431.9A
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Chinese (zh)
Inventor
杨玉虎
周国成
胡自昂
沈兆光
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Tianjin University
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Tianjin University
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Priority to CN201910076431.9A priority Critical patent/CN109780164A/en
Publication of CN109780164A publication Critical patent/CN109780164A/en
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Abstract

The invention discloses a kind of secondary seal formula Cylinder Sine end face movable teeth reducer, high speed grade includes planetary gear, sun gear and three planet wheel spindles of input shaft, centre wheel, three radial equipartitions, forms 2K-H type differential gear train.Slow speed turbine stage includes shock wave device, fixed oscillating tooth carrier, oscillating tooth, oscillating tooth gear and output shaft.Sun gear and oscillating tooth gear connect firmly as same component, the rotation of oscillating tooth gear are fed back to sun gear, as the input motion of high speed grade differential gear train, to constitute secondary seal formula Gear Planet Transmission.Planet wheel spindle left end is connected firmly with planetary gear, and right end forms revolute pair with pin hole corresponding on shock wave device, is realized the spinning motion of shock wave device by the turnover movement of planetary gear and then is generated axial shock wave.The present invention shortens transmission chain to the maximum extent, improves transmission efficiency and reliability, and axial arrangement is compact, realizes big retarding ratio and multi-tooth meshing, rigidity is big, and bearing capacity is strong, stable drive.Compared with general oscillating tooth gear, has the characteristics that axial shock wave.

Description

Secondary seal formula Cylinder Sine end face movable teeth reducer
Technical field
The present invention relates to Gear Planet Transmission fields, and in particular to less teeth difference transmission field more particularly to a kind of secondary seal formula Cylinder Sine end face movable teeth reducer.
Background technique
With the development and the progress of science and technology of production, increasingly higher demands are proposed to machine driven system.And it is conventional Gear Planet Transmission has been difficult to meet the requirement of system, therefore develops the ideal suitable for demands for development such as new technology, new equipments Transmission device has become the more and more important development trend of mechanical transmission fields.Mobile tooth and small tooth difference Planetary Gear Transmission is referred to as Oscillating Tooth Gear Reducer is a kind of machine driving for transmitting two between centers rotary motion, it has compact-sized, gear range Extensively, large carrying capacity, the advantages that transmission efficiency is high.Therefore the few teeth difference deceleration device for developing function admirable, sets China's machinery The production of standby industry has significant role.
Harmonic speed reducer and RV retarder are two kinds of deceleration devices being most widely used at present.Wherein, harmonic speed reducer Have many advantages, such as that speed ratio is big, movement is steady, structure is simple and high-efficient, but it transmits power by the flexible deformation principle of flexbile gear The characteristics of, make it while big with rigidity, elastic return difference is big and transmission accuracy is solid with using the time to increase significant decrease etc. It is defective.RV retarder is very classical perfect secondary seal formula planetary transmission system, and high speed grade drives offset crank shoft certainly Turn to generate Cycloidal Wheel in radial shock wave, Cycloidal Wheel revolution is exported due to few teeth difference principle.RV retarder not only large speed ratio, small The advantages that volume, high-mechanic/precision/efficiency and stable drive, and overcome many defects of harmonic speed reducer, increasingly by To the extensive concern of domestic and international relevant enterprise and R&D institution.
Summary of the invention
For the prior art, a kind of secondary seal formula Cylinder Sine end face movable teeth reducer proposed by the present invention, is from RV The expansion thinking of reducer structure feature, innovative design one kind can generate the mechanical structure device of axial shock wave, be deceleration transmission Mechanism design provides a kind of new thinking and scheme.
In order to solve the above-mentioned technical problem, a kind of secondary seal formula Cylinder Sine end face decelerating movable teeth proposed by the present invention Device, including high speed grade and slow speed turbine stage, the high speed grade be by input shaft, centre wheel, three radial equipartitions planetary gear, sun gear With the 2K-H type differential gear train of three planet wheel spindles composition, the slow speed turbine stage includes shock wave device, fixed oscillating tooth carrier, oscillating tooth, oscillating tooth Wheel and output shaft;Input shaft is connected firmly with centre wheel, and output shaft is connected firmly with oscillating tooth gear;The sun gear and the oscillating tooth gear connect firmly for The rotation of the oscillating tooth gear is fed back to the sun gear, the input motion as high speed grade differential gear train by same component;It is described Set on shock wave device there are three position and three one-to-one pin holes of planet wheel spindle, one end of three planet wheel spindles respectively with three Planetary gear connects firmly, and the other end of three planet wheel spindles forms revolute pair, the shock wave device with pin hole corresponding on the shock wave device Pitch curve rectangular equation are as follows:
In formula (1): the radius on cylindrical surface where R-- shock wave device pitch curve;E-- shock wave device axial direction shock wave amplitude;θ -- swash Wave device corner;The oscillating tooth carrier is equipped with multiple guide groove numbers equally distributed in a circumferential direction, the number z of the oscillating tooth1It is right Answer the guide groove number of the oscillating tooth carrier;The oscillating tooth gear is that end face wave number is z2Cylinder, and meet relationship: z1-z2=1;The work The rectangular equation of the end face pitch curve of gear are as follows:
Secondary seal formula Cylinder Sine end face movable teeth reducer of the invention, described in the turnover campaign of the planetary gear is realized The spinning motion and then the axial shock wave of generation of shock wave device;The axial thrust that the oscillating tooth is generated by the shock wave device, described Under the common constraint of oscillating tooth carrier path guide slot and the oscillating tooth tooth profile, the oscillating tooth gear is pushed to rotate.
Compared with prior art, the beneficial effects of the present invention are:
The present invention shortens transmission chain to the maximum extent, improves transmission efficiency and reliability.Cylinder Sine end face decelerating movable teeth Device axial arrangement is compact, realizes big retarding ratio and multi-tooth meshing, rigidity is big, and bearing capacity is strong, stable drive.With general oscillating tooth Wheel is compared, and has the characteristics that axial shock wave.
Detailed description of the invention
Fig. 1 is the mechanism principle figure of secondary seal formula Cylinder Sine end face of the present invention movable teeth reducer;
Fig. 2 is the three-dimensional exploded view of slow speed turbine stage in Fig. 1;
Fig. 3 is the installation diagram of Cylinder Sine end face of the present invention movable teeth reducer;
In figure: 1- input shaft, 2- centre wheel, 3- planetary gear, 4- sun gear, 5- planet wheel spindle, 6- shock wave device, 7- oscillating tooth Frame, 8- oscillating tooth, 9- oscillating tooth gear, 10- output shaft.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to Convenient for description, part relevant to invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Fig. 1, Fig. 1 and Fig. 3, a kind of secondary seal formula Cylinder Sine end face movable teeth reducer proposed by the present invention, Including high speed grade and slow speed turbine stage, the high speed grade includes planetary gear 3, the sun gear of 2, three input shaft 1, centre wheel radial equipartitions 4 and three planet wheel spindles 5, constitute 2K-H type differential gear train.The slow speed turbine stage includes shock wave device 6, fixed oscillating tooth carrier 7, oscillating tooth 8, oscillating tooth gear 9 and output shaft 10.Input shaft 1 is connected firmly with centre wheel 2, and output shaft 10 is connected firmly with oscillating tooth gear 9.Sun gear 4 and oscillating tooth Wheel 9 connects firmly as same component, and the rotation of oscillating tooth gear 9 is fed back to sun gear 4, as the input motion of high speed grade differential gear train, To constitute secondary seal formula Gear Planet Transmission.Position and three planet wheel spindles 5 are one-to-one there are three setting on the shock wave device 6 One end (Fig. 1 and Fig. 3 shown in left end) of pin hole, three planet wheel spindles 5 connects firmly, three planet wheel spindles 5 with three planetary gears 3 The other end (right end) and pin hole corresponding on shock wave device 6 form revolute pair, thus by the turnover campaign realization of three planetary gears 3 The spinning motion and then the axial shock wave of generation of shock wave device 6.The axial thrust that oscillating tooth 8 is generated by shock wave device 6, in 7 diameter of oscillating tooth carrier To under the common constraint of 9 flank profil of guide groove and oscillating tooth gear, oscillating tooth gear 9 is pushed to rotate.
The oscillating tooth carrier 7 is equipped with multiple guide groove numbers equally distributed in a circumferential direction, the number z of oscillating tooth 81To taking on service jobs The guide groove number of braces 7.Oscillating tooth gear 9 is that end face wave number is z2Cylinder, and meet relationship: z1-z2=1.
In the present invention, the rectangular equation of the pitch curve of shock wave device 6 is
In the present invention, the rectangular equation of the end face pitch curve of oscillating tooth gear 9 is
In formula: the radius on cylindrical surface where R-- shock wave device pitch curve;
E-- shock wave device axial direction shock wave amplitude;
θ -- shock wave device corner.
The present invention uses secondary seal formula structure, dexterously contacted the input of high speed grade and the output of slow speed turbine stage, maximum Shorten to limit transmission chain, improve transmission efficiency and reliability, axial arrangement is compact, realizes big retarding ratio and multi-tooth meshing, just Degree is big, and bearing capacity is strong, stable drive.Compared with general oscillating tooth gear, has the characteristics that axial shock wave.Slow down with classical RV Device is compared, and the d-axis ratio RV crank axle in the present invention is simple to manufacture, at low cost.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein Can technical characteristic replaced mutually and the technical solution that is formed.

Claims (2)

1. a kind of secondary seal formula Cylinder Sine end face movable teeth reducer, including high speed grade and slow speed turbine stage, the high speed grade be by Input shaft (1), centre wheel (2), the planetary gear (3) of three radial equipartitions, sun gear (4) He Sangen planet wheel spindle (5) composition 2K-H type differential gear train, it is characterised in that:
The slow speed turbine stage includes shock wave device (6), fixed oscillating tooth carrier (7), oscillating tooth (8), oscillating tooth gear (9) and output shaft (10);Input Axis (1) is connected firmly with centre wheel (2), and output shaft (10) is connected firmly with oscillating tooth gear (9);The sun gear (4) and the oscillating tooth gear (9) are solid Connection is same component, the rotation of the oscillating tooth gear (9) is fed back to the sun gear (4), as the defeated of high speed grade differential gear train Enter movement;
Position and three one-to-one pin holes of planet wheel spindle (5), three planet wheel spindles there are three being set on the shock wave device (6) (5) one end is connected firmly with three planetary gears (3) respectively, and the other end of three planet wheel spindles (5) is corresponding on the shock wave device (6) Pin hole form revolute pair, the rectangular equation of the pitch curve of the shock wave device (6) are as follows:
In formula (1): the radius on cylindrical surface where R-- shock wave device pitch curve;E-- shock wave device axial direction shock wave amplitude;θ -- shock wave device Corner;
The oscillating tooth carrier (7) is equipped with multiple guide groove numbers equally distributed in a circumferential direction, the number z of the oscillating tooth (8)1It is right Answer the guide groove number of the oscillating tooth carrier (7);
It is z that the oscillating tooth gear (9), which is end face wave number,2Cylinder, and meet relationship: z1-z2=1;The end face of the oscillating tooth gear (9) The rectangular equation of pitch curve are as follows:
2. secondary seal formula Cylinder Sine end face movable teeth reducer according to claim 1, which is characterized in that the planetary gear (3) turnover campaign realizes the spinning motion of the shock wave device (6) and then generates axial shock wave;The oscillating tooth (8) is by described The axial thrust that shock wave device (6) generates, in the common constraint of the oscillating tooth carrier (7) path guide slot and the oscillating tooth gear (9) flank profil Under, push the oscillating tooth gear (9) to rotate.
CN201910076431.9A 2019-01-26 2019-01-26 Secondary seal formula Cylinder Sine end face movable teeth reducer Pending CN109780164A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110425255A (en) * 2019-08-05 2019-11-08 燕山大学 Sinusoidal plane second level movable teeth reducer

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE350767C (en) * 1922-03-24 Wilhelm Vogt Transmission
JPS61112854A (en) * 1984-11-05 1986-05-30 Shinko Seisakusho:Kk Speed reduction device with end face can
DE19914555A1 (en) * 1999-03-31 2000-10-05 Buhler Motor Gmbh Multi-purpose planetary gear drive for an electric motor minimizes slip, friction, noise emissions and manufacturing costs
US20080234094A1 (en) * 2005-06-20 2008-09-25 Nung Jun Tae Transistor-Type Universal Driving
KR100986127B1 (en) * 2005-06-20 2010-10-07 이관호 Ball-wedge type speed reducer
CN105626816A (en) * 2016-01-27 2016-06-01 燕山大学 Single-row speed reducing and changing integration cylinder sine oscillating tooth mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE350767C (en) * 1922-03-24 Wilhelm Vogt Transmission
JPS61112854A (en) * 1984-11-05 1986-05-30 Shinko Seisakusho:Kk Speed reduction device with end face can
DE19914555A1 (en) * 1999-03-31 2000-10-05 Buhler Motor Gmbh Multi-purpose planetary gear drive for an electric motor minimizes slip, friction, noise emissions and manufacturing costs
US20080234094A1 (en) * 2005-06-20 2008-09-25 Nung Jun Tae Transistor-Type Universal Driving
KR100986127B1 (en) * 2005-06-20 2010-10-07 이관호 Ball-wedge type speed reducer
CN105626816A (en) * 2016-01-27 2016-06-01 燕山大学 Single-row speed reducing and changing integration cylinder sine oscillating tooth mechanism

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
张展: "《实用机械传动装置设计手册》", 30 September 2012, 机械工业出版社 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110425255A (en) * 2019-08-05 2019-11-08 燕山大学 Sinusoidal plane second level movable teeth reducer
CN110425255B (en) * 2019-08-05 2021-11-02 燕山大学 Sinusoidal plane two-stage movable tooth speed reducer

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