CN109899455A - Landing tee sets twin shaft output few teeth difference bipyramid tooth mechanical differential structure - Google Patents
Landing tee sets twin shaft output few teeth difference bipyramid tooth mechanical differential structure Download PDFInfo
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- CN109899455A CN109899455A CN201910224689.9A CN201910224689A CN109899455A CN 109899455 A CN109899455 A CN 109899455A CN 201910224689 A CN201910224689 A CN 201910224689A CN 109899455 A CN109899455 A CN 109899455A
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Abstract
The present invention is that a kind of landing tee sets twin shaft output few teeth difference bipyramid tooth mechanical differential structure, it is related to a kind of deceleration mechanism, including input shaft component, planet stent component, bi-bevel gear component, 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 one revolving speed of output shaft 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.There is an output shaft one and output shaft two in the deceleration mechanism, has two kinds of output revolving speeds.
Description
Technical field
The present invention is that a kind of landing tee sets twin shaft output few teeth difference bipyramid tooth mechanical differential structure, is related to a kind of speed reducer
Structure, speed difference when more particularly to a kind of one motor drive bipyramid tooth planetary reducer of use, obtains the slow-speed of revolution
The landing tee of output sets twin shaft output few teeth difference bipyramid 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 landing tee for having the advantages that transmission ratio is big, output torque is big and sets twin shaft output
Few teeth difference bipyramid tooth mechanical differential structure.Embodiment of the present invention is as follows:
The deceleration mechanism includes input shaft component, planet stent component, bi-bevel gear component, and input shaft component includes input
Axis, input bevel gear, planet stent component includes output shaft one, bevel planet gear, axle sleeve three, planet axis, planet stent, bipyramid
Geared parts include bi-bevel gear one, bi-bevel gear two, axle sleeve one, retaining ring one, pin one, axle sleeve two, spline, output shaft two, or
Person replaces axle sleeve one, axle sleeve two, axle sleeve three using bearing in above-mentioned component respectively, which bears with axial
Lotus.Input shaft component is mounted on planet stent component radial outside, and bi-bevel gear component is input shaft component and planet stent portion
Part links together, and the input shaft of input shaft component is defeated with the output shaft one of planet stent component and bi-bevel gear component respectively
The T-shaped arrangement of shaft two.
In use, the output shaft of input shaft and motor links together, output shaft one is axial right for the deceleration mechanism
The slow-speed of revolution load device driven with the deceleration mechanism is held to link together, the axial left end of output shaft two and the deceleration mechanism
The middle revolving speed load device of driving links together.When the deceleration mechanism is run, motor drive input shaft is along input shaft
When Forward to slow down direction of rotation rotates, the deceleration mechanism is in Forward to slow down operating status, motor drive input shaft along
When the opposite direction rotation of input shaft Forward to slow down direction of rotation, the deceleration mechanism is in the state that reversely runs slowly.It is described
Deceleration mechanism is out of service, when the opposing torque that load device generates cannot be driven in the reverse direction input shaft rotation, the deceleration mechanism
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 input bevel gear of input shaft component engages with the outside gear teeth one and the outside gear teeth two respectively.It is double
One number of teeth of the outside gear teeth of bevel gear one and two number of teeth of the outside gear teeth of bi-bevel gear two are few teeth difference corresponding relationship, the outside gear teeth
The difference of two number of teeth of one number of teeth 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 teeth difference one
Less than a quarter that a quarter or few teeth difference one of one number of teeth of the outside gear teeth are less than two number of teeth of the outside gear teeth.Outboard wheel
One number of teeth of tooth and two number of teeth of the outside gear teeth are unequal, lead to input shaft axis and output shaft axis out of plumb, input shaft axis with
Angle α is offset between output shaft vertical line, migration included angle α is acute angle.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, then migration included angle α is deviated from output shaft vertical line to bi-bevel gear two, if bipyramid
One number of teeth of the outside gear teeth of gear one is less than two number of teeth of the outside gear teeth of bi-bevel gear two, then migration included angle α is hung down from output shaft
Straight 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 passes through input cone tooth
Wheel respectively drives bi-bevel gear one and bi-bevel gear two rotates, one direction of rotation of bi-bevel gear and two direction of rotation phase of bi-bevel gear
Instead, the factor of few teeth difference one keeps one rotation speed of bi-bevel gear and two rotation speed of bi-bevel gear unequal, and bi-bevel gear
The difference of two rotation speed of one rotation speed and bi-bevel gear is smaller, and driving planet bores tooth jointly for bi-bevel gear one and bi-bevel gear two
Wheel rotation, while surrounding the rotation of planet axis axis, bevel planet gear can also revolve bevel planet gear around output shaft axis,
Bevel planet gear drives planet stent slow-speed of revolution rotation, and planet stent drives the equidirectional rotation of one slow-speed of revolution of output shaft by planet axis
Turn.At the same time, bi-bevel gear two drives the equidirectional rotation of revolving speed in output shaft two by spline.
Axle sleeve one, axle sleeve two, axle sleeve three are cylindrical, and it is axle sleeve axis hole that radial direction is intermediate, and axial one end is axle sleeve thrust
The shaft shoulder.Planet axis is cylindrical.It is bevel gear axis hole among bevel planet gear is radial, radial outside is the gear teeth, axial one end
It is gear front end face, the axial other end is gear rear end face.In a ring, planet stent radially inner side is in bracket to planet stent
Chamber, planet stent inner radial surface are evenly distributed with several bracket mounting planes, there is a bracket at each bracket mounting plane center
Fixed shaft hole.
Output shaft one is cylindrical, output shaft one from axial one end be successively shaft part one, axle journal one, fixing axle to the other end
Shoulder, axle journal two, several uniformly distributed radial fixed shaft holes of fixed shaft shoulder radially-outer surface, shaft part one is close to one one end of axle journal radial direction
There is radial dowel hole one in outer surface, has positioning shaft shoulder one between axle journal two and the fixed shaft shoulder.
For planet stent component in assembly, the fixation shaft shoulder that several bevel planet gears are mounted on output shaft one is radial outer
Side is aligned the bevel gear axis hole of each bevel planet gear with the fixed shaft hole of output shaft one, makes each bevel planet gear
Gear rear end face be located at radial outside, several axle sleeves three are separately mounted in the bevel gear axis hole of bevel planet gear,
The axle sleeve thrust shaft shoulder of axle sleeve three and the gear rear end face contact of bevel planet gear are installed together, if planet stent is mounted on
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 dry 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 one fixed shaft hole in, enable bevel planet gear
It is rotated around planet axis axis.
Input shaft is cylindrical, and axial one end is input bevel gear, and the gear front end face for inputting bevel gear is located at input
The axially external one end of axis.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 direction
Retaining ring pin hole.Pin one is cylindrical.
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.It is bipyramid among bi-bevel gear two is radial
Gear shaft holes two, bi-bevel gear two are successively the inside gear teeth two, the outside gear teeth two outward from radially inner side, the inside gear teeth two, outer
Side wheel tooth two is in axial the same side.
Output shaft two is cylindrical, and the axial right end of output shaft two is axle journal three, and three radially-outer surface of axle journal has outside keyway, defeated
The axial left end of shaft two is shaft part two, is positioning shaft shoulder two between axle journal three and shaft part two.
The deceleration mechanism is mounted on bi-bevel gear one on the axial right side of planet stent component, makes bipyramid in assembly
The bi-bevel gear axis hole one of gear one is mounted on one radial outside of axle journal of the output shaft one of planet stent component, makes bi-bevel gear
The one inside gear teeth one are engaged with the bevel planet gear of planet stent component, axle sleeve one are mounted on one diameter of axle journal of output shaft one
Exterior surface contacts one radially-outer surface of axle sleeve with one inner radial surface of bi-bevel gear axis hole of bi-bevel gear one and is mounted on one
It rises, is installed together end thereof contacts of the axle sleeve thrust shaft shoulder of axle sleeve one with bi-bevel gear one without the inside gear teeth one, gear
Circle one is mounted on one radially-outer surface of shaft part of output shaft one, and pin one is mounted in the retaining ring pin hole of retaining ring one and output shaft one
Dowel hole one in.Axle sleeve two is mounted on two radially-outer surface of axle journal of output shaft one, makes the axle sleeve thrust shaft of axle sleeve two
Shoulder is contacted with the positioning shaft shoulder one of output shaft one and is installed together.
Output shaft two is mounted on the axial left side of planet stent component, spline is mounted on the outside keyway of output shaft two
In, bi-bevel gear two is mounted on the axial left side of planet stent component, makes the inside gear teeth two and planet branch of bi-bevel gear two
The bevel planet gear of frame component engages, and the axle journal three for making the bi-bevel gear axis hole two of bi-bevel gear two be mounted on output shaft two is radial
Outer surface is mounted on spline in the internal keyway of bi-bevel gear two, and the axle sleeve mounting hole two of bi-bevel gear two is made to be mounted on axle sleeve
Two radially-outer surfaces, 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 mounted on one
It rises.
Input shaft component is mounted on the radial outside of planet stent component, also, input shaft component is mounted on bi-bevel gear
Position between one and two axial direction of bi-bevel gear, the input bevel gear of input shaft component respectively with the outside gear teeth of bi-bevel gear one
One and bi-bevel gear two the outside gear teeth two engage.The input shaft and input cone of input shaft component after the deceleration mechanism assembly
Gear only surrounds the one degree of freedom of input shaft 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 that input 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.The outside gear teeth two for inputting bevel gear and bi-bevel gear two form a middle speed reducer, input bevel gear rotation speed warp
After crossing speed reducer deceleration, drive output shaft two equidirectional around revolving speed in output shaft axis by spline by bi-bevel gear two
Rotation.
Deceleration mechanism operational process is:
When the deceleration mechanism Forward to slow down operating status, motor drives input bevel gear to surround input shaft axis by input shaft
Line is rotated along input shaft Forward to slow down direction of rotation, and input bevel gear driving bi-bevel gear one is around output shaft axis along double
The rotation of one Forward to slow down direction of rotation of bevel gear, at the same time, input bevel gear driving bi-bevel gear two surround output shaft axis
It is rotated along two Forward to slow down direction of rotation of bi-bevel gear, at this point, one direction of rotation of bi-bevel gear and two side of rotation of bi-bevel gear
To on the contrary, and the factor of few teeth difference one keep one rotation speed of bi-bevel gear and two rotation speed of bi-bevel gear unequal, if double
Two rotation speed of bevel gear is greater than one rotation speed of bi-bevel gear, and driving planet bores tooth jointly for bi-bevel gear one and bi-bevel gear two
Wheel is around planet axis axis along the direction of rotation rotation of bevel planet gear Forward to slow down, and in order to offset the speed difference, planet bores tooth
Wheel can also revolve around output shaft axis, and bevel planet gear drives planet stent slow-speed of revolution rotation, planet stent rotation speed etc.
In the difference of one rotation speed of two rotation speed of bi-bevel gear and bi-bevel gear.Planet stent Forward to slow down direction of rotation and bipyramid tooth
It is identical to take turns two Forward to slow down direction of rotation, planet stent drives the equidirectional rotation of one slow-speed of revolution of output shaft by planet axis.
The deceleration mechanism reversely run slowly state when, motor by input shaft drive input bevel gear around input
Axis axis is rotated along input shaft Forward to slow down direction of rotation opposite direction, and input bevel gear driving bi-bevel gear one is around output
Axis axis is rotated along the direction that is reversely rotated in deceleration of bi-bevel gear one, and at the same time, input bevel gear driving bi-bevel gear two is enclosed
It is rotated around output shaft axis along the direction that is reversely rotated in deceleration of bi-bevel gear two, at this point, one direction of rotation of bi-bevel gear and bipyramid
Two direction of rotation of gear 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
Unequal, if two rotation speed of bi-bevel gear is greater than one rotation speed of bi-bevel gear, bi-bevel gear one and bi-bevel gear two are common
Driving bevel planet gear is reversely rotated in deceleration direction rotation around planet axis axis along bevel planet gear, in order to offset the speed
Difference, bevel planet gear can also revolve around output shaft axis, and bevel planet gear drives planet stent slow-speed of revolution rotation, planet stent
Rotation speed is equal to the difference of one rotation speed of two rotation speed of bi-bevel gear and bi-bevel gear.The reversed side of being rotated in deceleration of planet stent
To being reversely rotated in deceleration with bi-bevel gear two, direction is identical, and planet stent drives one slow-speed of revolution of output shaft equidirectional by planet axis
Rotation.
When the deceleration mechanism reverse self-locking state, electric motor circuit breaking, the opposing torque that load device generates makes output shaft
One has rotating tendency, and opposing torque passes sequentially through output shaft one, planet axis, planet stent, bevel planet gear and respectively drives bipyramid
Gear one and bi-bevel gear two, torque direction one when opposing torque drives the reverse self-locking of bi-bevel gear one by bevel planet gear
With opposing torque by bevel planet gear drive bi-bevel gear two reverse self-locking when torque direction two it is identical, bi-bevel gear one with
The input shaft of driving input shaft component and input bevel gear rotate bi-bevel gear two around output shaft axis jointly, due to input shaft
The input shaft of component and input bevel gear only surround the one degree of freedom of input shaft axis rotation, input shaft and input bevel gear
It prevents opposing torque from driving the deceleration mechanism rotation, 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 one revolving speed of output shaft and one revolving speed of bi-bevel gear and bi-bevel gear of deceleration mechanism, there is transmission ratio
Greatly, the advantages of output torque is big, long service life.The deceleration mechanism has reverse self-locking function.The deceleration mechanism has one
An a output shaft one and output shaft two has two kinds of output revolving speeds.
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 planet stent component.
Fig. 4 is the axonometric drawing of output shaft one.
Fig. 5 is the axonometric drawing of planet stent.
Fig. 6 is the axonometric drawing of bevel planet gear.
Fig. 7 is the axonometric drawing of planet axis.
Fig. 8 is the axonometric drawing of axle sleeve one or axle sleeve two or axle sleeve three.
Fig. 9 is the axonometric drawing of input shaft component.
Figure 10 is the axonometric drawing of retaining ring one.
Figure 11 is the isometric cutaway view of bi-bevel gear one.
Figure 12 is the isometric cutaway view of bi-bevel gear two.
When Figure 13 is the deceleration mechanism Forward to slow down operating status, input shaft component passes through bi-bevel gear component driving row
The schematic diagram of star bracket component rotation.
When Figure 14 is the deceleration mechanism reverse self-locking state, input shaft component, bi-bevel gear component, planet stent component
Between moment conditions schematic diagram.
When Figure 15 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 16 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 17 is the deceleration mechanism along axis cut-away illustration.
Figure 18 is the axonometric drawing of output shaft two.
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 input shaft 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
Frame 6, bi-bevel gear 27, axle sleeve 28, spline 9, output shaft 2 10, output shaft axis 11, input shaft 12, input shaft axis 13,
Output shaft vertical line 14, input bevel gear 15, output shaft 1, pin 1, retaining ring 1, axle sleeve 1, shaft part 1, positioning
Pin hole 1, 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 peace
Fill plane 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,
Bi-bevel gear axis hole 2 40, the inside gear teeth 2 41, the outside gear teeth 2 42, input shaft Forward to slow down direction of rotation 43, input shaft rotation
Transition mark 44, two Forward to slow down direction of rotation 45 of bi-bevel gear, two rotational trajectory 46 of bi-bevel gear, one Forward to slow down of bi-bevel gear
Torque direction one when torque direction 2 49, reverse self-locking when direction of rotation 47, one rotational trajectory 48 of bi-bevel gear, reverse self-locking
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.
Specific embodiment
The present invention is further discussed below with reference to the accompanying drawing.
Referring to Fig.1, Fig. 2, Figure 17, the deceleration mechanism include input shaft component, planet stent component, bi-bevel gear portion
Part, input shaft component include input shaft 12, input bevel gear 15, and planet stent component includes output shaft 1, 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, output shaft 2 10, or axle sleeve is replaced using bearing respectively in above-mentioned component
One 19, axle sleeve 28, axle sleeve 33, the loading ability of bearing radial load and axial load.Input shaft component is mounted on planet stent portion
Part radial outside, bi-bevel gear component link together input shaft component and planet stent component, the input of input shaft component
The T-shaped arrangement of output shaft 2 10 with the output shaft 1 of planet stent component and bi-bevel gear component respectively of axis 12.
The deceleration mechanism is in use, input shaft 12 and the output shaft of motor link together, one 16 axis of output shaft
The slow-speed of revolution load device driven to right end with the deceleration mechanism links together, and the axial left end of output shaft 2 10 subtracts with described
The middle revolving speed load device of fast mechanism driving links together.When the deceleration mechanism is run, 12 edge of motor drive input shaft
Input shaft Forward to slow down direction of rotation 43 rotate when, the deceleration mechanism is in Forward to slow down operating status, motor drive
When input shaft 12 is rotated along the opposite direction of input shaft Forward to slow down direction of rotation 43, the deceleration mechanism is in reversed and slows down
Operating status.The deceleration mechanism is out of service, and the opposing torque that load device generates cannot be driven in the reverse direction the rotation of input shaft 12
When, 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 input bevel gear 15 of input shaft component respectively with
The outside gear teeth 1 and the outside gear teeth 2 42 engage.One 39 number of teeth of the outside gear teeth of bi-bevel gear 1 is outer with bi-bevel gear 27
2 42 number of teeth of side wheel tooth is few teeth difference corresponding relationship, and the difference of 2 42 number of teeth of one 39 number of teeth of the outside gear teeth and the outside gear teeth is defined as few
Tooth poor one, few teeth difference one is not less than a number of teeth, also, few teeth difference one is less than a quarter of one 39 number of teeth of the outside gear teeth, or
Person's few teeth difference one is less than a quarter of 2 42 number of teeth of the outside gear teeth.One 39 number of teeth of the outside gear teeth and 2 42 number of teeth of the outside gear teeth are not
It is equal, lead to input shaft axis 13 and 11 out of plumb of output shaft axis, has between input shaft axis 13 and output shaft vertical line 14
Migration included angle α, migration included angle α are acute angles.If 2 42 number of teeth of the outside gear teeth of bi-bevel gear 27 is less than the outer of bi-bevel gear 1
One 39 number of teeth of side wheel tooth, then migration included angle α is offset from output shaft vertical line 14 to bi-bevel gear 27, if bi-bevel gear 1
The gear teeth one 39 number of teeth in outside 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 deviate to bi-bevel gear 1.
When the deceleration mechanism is run, motor drive input shaft 12 is revolved along input shaft Forward to slow down direction of rotation 43
Turn or motor drive input shaft 12 is rotated along the opposite direction of input shaft Forward to slow down direction of rotation 43, input shaft 12
Bi-bevel gear 1 and bi-bevel gear 27 are respectively driven by inputting bevel gear 15 to rotate, 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 one 16 slow-speed of revolution of output shaft is driven by planet axis 5.At the same time, bi-bevel gear 27 is driven defeated by spline 9
The equidirectional rotation of revolving speed in shaft 2 10.
Referring to figs. 1 to Figure 12, Figure 18, axle sleeve 1, axle sleeve 28, axle sleeve 33 are cylindrical, and it is axle sleeve that radial direction is intermediate
Axis hole 34, axial one end are the axle sleeve thrust shaft shoulders 33.Planet axis 5 is cylindrical.It is bevel gear shaft among bevel planet gear 2 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 1 is cylindrical, output shaft 1 from axial one end be successively shaft part 1, axle journal one to the other end
22, the fixed shaft 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 one
20 have radial dowel hole 1 close to one 22 one end radially-outer surface of axle journal, and there have between axle journal 2 25 and the fixed shaft shoulder 24 to be fixed
The position shaft shoulder 1.
Planet stent component is mounted on several bevel planet gears 2 the fixation shaft shoulder 24 of output shaft 1 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 1, makes each
The gear rear end face 32 of a bevel planet gear 2 is located at radial outside, several axle sleeves 33 are separately mounted to bevel planet gear 2
Bevel gear axis hole 31 in, the axle sleeve thrust shaft shoulder 33 of axle sleeve 33 is contacted installation with the gear rear end face 32 of bevel planet gear 2
Together, planet stent 6 is mounted on several 33 radial outsides of axle sleeve, the bracket mounting plane 28 and axis of planet stent 6
It covers 33 contact of the axle sleeve thrust shaft shoulder 33 to be installed together, the axis of the bracket fixed shaft hole 30 of planet stent 6 and axle sleeve 33
It covers axis hole 34 to be aligned, several planet axis 5 is sequentially inserted into the bracket fixed shaft hole 30 of planet stent 6, the axis of axle sleeve 33 respectively
In the fixed shaft hole 23 for covering axis hole 34, output shaft 1, bevel planet gear 2 is enable to rotate around planet axis axis 4.
Input shaft 12 is cylindrical, and axial one end is input bevel gear 15, inputs the gear front end face position of bevel gear 15
In the axially external one end of input shaft 12.Retaining ring 1 is cylindrical, and one 18 radial center of retaining ring is retaining ring axis hole 36, retaining ring 1
Radially-outer surface has radial retaining ring pin hole 35.Pin 1 is cylindrical.
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 diameter of bi-bevel gear
It is bi-bevel gear axis hole 2 40 to centre, bi-bevel gear 27 is successively the inside gear teeth 2 41, the outside gear teeth outward from radially inner side
2 42, the inside gear teeth 2 41, the outside gear teeth 2 42 are in axial the same side.
Output shaft 2 10 is cylindrical, and the axial right end of output shaft 2 10 is axle journal 3 59, and 3 59 radially-outer surface of axle journal has
Outside keyway 60, it is positioning shaft shoulder 2 61 between axle journal 3 59 and shaft part 2 27 that the axial left end of output shaft 2 10, which is shaft part 2 27,.
The deceleration mechanism is mounted on bi-bevel gear 1 on the axial right side of planet stent component, makes bipyramid in assembly
The bi-bevel gear axis hole 1 of gear 1 is mounted on one 22 radial outside of axle journal of the output shaft 1 of planet stent component, makes
The inside gear teeth 1 of bi-bevel gear 1 are engaged with the bevel planet gear 2 of planet stent component, and axle sleeve 1 is mounted on output
One 22 radially-outer surface of axle journal of axis 1, makes the bi-bevel gear axis hole one of one 19 radially-outer surface of axle sleeve Yu bi-bevel gear 1
The contact of 37 inner radial surfaces is installed together, and the axle sleeve thrust shaft shoulder 33 and bi-bevel gear 1 for making axle sleeve 1 are without nearside wheel
The end thereof contacts of tooth 1 are installed together, and retaining ring 1 are mounted on one 20 radially-outer surface of shaft part of output shaft 1,
Pin 1 be mounted in the retaining ring pin hole 35 of retaining ring 1 and the dowel hole 1 of output shaft 1 in.Axle sleeve 28 is installed
In 2 25 radially-outer surface of axle journal of output shaft 1, make the axle sleeve thrust shaft shoulder 33 of axle sleeve 28 and the positioning of output shaft 1
The contact of the shaft shoulder 1 is installed together.
Output shaft 2 10 is mounted on the axial left side of planet stent component, spline 9 is mounted on the outer of output shaft 2 10
In keyway 60, bi-bevel gear 27 is mounted on the axial left side of planet stent component, makes the inside gear teeth two of bi-bevel gear 27
41 engage with the bevel planet gear 2 of planet stent component, and the bi-bevel gear axis hole 2 40 of bi-bevel gear 27 is made to be mounted on output shaft
2 10 3 59 radially-outer surface of axle journal, is mounted on spline 9 in the internal keyway 63 of bi-bevel gear 27, makes bi-bevel gear 27
Axle sleeve mounting hole 2 64 is mounted on 28 radially-outer surface of axle sleeve, makes the axle sleeve thrust shaft shoulder 33 and bi-bevel gear 27 of axle sleeve 28
There are the end thereof contacts of the inside gear teeth 2 41 to be installed together.
Input shaft component is mounted on the radial outside of planet stent component, also, input shaft component is mounted on bi-bevel gear
Position between one 1 and 27 axial direction of bi-bevel gear, the input bevel gear 15 of input shaft component are outer with bi-bevel gear 1 respectively
Side wheel tooth 1 and the engagement of the outside gear teeth 2 42 of bi-bevel gear 27.Input shaft component is defeated after the deceleration mechanism assembly
Enter axis 12 and input bevel gear 15 and there was only the one degree of freedom rotated around input shaft axis 13.
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.
Input 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.The outside gear teeth 2 42 for inputting bevel gear 15 and bi-bevel gear 27 form a middle speed reducer, input cone tooth
15 rotation speeds are taken turns after the deceleration of middle speed reducer, drive output shaft 2 10 around output by spline 9 by bi-bevel gear 27
The equidirectional rotation of revolving speed in axis axis 11.
Referring to Fig.1, to Figure 17, deceleration mechanism operational process is by Fig. 2, Figure 13:
When the deceleration mechanism Forward to slow down operating status, motor is by the driving input bevel gear 15 of input shaft 12 around input
Axis axis 13 is rotated along input shaft Forward to slow down direction of rotation 43, and input bevel gear 15 drives bi-bevel gear 1 around output
Axis axis 11 is rotated along one Forward to slow down direction of rotation 47 of bi-bevel gear, and at the same time, input bevel gear 15 drives bipyramid tooth
It takes turns 27 to rotate around output shaft axis 11 along two Forward to slow down direction of rotation 45 of bi-bevel gear, at this point, bi-bevel gear 1 is revolved
Turn direction and 27 direction of rotation of bi-bevel gear on the contrary, and the factor of few teeth difference one make one 1 rotation speed of bi-bevel gear and bipyramid
27 rotation speed of gear is unequal, if 27 rotation speed of bi-bevel gear is greater than one 1 rotation speed of bi-bevel gear, bi-bevel gear one
1 and bi-bevel gear 27 jointly driving bevel planet gear 2 around planet axis axis 4 along bevel planet gear Forward to slow down rotation side
To 53 rotations, in order to offset the speed difference, bevel planet 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, 6 rotation speed of planet stent is equal to 27 rotation speed of bi-bevel gear and bi-bevel gear 1 rotates
The difference of speed.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, planet branch
Frame 6 drives the equidirectional rotation of one 16 slow-speed of revolution of output shaft by planet axis 5.
The deceleration mechanism reversely run slowly state when, motor by input shaft 12 driving input bevel gear 15 surround
Input shaft axis 13 is rotated along 43 opposite direction of input shaft Forward to slow down direction of rotation, and input bevel gear 15 drives bi-bevel gear
1 around output shaft axis 11 along bi-bevel gear one be reversely rotated in deceleration direction 58 rotate, at the same time, input bevel gear 15
Driving bi-bevel gear 27 around output shaft axis 11 along bi-bevel gear two be reversely rotated in deceleration direction 56 rotate, at this point, bipyramid
One 1 direction of rotation of gear and 27 direction of rotation of bi-bevel gear on the contrary, and the factor of few teeth difference one rotate bi-bevel gear 1
Speed and 27 rotation speed of bi-bevel gear are unequal, if 27 rotation speed of bi-bevel gear is greater than one 1 rotation speed of bi-bevel gear,
Driving bevel planet gear 2 is reversed along bevel planet gear around planet axis axis 4 jointly for bi-bevel gear 1 and bi-bevel gear 27
Be rotated in deceleration 57 rotation of direction, and in order to offset the speed difference, bevel planet gear 2 can also revolve around output shaft axis 11, planet
Bevel gear 2 drives 6 slow-speed of revolution of planet stent rotation, and 6 rotation speed of planet stent is equal to 27 rotation speed of bi-bevel gear and bipyramid
The difference of one 1 rotation speed of gear.Planet stent is reversely rotated in deceleration direction 55 and bi-bevel gear two is reversely rotated in deceleration direction 56
Identical, planet stent 6 drives the equidirectional rotation of one 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
One 16 have rotating tendency, and opposing torque passes sequentially through output shaft 1, planet axis 5, planet stent 6, bevel planet gear 2 and drives respectively
Dynamic bi-bevel gear 1 and bi-bevel gear 27, when opposing torque drives the reverse self-locking of bi-bevel gear 1 by bevel planet gear 2
Torque direction 2 49 when torque direction 1 and opposing torque drive the reverse self-locking of bi-bevel gear 27 by bevel planet gear 2
Identical, it is defeated that bi-bevel gear 1 drives the input shaft 12 of input shaft component and input bevel gear 15 to surround jointly with bi-bevel gear 27
Shaft axis 11 rotates, since the input shaft 12 of input shaft component and input bevel gear 15 are only rotated around input shaft axis 13
One degree of freedom, input shaft 12 and input bevel gear 15 prevent opposing torque from driving deceleration mechanism rotation, described in realization
Deceleration mechanism reverse self-locking.
By taking gear parameter each in illustrations as an example, one 16 gear ratio calculation of output shaft of the deceleration mechanism is such as
Under, if the one 16 transmission ratio i ' of output shaft of the deceleration mechanism, if 6 rotation speed Δ n of planet stent, the rotation speed of output shaft 1
Degree is 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, input
15 rotation speed of bevel gear is equal to reference rotation speed n ', and the gear teeth one 39 tooth number Z 1 in outside is equal to 55,2 42 tooth number Z 2 of the outside gear teeth etc.
In 54, input 15 tooth number Z 3 of bevel gear is equal to 24, if one 39 rotation speed X of the outside gear teeth, due to intermeshing two gears
The number of teeth be inversely proportional with revolving speed, then equation is: one 39 tooth number Z 1 of the outside gear teeth divided by input 15 tooth number Z 3 of bevel gear be equal to input
The reference rotation speed n ' of bevel gear 15 is divided by one 39 rotation speed X of the outside gear teeth, then outside one 39 rotation speed X of the gear teeth is equal to
0.4364 times of reference rotation speed n '.
I.e. equation is Z1 ÷ Z3=n ' ÷ X, brings 55 ÷ 24=n ' ÷ X of numerical value into, then X=0.4364n '.
It inputs 15 rotation speed of bevel gear and is equal to reference rotation speed n ', if 2 42 rotation speed Y of the outside gear teeth, due to mutually nibbling
The number of teeth of two gears closed is inversely proportional with revolving speed, then equation is: the gear teeth 2 42 tooth number Z 2 in outside is divided by input 15 tooth of bevel gear
Number Z3 is equal to the reference rotation speed n ' of input bevel gear 15 divided by 2 42 rotation speed Y of the outside gear teeth, then the outside gear teeth 2 42 rotate
Speed Y is equal to 0.4444 times of reference rotation speed n '.
I.e. equation is Z2 ÷ Z3=n ' ÷ Y, brings 54 ÷ 24=n ' ÷ Y of numerical value into, then Y=0.4444n '.
The gear teeth 2 42 rotation speed Y in outside is greater than one 39 rotation speed X 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 X of 2 42 rotation speed Y of the outside gear teeth and the outside gear teeth, and planet stent 6 rotates
Speed Δ n is equal to 0.008 times of reference rotation speed n '.
I.e. equation is Δ n=Y-X, brings value, Δ n=0.4444n ' -0.4364n '=0.008n ' into.
The one 16 transmission ratio i ' of output shaft of deceleration mechanism described in this example is equal to reference rotation speed n ' and 6 rotation speed of planet stent
The ratio between Δ n, then the one 16 transmission ratio i ' of output shaft of the deceleration mechanism is equal to 125: 1.
I.e. equation is i '=n ': Δ n, brings '=1 ': 0.008n numerical value i '=n into: 0.008=125: 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.
If the 2 10 transmission ratio i " of output shaft of the deceleration mechanism, the outside gear teeth 2 42 of deceleration mechanism described in this example rotate
Speed Y is equal to 0.4444 times of reference rotation speed n '.2 10 rotation speed of output shaft is equal to 2 42 rotation speed of the outside gear teeth, this example institute
The 2 10 transmission ratio i " of output shaft for stating deceleration mechanism is equal to the ratio between reference rotation speed n ' and 2 42 rotation speed of the outside gear teeth, then described
The 2 10 transmission ratio i " of output shaft of deceleration mechanism is equal to 2.25: 1.
I.e. equation is i " ': 0.4444n '=1=n: 0.4444=2.25: 1.
It is learnt by above-mentioned case, 2 10 rotation speed of output shaft is greater than one 16 rotation speed of output shaft.
Claims (2)
1. a kind of landing tee sets twin shaft output few teeth difference bipyramid tooth mechanical differential structure, it is characterised in that: the deceleration mechanism includes
Input shaft component, planet stent component, bi-bevel gear component, input shaft component include input shaft (12), input bevel gear (15),
Planet stent component includes output shaft one (16), bevel planet gear (2), axle sleeve three (3), planet axis (5), planet stent (6), double
Bevel gear component includes 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), output shaft two (10), or axle sleeve one (19), axle sleeve two are replaced using bearing respectively in above-mentioned component
(8), axle sleeve three (3), the loading ability of bearing radial load and axial load；It is outside that input shaft component is mounted on planet stent component diameter
Side, bi-bevel gear component link together input shaft component and planet stent component, the input shaft (12) point of input shaft component
Not with the T-shaped arrangement of output shaft two (10) of the output shaft one (16) and bi-bevel gear component of planet stent component；
The deceleration mechanism is in use, input shaft (12) and the output shaft of motor link together, output shaft one (16) axis
The slow-speed of revolution load device driven to right end with the deceleration mechanism links together, output shaft two (10) axial direction left end with it is described
The middle revolving speed load device of deceleration mechanism driving links together；When the deceleration mechanism is run, motor drive input shaft
(12) when rotating along input shaft Forward to slow down direction of rotation (43), the deceleration mechanism is in Forward to slow down operating status, electricity
When motivation drives input shaft (12) to rotate along the opposite direction of input shaft Forward to slow down direction of rotation (43), the deceleration mechanism
In the state that reversely runs slowly；The deceleration mechanism is out of service, and the opposing torque that load device generates cannot be driven in the reverse direction
When input shaft (12) rotates, 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；Input shaft
The input bevel gear (15) of component 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, outboard wheel
The difference of 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 number of teeth, and
And 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) tooth
Several a quarters；The outside gear teeth one (39) number of teeth and the outside gear teeth two (42) number of teeth are unequal, lead to input shaft axis (13)
With output shaft axis (11) out of plumb, angle α, offset folder are offset between input shaft axis (13) and output shaft vertical line (14)
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 outside gear teeth one of bi-bevel gear one (1)
(39) number of teeth, then migration included angle α is offset 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 is less than the outside gear teeth two (42) number of teeth of bi-bevel gear two (7), then migration included angle α is from output shaft
Vertical line (14) is deviated to bi-bevel gear one (1)；
When the deceleration mechanism is run, motor drive input shaft (12) is revolved along input shaft Forward to slow down direction of rotation (43)
Turn or motor drive input shaft (12) is rotated along the opposite direction of input shaft Forward to slow down direction of rotation (43), input
Axis (12) respectively drives bi-bevel gear one (1) and bi-bevel gear two (7) rotation, bi-bevel gear one by inputting bevel gear (15)
(1) direction of rotation makes bi-bevel gear one (1) rotation speed with bi-bevel gear two (7) direction of rotation on the contrary, the factor of few teeth difference one
It is unequal with bi-bevel gear two (7) rotation speed, and bi-bevel gear one (1) rotation speed and bi-bevel gear two (7) rotation speed
The difference of degree is smaller, and bi-bevel gear one (1) and bi-bevel gear two (7) drive bevel planet gear (2) to rotate jointly, bevel planet gear
(2) while surrounding planet axis axis (4) rotation, bevel planet gear (2) can also revolve around output shaft axis (11), planet
Bevel gear (2) drives planet stent (6) slow-speed of revolution rotation, and planet stent (6) is low by planet axis (5) driving output shaft one (16)
The equidirectional rotation of revolving speed；At the same time, bi-bevel gear two (7) is equidirectional by revolving speed in spline (9) driving output shaft two (10)
Rotation；
Axle sleeve one (19), axle sleeve two (8), axle sleeve three (3) are cylindrical, and it is axle sleeve axis hole (34), axial one end that radial direction is intermediate
It is the axle sleeve thrust shaft shoulder (33)；Planet axis (5) is cylindrical；It is bevel gear axis hole (31), diameter among bevel planet gear (2) is radial
It is the gear teeth outward, axial one end is gear front end face, and the axial other end is gear rear end face (32)；Planet stent (6) is in
Annular, planet stent (6) radially inner side are rack bore (29), and planet stent (6) inner radial surface is evenly distributed with several brackets peace
It fills plane (28), there is a bracket fixed shaft hole (30) at each bracket mounting plane (28) center；
Output shaft one (16) is cylindrical, output shaft one (16) from axial one end be successively shaft part one (20), axle journal to the other end
One (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)；
Planet stent component is mounted on several bevel planet gears (2) the fixation shaft shoulder of output shaft one (16) in assembly
(24) radial outside, the fixed shaft hole of bevel gear axis hole (31) and output shaft one (16) of each bevel planet gear (2)
(23) it is aligned, so that the gear rear end face (32) of each bevel planet gear (2) is located at radial outside, several axle sleeves three (3)
It is separately mounted in the bevel gear axis hole (31) of bevel planet gear (2), the axle sleeve thrust shaft shoulder (33) and planet of axle sleeve three (3)
Gear rear end face (32) contact of bevel gear (2) is installed together, and planet stent (6) is mounted on several axle sleeve three (3) diameters
Outward, 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 mounted on
Together, the bracket fixed shaft hole (30) of planet stent (6) is aligned with the axle sleeve axis hole (34) of axle sleeve three (3), several rows
Star axis (5) is 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 respectively
It in the fixed shaft hole (23) of axis one (16), rotate bevel planet gear (2) can around planet axis axis (4)；
Input shaft (12) is cylindrical, and axial one end is input bevel gear (15), inputs the gear front end face of bevel gear (15)
Positioned at input shaft (12) axially external one end；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 has radial retaining ring pin hole (35)；Pin one (17) is cylindrical；
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
It is bi-bevel gear axis hole two (40) among bevel gear two (7) is radial, bi-bevel gear two (7) is successively inside outward from radially inner side
The gear teeth two (41), the outside gear teeth two (42), the inside gear teeth two (41), the outside gear teeth two (42) are in axial the same side；
Output shaft two (10) is cylindrical, and output shaft two (10) axial direction right end is axle journal three (59), axle journal three (59) radial direction appearance
Face has outside keyway (60), and output shaft two (10) axial direction left end is shaft part two (27), is between axle journal three (59) and shaft part two (27)
Positioning shaft shoulder two (61)；
The deceleration mechanism is mounted on bi-bevel gear one (1) on the axial right side of planet stent component, makes bipyramid tooth in assembly
Axle journal one (22) diameter for the output shaft one (16) that the bi-bevel gear axis hole one (37) of one (1) of wheel is mounted on planet stent component is outside
Side engages the inside gear teeth one (38) of bi-bevel gear one (1) with the bevel planet gear (2) of planet stent component, axle sleeve one
(19) it is mounted on axle journal one (22) radially-outer surface of output shaft one (16), makes axle sleeve one (19) radially-outer surface and bi-bevel gear
Bi-bevel gear axis hole one (37) the inner radial surface contact of one (1) is installed together, and makes the axle sleeve thrust shaft shoulder of axle sleeve one (19)
(33) end thereof contacts with bi-bevel gear one (1) without the inside gear teeth one (38) are installed together, and retaining ring one (18) is mounted on
Shaft part one (20) radially-outer surface of output shaft one (16), pin one (17) is mounted in the retaining ring pin hole (35) of retaining ring one (18)
In the dowel hole one (21) of output shaft one (16)；Axle sleeve two (8) is mounted on axle journal two (25) diameter of output shaft one (16)
Exterior surface makes the axle sleeve thrust shaft shoulder (33) of axle sleeve two (8) contact installation with the positioning shaft shoulder one (26) of output shaft one (16)
Together；
Output shaft two (10) is mounted on the axial left side of planet stent component, spline (9) is mounted on output shaft two (10)
In outside keyway (60), bi-bevel gear two (7) is mounted on the axial left side of planet stent component, makes the interior of bi-bevel gear two (7)
Side wheel tooth two (41) is engaged with the bevel planet gear (2) of planet stent component, makes the bi-bevel gear axis hole two of bi-bevel gear two (7)
(40) it is mounted on axle journal three (59) radially-outer surface of output shaft two (10), spline (9) is made to be mounted on the interior of bi-bevel gear two (7)
In keyway (63), 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
The axle sleeve thrust shaft shoulder (33) and bi-bevel gear two (7) of two (8) have the end thereof contacts of the inside gear teeth two (41) to be installed together；
Input shaft component is mounted on the radial outside of planet stent component, also, input shaft component is mounted on bi-bevel gear one (1)
With the position between bi-bevel gear two (7) axial direction, the input bevel gear (15) of input shaft component respectively with bi-bevel gear one (1)
The outside gear teeth one (39) and the engagement of the outside gear teeth two (42) of bi-bevel gear two (7)；Input shaft after the deceleration mechanism assembly
The input shaft (12) of component and input bevel gear (15) only have the one degree of freedom around input shaft axis (13) rotation；
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；
Input 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；The outside gear teeth two (42) of input bevel gear (15) and bi-bevel gear two (7) form a middling speed and subtract
Fast device, input bevel gear (15) rotation speed are driven after the deceleration of middle speed reducer, by bi-bevel gear two (7) by spline (9)
Dynamic output shaft two (10) is around the equidirectional rotation of revolving speed in output shaft axis (11).
2. the user that a kind of landing tee according to claim 1 sets twin shaft output few teeth difference bipyramid tooth mechanical differential structure
Method, it is characterised in that: deceleration mechanism operational process is:
When the deceleration mechanism Forward to slow down operating status, motor is surrounded by input shaft (12) driving input bevel gear (15)
Input shaft axis (13) is rotated along input shaft Forward to slow down direction of rotation (43), and input bevel gear (15) drives bi-bevel gear one
(1) it is rotated around output shaft axis (11) along one Forward to slow down direction of rotation (47) of bi-bevel gear, at the same time, input cone tooth
It takes turns (15) driving bi-bevel gear two (7) and is revolved around output shaft axis (11) along two Forward to slow down direction of rotation (45) of bi-bevel gear
Turn, at this point, 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 bi-bevel gear two (7) rotation speed are unequal, if bi-bevel gear two (7) rotation speed is big
In bi-bevel gear one (1) rotation speed, bi-bevel gear one (1) and bi-bevel gear two (7) drive bevel planet gear (2) to surround jointly
Planet axis axis (4) is along bevel planet gear Forward to slow down direction of rotation (53) rotation, and in order to offset the speed difference, planet bores tooth
Taking turns (2) can also revolve around output shaft axis (11), and bevel planet gear (2) drives planet stent (6) slow-speed of revolution rotation, planet branch
Frame (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 is just
Identical as bi-bevel gear two Forward to slow down direction of rotation (45) to the direction that is rotated in deceleration (51), planet stent (6) passes through planet axis
(5) the equidirectional rotation of output shaft one (16) slow-speed of revolution is driven；
The deceleration mechanism reversely run slowly state when, motor by input shaft (12) driving input bevel gear (15) surround
Input shaft axis (13) is rotated along input shaft Forward to slow down direction of rotation (43) opposite direction, and input bevel gear (15) driving is double
Bevel gear one (1) around output shaft axis (11) along bi-bevel gear one be reversely rotated in deceleration direction (58) rotation, at the same time,
Bevel gear (15) driving bi-bevel gear two (7) is inputted around output shaft axis (11) along the reversed side of being rotated in deceleration of bi-bevel gear two
It is rotated to (56), at this point, bi-bevel gear one (1) direction of rotation and bi-bevel gear two (7) direction of rotation are on the contrary, and few teeth difference one
Factor keep bi-bevel gear one (1) rotation speed and bi-bevel gear two (7) rotation speed unequal, if bi-bevel gear two (7) revolve
Rotary speed is greater than bi-bevel gear one (1) rotation speed, and driving planet bores tooth jointly for bi-bevel gear one (1) and bi-bevel gear two (7)
Wheel (2) is reversely rotated in deceleration direction (57) rotation around planet axis axis (4) along bevel planet gear, in order to offset the 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
Rotation, planet stent (6) rotation speed are equal to the difference of bi-bevel gear two (7) rotation speed and bi-bevel gear one (1) rotation 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, planet stent (6)
The equidirectional rotation of output shaft one (16) slow-speed of revolution is driven 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 one
(16) there is rotating tendency, opposing torque passes sequentially through output shaft one (16), planet axis (5), planet stent (6), bevel planet gear
(2) bi-bevel gear one (1) and bi-bevel gear two (7) are respectively driven, opposing torque drives bi-bevel gear by bevel planet gear (2)
Torque direction one (50) and opposing torque pass through bevel planet gear (2) driving bi-bevel gear two (7) when the reverse self-locking of one (1)
Torque direction two (49) is identical when reverse self-locking, and bi-bevel gear one (1) and bi-bevel gear two (7) drive input shaft component jointly
Input shaft (12) and input bevel gear (15) around output shaft axis (11) rotation, due to input shaft component input shaft (12) and
It inputs bevel gear (15) and there was only the one degree of freedom around input shaft axis (13) rotation, input shaft (12) and input bevel gear
(15) it prevents opposing torque from driving the deceleration mechanism rotation, realizes deceleration mechanism reverse self-locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910224689.9A CN109899455A (en) | 2019-03-23 | 2019-03-23 | Landing tee sets twin shaft output few teeth difference bipyramid tooth mechanical differential structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910224689.9A CN109899455A (en) | 2019-03-23 | 2019-03-23 | Landing tee sets twin shaft output few teeth difference bipyramid tooth mechanical differential structure |
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| Publication Number | Publication Date |
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| CN109899455A true CN109899455A (en) | 2019-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910224689.9A Withdrawn CN109899455A (en) | 2019-03-23 | 2019-03-23 | Landing tee sets twin shaft output few teeth difference bipyramid tooth mechanical differential structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922262A (en) * | 2020-09-27 | 2020-11-13 | 上海大陆天瑞激光表面工程有限公司 | Near-net-shape forming equipment of spiral bevel gear, manufacturing method of near-net-shape forming equipment and rolling assembly |
| CN112923037A (en) * | 2021-01-13 | 2021-06-08 | 东南大学 | Rope sheave actuating system suitable for bed chair |
-
2019
- 2019-03-23 CN CN201910224689.9A patent/CN109899455A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922262A (en) * | 2020-09-27 | 2020-11-13 | 上海大陆天瑞激光表面工程有限公司 | Near-net-shape forming equipment of spiral bevel gear, manufacturing method of near-net-shape forming equipment and rolling assembly |
| CN111922262B (en) * | 2020-09-27 | 2020-12-25 | 上海大陆天瑞激光表面工程有限公司 | Near-net-shape forming equipment of spiral bevel gear, manufacturing method of near-net-shape forming equipment and rolling assembly |
| CN112923037A (en) * | 2021-01-13 | 2021-06-08 | 东南大学 | Rope sheave actuating system suitable for bed chair |
| CN112923037B (en) * | 2021-01-13 | 2022-06-07 | 东南大学 | Rope sheave actuating system suitable for bed chair |
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