CN110185747A - A kind of fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle - Google Patents
A kind of fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle Download PDFInfo
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- CN110185747A CN110185747A CN201910465972.0A CN201910465972A CN110185747A CN 110185747 A CN110185747 A CN 110185747A CN 201910465972 A CN201910465972 A CN 201910465972A CN 110185747 A CN110185747 A CN 110185747A
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- rollaway nest
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- oscillating tooth
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The present invention discloses a kind of fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle, including shell, input shaft and output shaft, affixed saddle on shell, centre wheel is equipped between saddle and shell, centre wheel both ends are respectively equipped with level-one, second level sine interior rollaway nest, the circumferential direction of saddle is evenly equipped with level-one, second level oscillating tooth slot, and level-one, second level steel ball moving teeth are respectively equipped in level-one, second level oscillating tooth slot, and input shaft is equipped with level-one sine outer rollaway nest；Output shaft is equipped with the second level sine outer rollaway nest being used cooperatively with second level sine interior rollaway nest；Input shaft is sequentially connected by the primary transmission mechanism and centre wheel being made of level-one sine interior rollaway nest, level-one oscillating tooth slot, level-one steel ball moving teeth and level-one sine outer rollaway nest, and output shaft is sequentially connected by the secondary drive mechanism and centre wheel being made of second level sine interior rollaway nest, second level oscillating tooth slot, second level steel ball moving teeth and second level sine outer rollaway nest.The present invention has many advantages, such as that transmission ratio is big, axial dimension is small, torque output is stablized, and is suitble to widespread adoption.
Description
Technical field
The present invention relates to Oscillating Tooth Gear Reducer field, in particular to a kind of fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle.
Technical background
With the continuous development of Oscillating Tooth Gear Reducer, many movable tooth speed reducers are come out one after another, a kind of to be exported by swinging disc
Oscillating tooth cam mechanism (201510629776.4), by change swinging disc enclosed slot tooth curve, may be implemented will be at the uniform velocity defeated
Enter to be converted into the oscillating cam output movement of diversified forms.But the oscillating tooth cam structure of such swinging disc output is needed by more
Grade series connection, although big retarding may be implemented than transmission, mechanism size significantly increases, is not suitable for applying in drilling platforms and machine
In the field that person joint etc. are limited by bulk, especially science and technology rapid development is badly in need of that size is small, light-weight, large transmission ratio
New drive device.
Current existing Cylinder Sine Oscillating Tooth retarder is actuation types representative in Oscillating Tooth Gear Reducer.But single-stage is sinusoidal
The transmission of movable teeth reducer is smaller, if multiple single-stage Cylinder Sine Oscillating Tooth retarders are connected, although being able to achieve large transmission ratio,
But axial dimension is big, and torque output is unstable, using being limited, for this purpose, developing the advantages of one kind has both Cylinder Sine Oscillating Tooth retarder, i.e.,
Relatively small axial size, torque is kept to export stable twin-stage Cylinder Sine Oscillating Tooth retarder, Cai Nengshi while realizing large transmission ratio
For more new technologies, the growth requirement of new equipment.
Summary of the invention
In view of the above-mentioned problems, the present invention proposes that a kind of large transmission ratio, axial dimension be small, torque exports stable saddle and fixes
Formula twin-stage Cylinder Sine Oscillating Tooth retarder.
The technical solution adopted by the invention is as follows: a kind of fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle, including shell, set
Set shell one end input shaft and the output shaft of the shell other end is set, affixed saddle on the shell, in saddle and
Centre wheel is equipped between shell, the centre wheel both ends are respectively equipped with level-one sine interior rollaway nest and second level sine interior rollaway nest, described
The circumferential direction of saddle is evenly equipped with the level-one oscillating tooth slots that multiple and level-one interior rollaway nest is used cooperatively, be used cooperatively with second level interior rollaway nest two
Grade oscillating tooth slot, respectively corresponds equipped with level-one steel ball moving teeth and second level steel ball moving teeth in the level-one oscillating tooth slot and second level oscillating tooth slot,
The input shaft is equipped with the level-one sine outer rollaway nest being used cooperatively with level-one sine interior rollaway nest；The output shaft is equipped with and two
The second level sine outer rollaway nest that the sinusoidal interior rollaway nest of grade is used cooperatively；The input shaft passes through by level-one sine interior rollaway nest, level-one oscillating tooth
The primary transmission mechanism and centre wheel that slot, level-one steel ball moving teeth and level-one sine outer rollaway nest are constituted are sequentially connected, the output shaft
Pass through the secondary transmission machine being made of second level sine interior rollaway nest, second level oscillating tooth slot, second level steel ball moving teeth and second level sine outer rollaway nest
Structure and centre wheel are sequentially connected.
Compared with the prior art, the present invention has the following advantages: compared to the fixed twin-stage Cylinder Sine Oscillating Tooth retarder of shell,
The present invention by the cooperation of shell, centre wheel, saddle, input shaft and output shaft, particular by input shaft by by level-one just
The primary transmission mechanism and centre wheel that string interior rollaway nest, level-one oscillating tooth slot, level-one steel ball moving teeth and level-one sine outer rollaway nest are constituted pass
Dynamic connection, output shaft second level sine interior rollaway nest, second level oscillating tooth slot, second level steel ball moving teeth and second level sine outer rollaway nest by being made of
Secondary drive mechanism and centre wheel be sequentially connected so that retarding device is in the case where radial dimension is basically unchanged, axial ruler
Very little significant shortening possesses smaller draw ratio, output torque stabilization, passes through and choose different level-one sine outer rollaway nests, level-one
Sinusoidal interior rollaway nest, second level sine interior rollaway nest, second level sine outer rollaway nest periodicity realize that resultant gear ratio range is big.Present invention tool
Have the advantages that a kind of large transmission ratio, axial dimension be small, torque exports the fixed twin-stage Cylinder Sine Oscillating Tooth retarder of stable saddle.This
The reducer structure of invention can carry out parametrization and Seriation Design, be suitble to widespread adoption.
Preferably: parametric equation of the level-one sine outer rollaway nest theory flank of tooth under rectangular co-ordinate are as follows:
In formula, level-one sine outer rollaway nest periodicity is Z1, amplitude A1, raceway radius r'1, rolling track and radial radius is
R1, the corner of input shaft isLevel-one steel ball moving teeth spherical equation parameter is respectively u, v.
Preferably: parametric equation of the theoretical flank of tooth of the second level sine outer rollaway nest (13) under rectangular co-ordinate are as follows:
In formula, second level sine outer rollaway nest periodicity is Z4, amplitude A4, raceway radius r'4, rolling track and radial radius is
R4, the corner of output shaft isSecond level steel ball moving teeth spherical equation parameter is respectively u`, v`。
Preferably: parametric equation of the centre wheel upper level sine interior rollaway nest theory flank of tooth under rectangular co-ordinate are as follows:
Parametric equation of the second level sine interior rollaway nest theory flank of tooth under rectangular co-ordinate on the centre wheel are as follows:
In formula, centre wheel upper level sine interior rollaway nest periodicity is Z3, amplitude A3, raceway radius r'3, raceway diameter
It is R to radius3；Second level sine interior rollaway nest periodicity on centre wheel is Z2, amplitude A2, raceway radius r'2, rolling track and radial
Radius is R2；Centre wheel primary transmission part corner isSecondary transmission part corner isLevel-one steel ball moving teeth spherical equation
Parameter is respectively u, v, and second level steel ball moving teeth spherical equation parameter is respectively u`, v`.
Preferably: the gear ratio calculation formula of the primary transmission mechanism are as follows:
The gear ratio calculation formula of secondary drive mechanism are as follows:
Resultant gear ratio calculation formula are as follows:
It is above it is various in, "-" number indicates that input, two components of output turn on the contrary, "+" number indicates input, two components of output
Turn to identical, Z1For level-one sine outer rollaway nest periodicity, Z2For second level sine outer rollaway nest periodicity.
Preferably: the corner of described affixed prime mover of input shaft, prime mover output is
Between relationship meet:
In formula,For input shaft corner,For secondary transmission part corner,For primary transmission part corner,
For the corner of output shaft.
Preferably: the centre wheel both ends are respectively equipped with thin-wall bearing, and the centre wheel is connected by thin-wall bearing and shell
It connects.
Preferably: the input shaft and output shaft pass through corresponding deep groove ball bearing respectively and connect with saddle.
Detailed description of the invention
Fig. 1: general assembly full section structural schematic diagram of the invention；
Fig. 2: isometric half section structure diagram of the invention；
Fig. 3: input shaft design of part schematic diagram of the invention；
Fig. 4: saddle design of part schematic diagram of the invention；
Fig. 5: centre wheel design of part schematic diagram of the invention；
Fig. 6: output shaft design of part schematic diagram of the invention；
Fig. 7: each level-one steel ball moving teeth in primary transmission part of the present invention is in a stress period of centre wheel
Peripheral force the calculated results figure；
Fig. 8: output torque theory meter of the primary transmission part of the present invention under permanent input torque 0.2Nm effect
Calculate result figure；
Fig. 9: output torque reason of the secondary transmission part of the present invention under the effect of primary transmission part output torque
By calculated result figure；
Figure 10: retarder of the present invention output torque theoretical calculations at different levels under permanent input torque 0.2Nm effect
Result figure；
Figure 11: the structural schematic diagram of the embodiment of the present invention two.
In figure: 1, shell；2, input shaft；3, output shaft；4, saddle；5, centre wheel；6, level-one sine interior rollaway nest；7, second level
Sinusoidal interior rollaway nest；8, level-one oscillating tooth slot；9, second level oscillating tooth slot；10, level-one steel ball moving teeth；11, second level steel ball moving teeth；12, level-one
Sinusoidal outer rollaway nest；13, second level sine outer rollaway nest；14, thin-wall bearing；15, deep groove ball bearing；16, left end cap；17, right end cap；
18, gasket；19, washer；20, oscillating tooth ingate；21, extended flange formula structure；22, ring flange；23, angular contact ball bearing；
24, motor.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
In order to further understand the content, features and effects of the present invention, hereby lifting following embodiment, detailed description are as follows:
Embodiment one:
Referring to Figure 1, Fig. 2, a kind of fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle of the invention, including shell 1, setting
1 one end of shell input shaft 2 and the output shaft 3 of 1 other end of shell is set, affixed saddle 4 on shell 1, in saddle 4
Centre wheel 5 is equipped between shell 1,5 both ends of centre wheel are respectively equipped with level-one sine interior rollaway nest 6 and second level sine interior rollaway nest 7, lead
The circumferential direction of frame 3 is evenly equipped with multiple level-one oscillating tooth slots 8 being used cooperatively with level-one interior rollaway nest 6, is used cooperatively with second level interior rollaway nest 7
It is respectively corresponded in second level oscillating tooth slot 9, level-one oscillating tooth slot 8 and second level oscillating tooth slot 9 living equipped with level-one steel ball moving teeth 10 and second level steel ball
Tooth 11, input shaft 2 are equipped with the level-one sine outer rollaway nest 12 being used cooperatively with level-one sine interior rollaway nest 6；Output shaft 3 be equipped with
The second level sine outer rollaway nest 13 that second level sine interior rollaway nest 7 is used cooperatively；Input shaft 2 passes through living by level-one sine interior rollaway nest 6, level-one
The primary transmission mechanism and centre wheel 5 that tooth socket 8, level-one steel ball moving teeth 10 and level-one sine outer rollaway nest 12 are constituted are sequentially connected, defeated
Shaft 8 is by being made of second level sine interior rollaway nest 7, second level oscillating tooth slot 9, second level steel ball moving teeth 11 and second level sine outer rollaway nest 13
Secondary drive mechanism and centre wheel 5 are sequentially connected.
Referring to Figure 1, Fig. 2, Fig. 3, the input shaft 2 in the present invention is a multi-diameter shaft, and multi-diameter shaft is divided into two sections, the first shaft part
Diameter is less than the second shaft part, and the first shaft part is equipped with keyway and is connect by key with prime mover output end, and the second shaft part is equipped with
Annular protrusion and in lug boss circumferential direction be equipped with level-one sine outer rollaway nest 12, on the second shaft part, annular protrusion two sides distinguish
Equipped with deep groove ball bearing 15, input shaft 2 is connect by deep groove ball bearing 15 with saddle 4.The theoretical flank of tooth of level-one sine outer rollaway nest 12
Parametric equation under rectangular co-ordinate are as follows:
In formula, 12 periodicity of level-one sine outer rollaway nest is Z1, amplitude A1, raceway radius r'1, rolling track and radial radius
For R1, the corner of input shaft 2 is10 spherical equation parameter of level-one steel ball moving teeth is respectively u, v.
Referring to Figure 1, Fig. 2, Fig. 4, the present invention in saddle 4 be flange sleeve, wherein saddle 4 include flange portion and bushing
Portion, the flange portion of the saddle 4 and left end of shell 1 is affixed, liner part of saddle 4 is set in shell 1, and 8 He of level-one oscillating tooth slot
Second level oscillating tooth slot 9 is respectively provided at the both ends of the liner part of saddle 4, wherein level-one oscillating tooth slot 8 be located proximate to saddle 4 flange portion,
Flange portion of the position far from saddle 4 of second level oscillating tooth slot 9, level-one oscillating tooth slot 8 is strip-shaped hole, second level oscillating tooth slot 9 is U-lag hole.
First oscillating tooth slot number mesh is n on saddle 41, the second oscillating tooth slot number mesh is n2, i.e., first and second grade of oscillating tooth steel ball number is respectively n1With
n2, and the radius of level-one steel ball moving teeth 10, second level steel ball moving teeth 11 is respectively r1And r2, and I and II oscillating tooth steel ball 11 radial time
Turning radius is respectively RⅠ、RⅡ。
Referring to Figure 1, Fig. 2, Fig. 6, the output shaft 3 in the present invention is a multi-diameter shaft, and multi-diameter shaft is divided into two sections, the first shaft part
Diameter is less than the second shaft part, and the first shaft part is equipped with keyway and is connected by key with driven-mechanism input terminal, on the second shaft part
Second level sine outer rollaway nest 13 is equipped with equipped with annular protrusion and in lug boss circumferential direction, on the second shaft part, annular protrusion two sides point
Not She You deep groove ball bearing 15, output shaft 3 connect by deep groove ball bearing 15 with saddle 4.The theoretical tooth of second level sine outer rollaway nest 13
Parametric equation of the face under rectangular co-ordinate are as follows:
In formula, 13 periodicity of second level sine outer rollaway nest is Z4, amplitude A4, raceway radius r'4, rolling track and radial radius
For R4, the corner of output shaft 3 is11 spherical equation parameter of second level steel ball moving teeth is respectively u`, v`。。
In order to which the axial position to input shaft 2, output shaft 3 limits, in the present embodiment, it is arranged on input shaft 2
One flange left end cap 16, the outer end of input shaft 2 is stretched out to be connect with prime mover, and prime mover can be the existing equipments such as motor, left
The flange end of end cap 16 is bonded with the left end of saddle 4, then by screw that left end cap 16, saddle 4 and shell 1 is affixed；Defeated
A flange right end cap 17 is arranged on shaft 3, the outer end of output shaft 3 is stretched out to be connected with driven-mechanism input terminal, right end cap 17
Flange end and shell 1 right end by screw it is affixed；Washer 19 is additionally provided between input shaft 2 and output shaft 3, and it is padded
The outer ring of circle 19 is bonded with saddle 4, and 19 left end of washer is bonded with the deep groove ball bearing 15 of 2 inner end of input shaft, right end and output shaft 3
The deep groove ball bearing 15 of inner end is bonded, and carries out axis to input shaft 2 and output shaft 3 by left end cap 16, right end cap 17 and washer 19
To limit.In order to guarantee the good sealing of Cylinder Sine Oscillating Tooth retarder, on left end cap 16 and right end cap 17 also each be equipped with pair
The gasket 18 answered.
Referring to Figure 1, Fig. 2, Fig. 5, centre wheel 5 of the invention are an annulus, and level-one sine interior rollaway nest 6 and second level are just
String interior rollaway nest 7 is respectively provided on 5 annular inner side wall of centre wheel and two interior rollaway nests are closed curve, the lateral wall of centre wheel 5
Both ends are respectively equipped with thin-wall bearing 14, and centre wheel 5 is connect by thin-wall bearing 14 with shell 1, in level-one sine interior rollaway nest 6 and two
An oscillating tooth ingate 20 is had in the sinusoidal interior rollaway nest 7 of grade, oscillating tooth ingate 20 is used to be put into corresponding steel ball moving teeth, living
Tooth ingate 20 is equipped with internal screw thread, is sealed after being put into corresponding steel ball moving teeth by screw.5 upper level of centre wheel is sinusoidal
Parametric equation of the theoretical flank of tooth of interior rollaway nest 6 under rectangular co-ordinate are as follows:
Parametric equation of the theoretical flank of tooth of second level sine interior rollaway nest 7 under rectangular co-ordinate on centre wheel 5 are as follows:
In formula, 5 upper level sine interior rollaway nest of centre wheel, 6 periodicity is Z3, amplitude A3, raceway radius r'3, raceway
Radial radius is R3；7 periodicity of second level sine interior rollaway nest on centre wheel 5 is Z2, amplitude A2, raceway radius r'2, raceway
Radial radius is R2；5 primary transmission part corner of centre wheel isSecondary transmission part corner isLevel-one steel ball moving teeth 10
Spherical equation parameter is respectively u, v, and 11 spherical equation parameter of second level steel ball moving teeth is respectively u`, v`.
13 periodicity of second level sine outer rollaway nest is Z4Meet following relationship: Z4=n2± 1, n in formula2For second level oscillating tooth
Slot number mesh.
6 periodicity Z of level-one sine interior rollaway nest3Meet following relationship: Z3=n1± 1, n in formula1For level-one oscillating tooth slot number
Mesh.The gear ratio calculation formula of primary transmission mechanism are as follows:
The gear ratio calculation formula of secondary drive mechanism are as follows:
Resultant gear ratio calculation formula are as follows:
It is above it is various in, "-" number indicates that input, two components of output turn on the contrary, "+" number indicates input, two components of output
Turn to identical, Z1For 12 periodicity of level-one sine outer rollaway nest, Z2For 13 periodicity of second level sine outer rollaway nest.
The affixed prime mover of input shaft 2, the corner that described prime mover exports areBetween relationship
Meet:
WhereinFor input shaft 2 corner,For secondary transmission part corner,For primary transmission part corner,For
The corner of output shaft 3.
For 39 stepper motors, a kind of matching fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle, knot are devised
Structure schematic diagram referring to Figure 1, Fig. 2, the model retarder overall dimension are as follows: overall length 93mm, outer diameter φ 49mm, other each structures ginsengs
Number value is shown in Table 1.
Table 1
| A1 | 1.5mm | Z1 | 1 | r'1 | 2.2mm | R1 | 12.1mm | r1、r2 | 2mm |
| A2 | 1.5mm | Z2 | 1 | r'2 | 2.2mm | R2 | 11.9mm | RⅠ、RⅡ | 12mm |
| A3 | 1.5mm | Z3 | 6 | r'3 | 2.2mm | R3 | 11.9mm | n1 | 7 |
| A4 | 1.5mm | Z4 | 6 | r'4 | 2.2mm | R4 | 12.1mm | n2 | 7 |
As shown in fig. 7, when structure of the invention parameter takes and is respectively worth in table 1, because primary transmission ratio and secondary transmission are than identical,
So the r of level-one steel ball moving teeth 10 and second level steel ball moving teeth 111And r2It is equal, i.e. level-one steel ball moving teeth 10 and second level steel ball moving teeth
11 structures are identical.Circumferential component F of the level-one steel ball moving teeth 10 to centre wheel 5t3i(i=1,2 ..., n1) a stress period
Interior conversion curve is as shown in Figure 7, it is seen that it was uniformly distributed in the entire stress period.
Stress period calculation formula are as follows:
Due to Z1It is 1, therefore T=π.
The stress functional equation of single level-one steel ball moving teeth 10 is that trigonometric function is got through elementary operation calculating, specific abstract
For
Therefore the primary transmission output torque at input shaft 1 is
Tn1=∑ Ft3i·RI(i=1,2 ..., n1)
If each level-one steel ball moving teeth 10 is cumulative to the circumferential component of centre wheel 5 and tends to a constant, i.e. ∑ Ft3iTend to one often
It counts, then its output torque Tn1Tend to a constant.Specifically, when each level-one steel ball moving teeth 10 is equal to by the phase difference of force function
When the period of waves of integral multiple is than the number of upper level steel ball moving teeth 10, each level-one steel ball moving teeth 10 by force function can integral multiple by
Equiphase difference is uniformly distributed in the power period, it is cumulative at this time and tends to a fixed constant.It is abstracted as discriminate are as follows:
Above formula can abbreviation are as follows:
Bring T=π into above formula and obtain k=2, it follows that important conclusion: twin-stage Cylinder Sine Oscillating Tooth fixed for saddle slows down
Device, distributes its reduction ratio anyway, and output torques at different levels tend to a fixed constant.
As shown in figure 8, obtained under 1 Parameter Conditions of table, when input torque is 0.2Nm, the output of primary transmission part
Torque change curve, Tn1For actual value, sinusoidal periodic fluctuation is presented, but fluctuation is very small, can be considered smoothly, average value
For Tn1avg=0.841Nm.
It is T in input torque as shown in figure 9, having obtained under 1 Parameter Conditions of tablen1When, secondary transmission part output torque becomes
Change curve, Tn2For actual value, sinusoidal periodic fluctuation is presented, but fluctuation is very small, can be considered that smoothly average value is
Tn2avg=3.536Nm.
As shown in Figure 10, it has obtained under 1 Parameter Conditions of table, when input torque is 0.2Nm, the fixed twin-stage of saddle is just
The input torque T of string movable teeth reduceremWith output torque T at different levelsn1、Tn2Summarize curve, second level output torque Tn2Fluctuation
Rate is about 0.00000424%, can be considered that permanent torque exports.
Working principle of the present invention: the present invention in use, input shaft 2 is connected with prime mover output mechanism, by output shaft 3 and
Driven-mechanism input terminal is connected, and is then rotated by prime mover driven input shaft 2, the n on input shaft 21A level-one steel ball is living
The periodicity on input shaft 2 of tooth 10 is Z1Level-one sine outer rollaway nest 12 driving under, along one in the saddle 4 at respective place
Reciprocating rolling in grade oscillating tooth slot 8, meanwhile, n1A level-one steel ball moving teeth 10 is Z with periodicity on centre wheel 53Level-one it is sinusoidal in rolling
Road 6 engages, and driving centre wheel 5 is rotated along the opposite direction of input shaft 2, and primary speed-down ratio is i13=-Z3/Z1；Likewise, center
Taking turns periodicity on 5 other ends is Z2Second level sine interior rollaway nest 7 on have n2A second level steel ball moving teeth 11, the centre wheel 5 being rotated
Driving, along reciprocating rolling in second level oscillating tooth slot 9 in saddle 4, meanwhile, n2A second level steel ball moving teeth 11 and 3 upper period of output shaft
Number is Z4Second level sine outer rollaway nest 13, push output shaft 3 to rotate along the opposite direction of centre wheel 5, to complete double reduction,
Double reduction ratio is i34=-Z4/Z2；Because input shaft 2 and output shaft 3 turn to centre wheel 5 on the contrary, therefore input shaft 2 and output
It is i that axis 3, which turns to identical, total reduction ratio,14=Z3Z4/(Z1Z2), by level-one steel ball moving teeth 10 level-one sine outer rollaway nest 12,
Movement in level-one oscillating tooth slot 8, level-one sine interior rollaway nest 6, realizes primary transmission, sinusoidal outer in second level by second level steel ball moving teeth 11
Movement in raceway 13, second level oscillating tooth slot 9, second level sine interior rollaway nest 7, realize secondary transmission, passes through this level-one, secondary transmission
Structure greatly reduces axial dimension, while drive mechanism total reduction ratio i of the invention14With each raceway periodicity Zi(i=1,2,
3,4) related, reasonable distribution raceway periodicities at different levels are, it can be achieved that big resultant gear ratio.
Embodiment two:
Referring to Figure 11, it is essentially identical with the structure and transmission principle of above-described embodiment one, for 57 stepper motors, design
The fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle of a kind of matching electromechanical integrated morphology, according to the ginseng in embodiment one
Several and formula constraint condition gives one group of parameter according to certain robot applications, finally obtains this kind of parameter combination form
Under, the model retarder overall dimension are as follows: overall length 150mm, outer diameter φ 76mm, other each structural parameters values are shown in Table 2.
| A1 | 1.5mm | Z1 | 1 | r'1 | 3.3mm | R1 | 18.2mm | r1、r2 | 3mm |
| A2 | 1.5mm | Z2 | 1 | r'2 | 3.3mm | R2 | 17.8mm | RⅠ、RⅡ | 18mm |
| A3 | 1.5mm | Z3 | 7 | r'3 | 3.3mm | R3 | 17.8mm | n1 | 8 |
| A4 | 1.5mm | Z4 | 7 | r'4 | 3.3mm | R4 | 18.2mm | n2 | 8 |
It can be seen that a secondary transmission is 7 than respectively in the present embodiment, resultant gear ratio 49.The difference is that removal left end
Lid 16, is replaced with motor 24, and motor 24 can be stepper motor, or servo motor, also or brushless motor etc.；
Then, input shaft 2, is directly fixedly mounted on the output shaft of motor by the deep groove ball bearing 15 for removing 2 both ends of input shaft；It will be defeated
The structure of the overhanging shaft end type of shaft 3 is changed to extended flange formula structure 21, and installs an external flange disk 22, and output shaft 3 is right
15 bearing of deep groove ball bearing at end replaces with the angular contact ball bearing 23 of two mounted in pairs；By the modification on above structure,
The embodiment of electromechanical integrated form is obtained, which is applied to industrial robot field, and retarder right end external flange can
It is directly connected to mechanical arm, so that greatly simplified robot architecture and weight, application value are big.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, structural parameters of the invention, can there is various modifications and variations.All within the spirits and principles of the present invention,
Any modification, equivalent replacement, improvement and so on, i.e., consistent with mechanism principle of the present invention and flank profil characteristic equation and the present invention
Consistent all dimensions retarders, should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle, including shell (1), setting shell (1) one end input shaft
(2) and setting shell (1) other end output shaft (3), it is characterised in that: affixed saddle (4) on the shell (1),
Centre wheel (5) are equipped between saddle (4) and shell (1), centre wheel (5) both ends are respectively equipped with level-one sine interior rollaway nest (6)
With second level sine interior rollaway nest (7), the circumferential direction of the saddle (3) is evenly equipped with multiple level-ones being used cooperatively with level-one interior rollaway nest (6)
Oscillating tooth slot (8), the second level oscillating tooth slot (9) being used cooperatively with second level interior rollaway nest (7), the level-one oscillating tooth slot (8) and second level oscillating tooth
It is respectively corresponded in slot (9) equipped with level-one steel ball moving teeth (10) and second level steel ball moving teeth (11), the input shaft (2) is equipped with and one
The level-one sine outer rollaway nest (12) that the sinusoidal interior rollaway nest (6) of grade is used cooperatively；The output shaft (3) is equipped with and the sinusoidal interior rolling of second level
The second level sine outer rollaway nest (13) that road (7) is used cooperatively；The input shaft (2) passes through living by level-one sine interior rollaway nest (6), level-one
The primary transmission mechanism and centre wheel (5) that tooth socket (8), level-one steel ball moving teeth (10) and level-one sine outer rollaway nest (12) are constituted are driven
Connection, the output shaft (8) pass through by second level sine interior rollaway nest (7), second level oscillating tooth slot (9), second level steel ball moving teeth (11) and two
The secondary drive mechanism and centre wheel (5) that the sinusoidal outer rollaway nest (13) of grade is constituted are sequentially connected.
2. the fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle as described in claim 1, it is characterised in that: the level-one is sinusoidal outer
Parametric equation of raceway (12) the theory flank of tooth under rectangular co-ordinate are as follows:
In formula, level-one sine outer rollaway nest (12) periodicity is Z1, amplitude A1, raceway radius r1', rolling track and radial radius is
R1, the corner of input shaft (2) isLevel-one steel ball moving teeth (10) spherical equation parameter is respectively u, v.
3. the fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle as described in claim 1, it is characterised in that: the second level is sinusoidal outer
Parametric equation of raceway (13) the theory flank of tooth under rectangular co-ordinate are as follows:
In formula, second level sine outer rollaway nest (13) periodicity is Z4, amplitude A4, raceway radius is r '4, rolling track and radial radius is
R4, the corner of output shaft (3) isSecond level steel ball moving teeth (11) spherical equation parameter is respectively u`, v`。
4. the fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle as described in claim 1, it is characterised in that: the centre wheel (5)
Parametric equation of upper level sine interior rollaway nest (6) the theory flank of tooth under rectangular co-ordinate are as follows:
Parametric equation of second level sine interior rollaway nest (7) the theory flank of tooth under rectangular co-ordinate on the centre wheel (5) are as follows:
In formula, centre wheel (5) upper level sine interior rollaway nest (6) periodicity is Z3, amplitude A3, raceway radius r3', raceway
Radial radius is R3；Second level sine interior rollaway nest (7) periodicity on centre wheel (5) is Z2, amplitude A2, raceway radius r2',
Rolling track and radial radius is R2；Centre wheel (5) primary transmission part corner isSecondary transmission part corner isLevel-one steel ball is living
Tooth (10) spherical equation parameter is respectively u, v, and second level steel ball moving teeth (11) spherical equation parameter is respectively u`, v`.
5. the fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle as claimed in claim 3, it is characterised in that: the second level is sinusoidal outer
Raceway (13) periodicity is Z4Meet following relationship: Z4=n2± 1, n in formula2For second level oscillating tooth slot number mesh.
6. the fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle as claimed in claim 4, it is characterised in that: in the level-one sine
Raceway (6) periodicity Z3Meet following relationship: Z3=n1± 1, n in formula1For level-one oscillating tooth slot number mesh.
7. the fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle as described in claim 1, it is characterised in that: the primary transmission machine
The gear ratio calculation formula of structure are as follows:
The gear ratio calculation formula of secondary drive mechanism are as follows:
Resultant gear ratio calculation formula are as follows:
It is above it is various in, "-" number indicates that input, two components of output turn on the contrary, "+" number indicates that input, two components of output turn to
It is identical, Z1For level-one sine outer rollaway nest (12) periodicity, Z2For second level sine outer rollaway nest (13) periodicity.
8. the fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle as described in claim 1, it is characterised in that: the input shaft (2)
Affixed prime mover, the corner that described prime mover exports areBetween relationship meet:
WhereinFor input shaft (2) corner,For secondary transmission part corner,For primary transmission part corner,For output
The corner of axis (3).
9. the fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle as described in claim 1, it is characterised in that: the centre wheel (5)
Both ends are respectively equipped with thin-wall bearing (14), and the centre wheel (5) is connect by thin-wall bearing (14) with shell (1)。
10. the fixed twin-stage Cylinder Sine Oscillating Tooth retarder of saddle as described in claim 1, it is characterised in that: the input shaft (2)
It is connect respectively by corresponding deep groove ball bearing (15) with saddle (4) with output shaft (3).
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Cited By (2)
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| CN111043275A (en) * | 2019-11-25 | 2020-04-21 | 燕山大学 | Small-size doublestage hammer shape roller oscillating tooth reduction gear |
| US11692613B2 (en) * | 2018-08-07 | 2023-07-04 | 21Geo Corp. | Rolling-contact bearings |
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| CN111043275A (en) * | 2019-11-25 | 2020-04-21 | 燕山大学 | Small-size doublestage hammer shape roller oscillating tooth reduction gear |
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