CN110645323A - Micro-miniature steel ball speed reducer based on crossed roller bearing and center wheel integrated structure - Google Patents
Micro-miniature steel ball speed reducer based on crossed roller bearing and center wheel integrated structure Download PDFInfo
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- CN110645323A CN110645323A CN201910975881.1A CN201910975881A CN110645323A CN 110645323 A CN110645323 A CN 110645323A CN 201910975881 A CN201910975881 A CN 201910975881A CN 110645323 A CN110645323 A CN 110645323A
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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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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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
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
Abstract
The invention provides a microminiature steel ball speed reducer based on an integrated structure of a crossed roller bearing and a center wheel, which comprises a primary flange, a driving shaft, a primary crossed roller bearing, a shell, a first elastic rubber gasket, a first needle roller rolling bearing, an eccentric shaft sleeve, a set screw, a primary shock wave device, a primary steel ball, a primary movable rack, a second needle roller rolling bearing, a primary center wheel, a second elastic rubber gasket, a third needle roller rolling bearing, a secondary shock wave device, a secondary steel ball, a secondary movable rack, a secondary crossed roller bearing and a secondary flange. The crossed roller bearings in the invention all adopt an integrated structure, the end surface of the inner ring of the bearing is provided with a sinusoidal raceway which is used as a central wheel of a second-stage transmission system for transmission, and the bearing plays a supporting role at the same time, thereby simplifying the structure composition of the speed reducer, and simultaneously greatly reducing the axial size and the radial size of the speed reducer, so that the structure is simple and compact. The two-stage crossed roller bearings have the same structure, have interchangeability and can prolong the service life.
Description
Technical Field
The invention relates to the technical field of mechanical transmission, in particular to a microminiature steel ball speed reducer based on a crossed roller bearing and a central wheel integrated structure.
Background
The movable-tooth transmission is a novel transmission mechanism different from the traditional gear transmission, and along with the continuous development of the movable-tooth transmission, a plurality of novel movable-tooth reducers are successively disclosed. The planar movable tooth transmission is a representative movable tooth transmission type, and is widely applied to the fields of aerospace, new energy, precise instruments and the like due to the advantages of compact structure, good balance condition, wide transmission ratio range and the like. Through optimally designing a single-stage oscillating tooth transmission structure into a double-stage oscillating tooth transmission structure, the planar oscillating tooth transmission speed reducer can realize a large transmission ratio, but cannot simultaneously meet the requirements of small size and high efficiency, and therefore, the development requirement of designing a speed reducer with the large transmission ratio, the small size and the high efficiency so as to be suitable for more new technologies and new equipment is required.
Disclosure of Invention
According to the technical problem that the existing plane oscillating tooth transmission speed reducer cannot simultaneously meet the requirements of small size and high efficiency, the micro-miniature steel ball speed reducer based on the crossed roller bearing and the central wheel integrated structure is provided. The invention mainly utilizes the crossed roller bearing and the needle roller rolling bearing which are arranged in the speed reducer, the crossed roller bearing adopts an integrated structure, and a sinusoidal raceway is designed in the inner ring of the crossed roller bearing, thereby playing the roles of transmission and support, simplifying the structure composition of the speed reducer, and simultaneously greatly reducing the axial dimension and the radial dimension of the speed reducer.
The technical means adopted by the invention are as follows:
a microminiature steel ball speed reducer based on a crossed roller bearing and center wheel integrated structure comprises a primary flange, a driving shaft, a primary crossed roller bearing, a shell, a first elastic rubber gasket, a first needle roller rolling bearing, an eccentric shaft sleeve, a set screw, a primary shock wave device, a primary steel ball, a primary movable rack, a second needle roller rolling bearing, a primary center wheel, a second elastic rubber gasket, a third needle roller rolling bearing, a secondary shock wave device, a secondary steel ball, a secondary movable rack, a secondary crossed roller bearing and a secondary flange;
the shell of the first-stage crossed roller bearing, the shell, the first elastic rubber gasket, the first-stage central wheel, the second elastic rubber gasket, the second movable rack and the shell of the second-stage crossed roller bearing are sequentially and fixedly connected from the head end to the tail end, and the axes of the two movable racks are overlapped;
the primary flange, the driving shaft and the primary crossed roller bearing inner ring are connected through bolts, the eccentric shaft sleeve is connected with the driving shaft, the primary shock wave device is connected with the eccentric shaft sleeve through the first needle roller rolling bearing, the primary oscillating tooth rack is arranged between the primary shock wave device and the primary central wheel, the end surface of the primary oscillating tooth rack is circumferentially provided with evenly distributed oscillating tooth guide grooves, and the primary steel balls are evenly distributed in the oscillating tooth guide grooves;
the secondary shock wave device is connected with the eccentric shaft section of the primary oscillating tooth rack through the third needle roller rolling bearing, the secondary oscillating tooth rack is arranged between the primary shock wave device and the secondary crossed roller bearing, the end surface of the secondary oscillating tooth rack is circumferentially provided with evenly distributed oscillating tooth guide grooves, the secondary steel balls are evenly distributed in the oscillating tooth guide grooves, and the secondary flange is connected with the inner ring of the secondary crossed roller bearing through bolts;
the first-stage crossed roller bearing and the second-stage crossed roller bearing both adopt integrated structures, and the integrated structures mean that the first end surfaces of the inner rings of the first-stage crossed roller bearing and the second-stage crossed roller bearing are respectively provided with a sinusoidal raceway with an isosceles trapezoid cross section, so that the functions of transmission and support are achieved, the structural composition of the speed reducer can be simplified, and the axial size and the radial size of the speed reducer are greatly reduced; the secondary steel ball and the sinusoidal roller path of the secondary crossed roller bearing inner ring are in contact with a transmission torque, if the section of the sinusoidal roller path is semicircular, friction is increased, and transmission efficiency is reduced, so that the section of the positively selected roller path is designed to be isosceles trapezoid.
The primary shock wave device, the first needle roller rolling bearing, the primary movable rack and the primary central wheel form a primary transmission system; in the first-stage transmission system, the first-stage central wheel is fixed, and the first-stage shock wave device drives the first-stage oscillating tooth rack to output the power of the first-stage transmission system;
the secondary shock wave device, the secondary oscillating tooth rack, the secondary steel ball and the secondary crossed roller bearing form a secondary transmission system; in the second-stage transmission system, the second-stage movable rack is fixed, the inner ring of the second-stage crossed roller bearing drives the second-stage flange to output power of the second-stage transmission system, the axial size of the speed reducer can be reduced, and the inner ring of the second-stage crossed roller bearing is the second-stage central wheel.
Furthermore, the primary oscillating tooth rack, the primary shock wave device and the secondary shock wave device are all supported by a needle roller rolling bearing, so that the radial size of the speed reducer is reduced; the first roller pin rolling bearing is fixedly connected with the first-stage central wheel, the first roller pin rolling bearing is axially positioned with the first-stage shock wave generator through the first-stage cross roller bearing, the second roller pin rolling bearing is axially positioned with the first-stage central wheel through the first-stage oscillating rack, and the third roller pin rolling bearing is axially positioned with the second-stage shock wave generator through the first-stage oscillating rack.
Furthermore, the structure of the first-stage crossed roller bearing is the same as that of the second-stage crossed roller bearing, so that the interchangeability of the first-stage crossed roller bearing and the second-stage crossed roller bearing is ensured, when the tooth surface of the second-stage crossed roller bearing fails, the first-stage crossed roller bearing and the second-stage crossed roller bearing can be interchanged to continue to normally work, the service life can be prolonged, the structural type and the manufacturing procedures of the crossed roller bearing are reduced, and the manufacturing cost is reduced; in order to achieve the purpose, the first-stage input part is designed to be detachable, and the detachable mode refers to that the eccentric shaft sleeve and the driving shaft are fixedly connected together through the set screw.
Further, the parameter equation of the theoretical tooth profile of the sinusoidal raceway of the primary central wheel is as follows:
in the formula, a1Is eccentric distance (m), b) of eccentric shaft sleeve1Radius (m), z) of theoretical tooth profile curve of primary shock wave device2Is the sine wave number of the theoretical tooth profile curve of the first-level central wheel,
is the angle (degree) rotated by the first-stage movable rack.
The two-stage crossed roller bearing adopts an integrated structure, on one hand, the two-stage crossed roller bearing is used as a central wheel of a second-stage transmission system, and on the other hand, the two-stage crossed roller bearing plays a supporting role on the structure, so that the axial size of the structure is reduced, and the structure is more compact. The parameter equation of the theoretical tooth profile of the sinusoidal raceway of the two-stage crossed roller bearing is as follows:
in the formula, a2Is the eccentric section eccentricity (m) and b of a first-stage movable rack2Radius (m), z) of theoretical tooth profile curve of two-stage shock wave device4Is the sine wave number of the theoretical tooth profile curve of the two-stage crossed roller bearing,
the angle (°) the secondary flange has rotated through.
First stage transmission ratio i1The expression of (a) is:
second stage transmission ratio i2The expression of (a) is:
the expression of the total system gear ratio i is as follows:
in the formula, Z1Number of oscillating tooth guide grooves, Z, of primary oscillating tooth carrier2Is the number of the sinusoidal raceway cycles of the first-stage center wheel, Z3The number of the movable tooth guide grooves, Z, of the first end surface of the second-stage movable tooth rack4The number of the sinusoidal raceway cycles of the two-stage crossed roller bearing.
Compared with the prior art, the invention has the following advantages:
1. according to the microminiature steel ball speed reducer based on the crossed roller bearing and center wheel integrated structure, the first-stage crossed roller bearing and the second-stage crossed roller bearing are both integrated structures, and the first end faces of the inner rings of the first-stage crossed roller bearing and the second-stage crossed roller bearing are provided with the sine roller paths with the isosceles trapezoid cross sections, so that the functions of transmission and support are achieved, the structure composition of the speed reducer is simplified, and the axial size and the radial size of the speed reducer are greatly reduced.
2. The invention provides a microminiature steel ball speed reducer based on a crossed roller bearing and a central wheel integrated structure, which has the radial size and the axial size smaller than those of an RV speed reducer and a harmonic speed reducer under the condition of the same speed reduction ratio.
3. The first-stage crossed roller bearing and the second-stage crossed roller bearing of the microminiature steel ball speed reducer based on the crossed roller bearing and the central wheel integrated structure have the same structure, have interchangeability, can prolong the service life and greatly reduce the manufacturing cost.
4. The microminiature steel ball speed reducer based on the crossed roller bearing and the central wheel integrated structure provided by the invention has the advantages of no constant speed output mechanism, simple structure and convenience in installation.
5. The microminiature steel ball speed reducer based on the crossed roller bearing and center wheel integrated structure provided by the invention has the advantages of compact structure, large transmission ratio, small size, high transmission efficiency and wide application range.
In conclusion, the technical scheme of the invention can solve the problem that the planar oscillating tooth transmission speed reducer in the prior art cannot simultaneously meet the requirements of small size and high efficiency.
Based on the reasons, the invention can be widely popularized in the fields of mechanical transmission and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of the overall assembly in full section.
Fig. 2 is a schematic view of a half-sectional structure of the general assembly of the present invention.
Fig. 3 is a schematic view of an input system assembly in semi-section.
FIG. 4 is a semi-sectional view of the first stage transmission assembly of the present invention.
FIG. 5 is a semi-sectional structural schematic view of the second stage transmission assembly of the present invention.
FIG. 6 is a semi-sectional structural schematic view of the two-stage crossed roller bearing assembly of the present invention.
In the figure: 1. a primary flange; 2. a drive shaft; 3. a first-stage crossed roller bearing; 4. tightening the screw; 5. a housing; 6. a first-stage steel ball; 7. a first-stage movable rack; 8. a first-stage center wheel; 9. a secondary movable rack; 10. a second-stage steel ball; 11. a secondary cross roller bearing; 12. a secondary flange; 13. a third needle roller bearing; 14. a secondary shock wave device; 15. a first elastic rubber gasket; 16. a second needle roller bearing; 17. a second elastic rubber gasket; 18. a primary shock wave device; 19. a first needle roller bearing; 20 eccentric sleeve.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention pertains. For the reader's understanding, the device is described in terms of its orientation in fig. 1.
As shown in fig. 1-6, the invention provides a microminiature steel ball speed reducer based on a crossed roller bearing and center wheel integrated structure, which comprises a primary flange 1, a driving shaft 2, a primary crossed roller bearing 3, a shell 5, a first elastic rubber gasket 15, a first needle roller rolling bearing 19, an eccentric shaft sleeve 20, a set screw 4, a primary shock wave device 18, a primary steel ball 6, a primary loose-tooth rack 7, a second needle roller rolling bearing 16, a primary center wheel 8, a second elastic rubber gasket 17, a third needle roller rolling bearing 13, a secondary shock wave device 14, a secondary steel ball 10, a secondary loose-tooth rack 9, a secondary crossed roller bearing 11 and a secondary flange 12.
The shell of the one-level crossed roller bearing 3, the shell 5, the first elastic rubber gasket 15, the one-level central wheel 8, the second elastic rubber gasket 17, the second-level movable rack 9 and the shell of the second-level crossed roller bearing 11 are sequentially and fixedly connected from the head end to the tail end, and the axes are overlapped.
The primary flange 1, the driving shaft 2 and the inner ring of the primary crossed roller bearing 3 are connected through bolts, the eccentric shaft sleeve 20 is connected with the driving shaft 2, the primary shock wave device 18 is connected with the eccentric shaft sleeve 20 through the first needle roller rolling bearing 19, the primary oscillating tooth rack 7 is arranged between the primary shock wave device 18 and the primary central wheel 8, the end face of the primary oscillating tooth rack 7 is circumferentially provided with oscillating tooth guide grooves which are uniformly distributed, and the primary steel balls 6 are uniformly distributed in the oscillating tooth guide grooves.
The secondary shock wave device 14 is connected with the eccentric shaft section of the primary oscillating tooth rack 7 through the third needle roller rolling bearing 13, the secondary oscillating tooth rack 9 is arranged between the primary shock wave device 18 and the secondary crossed roller bearing 11, the end face of the secondary oscillating tooth rack 9 is circumferentially provided with oscillating tooth guide grooves which are uniformly distributed, the secondary steel balls 10 are uniformly distributed in the oscillating tooth guide grooves, and the secondary flange 12 is connected with the inner ring of the secondary crossed roller bearing 11 through bolts.
The first-stage crossed roller bearing 3 and the second-stage crossed roller bearing 11 both adopt integrated structures, and the integrated structures mean that the first end surfaces of the inner rings of the first-stage crossed roller bearing 3 and the second-stage crossed roller bearing 11 are respectively provided with a sinusoidal raceway with an isosceles trapezoid cross section, so that the functions of transmission and support are achieved, the structure composition of a speed reducer can be simplified, and the axial size and the radial size of the speed reducer are greatly reduced.
The primary shock wave device 18, the first needle roller rolling bearing 19, the primary movable rack 7 and the primary central wheel 8 form a primary transmission system; in the first-stage transmission system, the first-stage central wheel 8 is fixed, and the first-stage shock wave device 18 drives the first-stage oscillating tooth rack 7 to output the power of the first-stage transmission system.
The secondary shock wave device 14, the secondary oscillating tooth rack 9, the secondary steel ball 10 and the secondary crossed roller bearing 11 form a secondary transmission system; in the second-stage transmission system, the second-stage movable rack 9 is fixed, the inner ring of the second-stage crossed roller bearing 11 drives the second-stage flange 12 to output power of the second-stage transmission system, the axial size of the speed reducer can be reduced, and the inner ring of the second-stage crossed roller bearing 11 is a second-stage central wheel.
The primary oscillating tooth rack 7, the primary shock wave device 18 and the secondary shock wave device 14 are all supported by needle roller rolling bearings, so that the radial size of the speed reducer is reduced; the outer ring of the first-stage crossed roller bearing 3 is fixedly connected with the first-stage central wheel 8, the first needle roller rolling bearing 19 is axially positioned with the first-stage shock wave device 18 through the first-stage crossed roller bearing 3, the second needle roller rolling bearing 16 is axially positioned with the first-stage central wheel 8 through the first-stage oscillating tooth rack 7, and the third needle roller rolling bearing 13 is axially positioned with the second-stage shock wave device 14 through the first-stage oscillating tooth rack 7.
The structure of the first-stage crossed roller bearing 3 is the same as that of the second-stage crossed roller bearing 11, so that the interchangeability between the first-stage crossed roller bearing 3 and the second-stage crossed roller bearing 11 is ensured, when the tooth surface of the second-stage crossed roller bearing 11 fails, the normal work can be continued by exchanging the first-stage crossed roller bearing 3, the service life can be prolonged, the structural type and the manufacturing procedures of the crossed roller bearing are reduced, and the manufacturing cost is reduced; in order to achieve the above purpose, the primary input part is designed to be detachable, and the detachable mode means that the eccentric sleeve 20 is fixedly connected with the driving shaft 2 through the set screw 4.
Example 1
As shown in fig. 1-2, a microminiature steel ball speed reducer based on an integrated structure of a crossed roller bearing and a center wheel comprises a primary flange 1, a driving shaft 2, a primary crossed roller bearing 3, a set screw 4, a shell 5, a primary steel ball 6, a primary movable rack 7, a primary center wheel 8, a secondary movable rack 9, a secondary steel ball 10, a secondary crossed roller bearing 11, a secondary flange 12, a third needle roller bearing 13, a secondary shock wave device 14, a first elastic rubber gasket 15, a second needle roller bearing 16, a second elastic rubber gasket 17, a primary shock wave device 18, a first needle roller bearing 19 and an eccentric shaft sleeve 20. The first-stage crossed roller bearing 3, the shell 5, the first elastic rubber gasket 15, the first-stage central wheel 8, the second elastic rubber gasket 17, the second-stage movable rack 9 and the second-stage crossed roller bearing 11 are fixedly connected in sequence from the head end to the tail end, and the axes are overlapped; the first-stage crossed roller bearing 3, the shell 5, the first elastic rubber gasket 15 and the first-stage center wheel 8 are connected through 4M 3 bolts, the first-stage center wheel 8, the second elastic rubber gasket 17, the second-stage movable rack 9 and the second-stage crossed roller bearing 11 are connected through 4M 3 bolts, and the axes of the first-stage crossed roller bearing, the shell 5, the first elastic rubber gasket 15 and the second-stage crossed roller bearing are overlapped. The shapes of the section of the sinusoidal raceway of the primary central wheel 8, the section of the sinusoidal raceway of the secondary crossed roller bearing 11, the section of the circular raceway of the primary shock wave device 18 and the section of the circular raceway of the secondary shock wave device 14 are isosceles trapezoids, the primary steel ball 6 and the secondary steel ball 10 are in point contact with the raceways and are uniformly distributed in the raceways, friction between the primary steel ball 6 and the secondary steel ball 10 and the raceways is reduced, and transmission efficiency is improved.
The primary flange 1, the driving shaft 2 and the inner ring of the primary crossed roller bearing 3 are fixedly connected through 4M 3 bolts, the small shaft section of the driving shaft 2 is provided with a plane, the driving shaft 2 is fixedly connected with the eccentric shaft sleeve 20 through a set screw 4, and the eccentric shaft sleeve 20 and the driving shaft 2 are prevented from slipping in the transmission process to influence the transmission precision; the primary shock wave device 18 is connected with an eccentric shaft sleeve 20 through a first needle roller rolling bearing 19, the first needle roller rolling bearing 19 plays a supporting role for the primary shock wave device 18, the primary oscillating tooth frame 7 is connected with the primary central wheel 8 through a second needle roller rolling bearing 16, the second needle roller rolling bearing 16 plays a supporting role for the primary oscillating tooth frame 7, the primary oscillating tooth frame 7 is provided with evenly distributed oscillating tooth guide grooves, and a primary steel ball 6 is embedded in each oscillating tooth guide groove; the secondary shock wave device 14 is connected with the primary oscillating tooth rack 7 through a third needle roller bearing 13, the third needle roller bearing 13 supports the secondary shock wave device 14, a secondary oscillating tooth rack 9 is arranged between the secondary shock wave device 14 and the secondary crossed roller bearing 11, the secondary oscillating tooth rack 9 is provided with evenly distributed oscillating tooth guide grooves, and each oscillating tooth guide groove is embedded with a secondary steel ball 10; and the inner ring of the secondary crossed roller bearing 11 is connected with the secondary flange 12 through 4M 3 bolts, so that the power of the system is output.
As shown in fig. 3, which is a schematic diagram of an assembled half-section structure of the input system of the present invention, the driving shaft 2, the inner ring of the first-stage cross roller bearing 3, and the eccentric sleeve 20 are fixedly connected together by 4M 3 bolts to provide power as the input of the system. As shown in fig. 4, which is a schematic view of a half-section structure of the first-stage transmission system assembly of the present invention, the first-stage shock wave device 18 is connected to the eccentric shaft sleeve 20 in fig. 3 through the first needle roller bearing 19, and forms the first-stage transmission system with the first-stage oscillating rack 7 and the first-stage central wheel 8; in the first-stage transmission system, a first-stage central wheel 8 is fixed, and a first-stage steel ball 6 moves in an oscillating tooth guide groove of a first-stage oscillating tooth rack 7 under the common constraint of a circular raceway of a first-stage shock wave device 18 and a sinusoidal raceway of the first-stage central wheel 8 to drive the first-stage oscillating tooth rack 7 to output power. As shown in fig. 5, which is a schematic diagram of an assembly semi-section structure of a second stage transmission system of the present invention, a first stage oscillating tooth rack 7 is used as both the output of the first stage transmission system and the input of the second stage transmission system, in the second stage transmission system, a second stage oscillating tooth rack 9 is fixed, a second stage steel ball 10 moves in an oscillating tooth guide groove of the second stage oscillating tooth rack 9 under the common constraint of a circular raceway of a second stage shock wave device 14 and a sinusoidal raceway of an inner ring of a second stage crossed roller bearing 11 to drive the inner ring of the second stage crossed roller bearing 11 to make a rotary motion, and the system power is output through a second stage flange 12 connected with the inner ring of the second stage crossed roller bearing 11.
The parameter equation of the theoretical tooth profile of the sinusoidal raceway of the primary central wheel 8 is as follows:
in the formula, a1Is eccentric distance (m), b) of eccentric shaft sleeve1Radius (m), z) of theoretical tooth profile curve of primary shock wave device2Is the sine wave number of the theoretical tooth profile curve of the first-level central wheel,is the angle (degree) rotated by the first-stage movable rack.
As shown in fig. 6, the two-stage crossed roller bearing 11 adopts an integrated structure, on one hand, it is used as a central wheel of the second-stage transmission system, and on the other hand, it plays a supporting role for the structure, thus reducing the axial size of the structure and making the structure more compact. The parameter equation of the theoretical tooth profile of the sinusoidal raceway of the two-stage crossed roller bearing 11 is as follows:
in the formula, a2Is the eccentric section eccentricity (m) and b of a first-stage movable rack2Radius (m), z) of theoretical tooth profile curve of two-stage shock wave device4Is a theoretical tooth profile of a two-stage crossed roller bearingThe wave number of the sine wave of the curve,
the angle (°) the secondary flange has rotated through.
First stage transmission ratio i1The expression of (a) is:
second stage transmission ratio i2The expression of (a) is:
the expression of the total system gear ratio i is as follows:
in the formula, Z1Number of oscillating tooth guide grooves, Z, of primary oscillating tooth carrier2Is the number of the sinusoidal raceway cycles of the first-stage center wheel, Z3The number of the movable tooth guide grooves, Z, of the first end surface of the second-stage movable tooth rack4The number of the sinusoidal raceway cycles of the two-stage crossed roller bearing.
Example 2
The using process of the invention is as follows:
as shown in fig. 1, the overall size of the reducer is: the total length is 47mm, and the outer diameter is phi 50 mm. The specific gear ratio is calculated as follows:
in the first-stage transmission system, a first-stage central wheel 8 is fixed, and the number of first-stage steel balls 6 is equal to the number of movable tooth guide grooves of a first-stage movable tooth rack 7, namely Z 17; the cycle number of the sine raceway of the first-stage central wheel 8 is Z 26; calculating a first stage transmission ratio i according to the first stage transmission ratio expression1＝7。
In the second stage transmission system, a second stage oscillating tooth rack 9 is fixed, and the number of second stage steel balls 8 is equal to the number of oscillating tooth guide grooves of the second stage oscillating tooth rack 9, namely Z 37; the number of the sinusoidal raceway cycles of the two-stage crossed roller bearing 11 is Z 46; according to the second stageCalculating the second transmission ratio i by using the dynamic ratio expression2＝6。
The total transmission ratio of the system obtained by the primary transmission ratio and the secondary transmission ratio is i ═ i1i27 × 6-42. The amplitude of the sinusoidal raceway of the first-level central wheel 8 is equal to the eccentricity a of the eccentric shaft sleeve 201I.e. an amplitude of 1.0 mm; the amplitude of the sinusoidal raceway of the secondary crossed roller bearing 11 is equal to the eccentricity a of the eccentric section of the primary movable rack 72I.e. an amplitude of 1.0 mm. The values of other structural parameters are shown in table 1.
TABLE 1 Main parameter table of structure
In conclusion, the speed reducer designed by the invention has a large transmission ratio.
Example 3
By referring to relevant data, when the reduction ratio is 49, the minimum radial dimension of the RV reducer with the same reduction ratio is 120mm, the minimum radial dimension of the harmonic reducer is 70mm, and the minimum axial dimension is 50 mm; when all the mechanisms are the minimum type meeting the use requirements, the radial dimension of the speed reducer is 50mm and the axial dimension of the speed reducer is 47mm through actual measurement.
In summary, the radial and axial dimensions of the reducer of the invention are smaller than those of the RV reducer and the harmonic reducer for the same reduction ratio.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. A microminiature steel ball speed reducer based on a crossed roller bearing and a center wheel integrated structure is characterized by comprising: the device comprises a primary flange (1), a driving shaft (2), a primary crossed roller bearing (3), a shell (5), a first elastic rubber gasket (15), a first rolling needle rolling bearing (19), an eccentric shaft sleeve (20), a set screw (4), a primary shock wave device (18), a primary steel ball (6), a primary movable rack (7), a second rolling needle rolling bearing (16), a primary center wheel (8), a second elastic rubber gasket (17), a third rolling needle rolling bearing (13), a secondary shock wave device (14), a secondary steel ball (10), a secondary movable rack (9), a secondary crossed roller bearing (11) and a secondary flange (12);
the shell of the primary crossed roller bearing (3), the shell (5), the first elastic rubber gasket (15), the primary central wheel (8), the second elastic rubber gasket (17), the secondary movable rack (9) and the shell of the secondary crossed roller bearing (11) are fixedly connected in sequence from the head end to the tail end, and the axes are overlapped;
the primary flange (1), the driving shaft (2) and the inner ring of the primary crossed roller bearing (3) are connected through bolts, the eccentric shaft sleeve (20) is connected with the driving shaft (2), the primary shock wave device (18) is connected with the eccentric shaft sleeve (20) through the first needle roller rolling bearing (19), the primary oscillating tooth rack (7) is arranged between the primary shock wave device (18) and the primary central wheel (8), the end face of the primary oscillating tooth rack (7) is circumferentially provided with evenly distributed oscillating tooth guide grooves, and the primary steel balls (6) are evenly distributed in the oscillating tooth guide grooves;
the secondary shock wave device (14) is connected with the eccentric shaft section of the primary oscillating tooth rack (7) through the third needle roller rolling bearing (13), the secondary oscillating tooth rack (9) is arranged between the secondary shock wave device (14) and the secondary crossed roller bearing (11), evenly distributed oscillating tooth guide grooves are circumferentially arranged on the end face of the secondary oscillating tooth rack (9), the secondary steel balls (10) are evenly distributed in the oscillating tooth guide grooves, and the secondary flange (12) is connected with the inner ring of the secondary crossed roller bearing (11) through bolts;
the primary crossed roller bearing (3) and the secondary crossed roller bearing (11) both adopt integrated structures, and the integrated structures mean that the first end surfaces of the inner rings of the primary crossed roller bearing (3) and the secondary crossed roller bearing (11) are respectively provided with a sinusoidal raceway with an isosceles trapezoid cross section, so that the supporting effect and the transmission effect are achieved;
the primary shock wave device (18), the first needle roller rolling bearing (19), the primary movable rack (7) and the primary central wheel (8) form a primary transmission system; in the first-stage transmission system, the first-stage central wheel (8) is fixed, and the first-stage shock wave device (18) drives the first-stage oscillating rack (7) to output the power of the first-stage transmission system;
the secondary shock wave device (14), the secondary oscillating tooth rack (9), the secondary steel ball (10) and the secondary crossed roller bearing (11) form a secondary transmission system; in a second-stage transmission system, the second-stage movable rack (9) is fixed, and the inner ring of the second-stage crossed roller bearing (11) drives the second-stage flange (12) to output the power of the second-stage transmission system.
2. The microminiature steel ball speed reducer based on a crossed roller bearing and center wheel integrated structure as claimed in claim 1, characterized in that said primary oscillating rack (7), said primary shock absorber (18) and said secondary shock absorber (14) are all supported by needle roller bearings; the outer ring of the first-stage crossed roller bearing (3) is fixedly connected with the first-stage central wheel (8), the first needle roller rolling bearing (19) is axially positioned with the first-stage shock absorber (18) through the first-stage crossed roller bearing (3), the second needle roller rolling bearing is axially positioned with the first-stage central wheel (8) through the first-stage oscillating rack (7), and the third needle roller rolling bearing (13) is axially positioned with the second-stage shock absorber (14) through the first-stage oscillating rack (7).
3. The microminiature steel ball speed reducer based on an integrated structure of crossed roller bearings and a center wheel according to claim 1, characterized in that the structure of the primary crossed roller bearing (3) is the same as that of the secondary crossed roller bearing (11), so as to ensure interchangeability between the primary crossed roller bearing (3) and the secondary crossed roller bearing (11), and when the tooth surface of the secondary crossed roller bearing (11) fails, normal operation is continued by interchanging the primary crossed roller bearing (3); the primary input part is designed to be detachable, and the detachable mode refers to that the eccentric shaft sleeve (20) and the driving shaft (2) are fixedly connected together through the set screw (4).
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| CN112096825B (en) * | 2020-09-14 | 2021-12-21 | 燕山大学 | Self-balancing double-shock-wave cam two-stage parallel plane oscillating tooth speed reducer |
| CN113653769A (en) * | 2021-09-01 | 2021-11-16 | 燕山大学 | Outer edge-free sine raceway plane oscillating tooth speed reducer |
| CN113653769B (en) * | 2021-09-01 | 2024-02-02 | 燕山大学 | Plane oscillating tooth speed reducer without outer edge sinusoidal rollaway nest |
| CN113775726B (en) * | 2021-09-23 | 2024-04-26 | 燕山大学 | Double-stage movable tooth speed reducer driven by eccentric circle and sinusoidal rollaway nest combination |
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