CN110725901A - RV reducer for displaying meshing logarithm of cycloid teeth and pin teeth and display method - Google Patents
RV reducer for displaying meshing logarithm of cycloid teeth and pin teeth and display method Download PDFInfo
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- CN110725901A CN110725901A CN201910866730.2A CN201910866730A CN110725901A CN 110725901 A CN110725901 A CN 110725901A CN 201910866730 A CN201910866730 A CN 201910866730A CN 110725901 A CN110725901 A CN 110725901A
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- teeth
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- meshing
- cycloid
- reducer
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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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/06—Use of materials; Use of treatments of toothed members or worms to affect their intrinsic material properties
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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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
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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
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H57/082—Planet carriers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Thermal Sciences (AREA)
- General Physics & Mathematics (AREA)
- Retarders (AREA)
Abstract
The invention provides an RV reducer for displaying meshing pairs of cycloid teeth and pin teeth and a displaying method, the RV reducer comprises an RV reducer body, an external power supply and a meshing state display device, the RV reducer body comprises a cycloid wheel and a pin tooth shell, a plurality of cycloid teeth are arranged on the cycloid wheel, a plurality of pin teeth are installed in the pin tooth shell, the number of the meshing state display devices corresponds to that of the pin teeth, each pin tooth is connected with one end of each corresponding meshing state display device, the pin tooth shell is connected with the other ends of all meshing state display devices, the cycloid wheel is connected with one pole of the external power supply, and the pin tooth shell is connected with the other pole of the external power supply. According to the invention, the circuit conduction relation between the mutually meshed needle teeth and the cycloid teeth of the cycloid wheel is established, and the number of the meshing teeth pairs of the RV reducer in the operation process can be accurately judged through the display condition of the meshing state display device, so that accurate data is provided for needle pendulum meshing analysis.
Description
Technical Field
The invention relates to the technical field of RV reducers, in particular to an RV reducer for displaying meshing logarithm of cycloid teeth and pin teeth and a displaying method.
Background
The needle pendulum meshing characteristic of the RV reducer is the key for determining the transmission precision of the RV reducer and the rigidity of a robot system. One of the main characteristics of RV transmission is that multiple teeth are engaged simultaneously, the error homogenization effect is obviously beneficial to improving the transmission precision and the bearing capacity, but the load distribution and the actual engagement condition of a multi-tooth engagement transmission system are more complicated, and when the engagement characteristic is analyzed, the influence of the phase difference and the modification design of a cycloid pinwheel in the RV transmission on the nonlinear relation of the bearing transmission characteristic and the engagement contact and the error homogenization effect of the multiple teeth on the simultaneous engagement contact must be considered simultaneously.
Although the current simulation method is widely used for analyzing the pin-pendulum meshing analysis of the RV reducer, the reliability of the simulation result needs to be verified due to the limitation of the simulation model in approaching to the real object. Therefore, it is necessary to develop an RV reducer that can intuitively express the meshing characteristics of cycloid teeth and pin teeth of the RV reducer by combining electromechanical technology.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides the RV reducer for displaying the meshing number of the cycloid teeth and the pin teeth and the displaying method, which can display the meshing number of the pin pendulum teeth of the RV reducer in the operation process in real time and provide accurate data for pin pendulum meshing analysis.
The purpose of the invention is realized by the following technical scheme in two aspects:
in a first aspect, the invention provides an RV reducer for displaying meshing pairs of cycloid teeth and pin teeth, which comprises an RV reducer body, an external power supply and a meshing state display device, wherein the RV reducer body comprises a cycloid wheel and a pin gear shell, a plurality of cycloid teeth are arranged on the cycloid wheel, a plurality of pin teeth are installed in the pin gear shell, the number of the meshing state display devices corresponds to that of the pin teeth, the pin teeth are connected with one end of each meshing state display device in a one-to-one correspondence manner, the other ends of all the meshing state display devices are connected with the pin gear shell, the pin gear shell is connected with one pole of the external power supply, and the cycloid wheel is connected with the other pole of the external power supply.
Further, RV reduction gear body still includes angular contact ball bearing, planet carrier assembly, input shaft, bent axle subassembly, angular contact ball bearing install on the planet carrier assembly, bent axle subassembly with the input shaft is installed on the planet carrier assembly.
Further, the engagement state display device is a light emitting diode or an ammeter.
Further, the inner surface of the needle tooth shell is coated with an insulating coating, and the upper end face and the lower end face of the needle tooth are also coated with the insulating coating.
Furthermore, the middle part of the pin gear is connected with a conducting wire, a through hole for placing the conducting wire is arranged in the middle of a pin gear mounting position on the pin gear shell, and the pin gear is connected with one end of the meshing state display device through the conducting wire.
Further, the planet carrier assembly member and the angular contact bearing are made of conductive materials, one pole of the external power supply is connected with the angular contact bearing, and the outer power supply is connected to the cycloidal gear through the angular contact bearing and the planet carrier assembly member.
Furthermore, each pin gear is connected with the positive pole of the corresponding meshing state display device, the pin gear shell is connected with the negative poles of all the meshing state display devices, the cycloid wheel is connected with the positive pole of an external power supply, and the pin gear shell is connected with the negative pole of the external power supply.
In a second aspect, the present invention provides a method for displaying the meshing logarithm of cycloid teeth and pin teeth of a RV reducer, the method being implemented by the RV reducer of the first aspect.
Further, the method comprises:
a meshing state display device is arranged for each pair of cycloid teeth and pin teeth;
connecting two ends of the meshing state display device to the cycloid teeth and the pin teeth respectively, and supplying power through an external power supply;
when the cycloid teeth and the pin teeth are meshed, the meshing state display device is conducted; when the cycloid teeth and the pin teeth are not meshed, the meshing state display device is not conducted.
Further, the external power supply is a 12V to 36V direct current power supply.
The invention has the beneficial effects that: according to the invention, the circuit conduction relation between the mutually meshed needle teeth and the cycloid teeth of the cycloid wheel is established, and the number of the simultaneously meshed teeth pairs of the RV reducer in the operation process can be accurately judged; make RV reduction gear can demonstrate the while meshing tooth logarithm of during operation cycloid wheel and pin tooth at enclosed construction, it is more accurate than theoretical calculation or human eye observation, can judge RV reduction gear running state in real time, record RV reduction gear at the meshing history of every pin tooth of operation in-process, more abundant record reduction gear's service life data provides accurate data for pin pendulum meshing analysis.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be derived on the basis of the following drawings without inventive effort.
Fig. 1 is a schematic structural view of an RV reducer of the present invention.
Fig. 2 is a cross-sectional view a-a of fig. 1 of the present invention.
Fig. 3 is an enlarged view of a portion B of fig. 2 of the present invention.
Fig. 4 is an equivalent circuit schematic of the present invention.
Wherein the reference numbers are as follows: 1. angular contact ball bearings; 2. a planet carrier assembly member; 3. a cycloid wheel; 4. an input shaft; 5. a crankshaft assembly; 6. needle teeth; 7. a pin gear housing; 8. light emitting diode 9, DC power supply.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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. 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.
As shown in fig. 1 to 4, the RV reducer of the present embodiment includes an RV reducer body, a 24V dc power supply 9 and light emitting diodes 8, the RV reducer body includes an angular contact ball bearing 1, a planet carrier assembly 2, an input shaft 4, a crankshaft assembly 5, a cycloidal gear 3 and a pin gear housing 7, a plurality of cycloidal teeth are provided on the cycloidal gear 3, a plurality of pin gears 6 are installed in the pin gear housing 7, the number of the light emitting diodes 8 corresponds to the number of the pin gears 6, each pin gear 6 is connected to an anode of each corresponding light emitting diode 8, the pin gear housing 7 is connected to cathodes of all the light emitting diodes 8, the cycloidal gear 3 is connected to an anode of the 24V dc power supply 9, the pin gear housing 7 is connected to a cathode of the 24V dc power supply 9, the angular contact ball bearing 1 is installed on the planet carrier assembly 2, and the crankshaft assembly 5 and the input.
Wherein, the planet carrier assembly 2 and the angular contact bearing 1 are both made of conductive materials, the positive pole of the 24V direct current power supply 9 is connected with the angular contact bearing 1 and is connected to the cycloidal gear 3 through the angular contact bearing 1 and the planet carrier assembly 2, the planet carrier assembly 2 and the angular contact bearing 1 can be made of any conductive materials suitable for manufacturing RV reducers, and the planet carrier assembly 2 and the angular contact bearing 1 can be in direct contact with the cycloidal gear 3, so that the positive pole of the 24V direct current power supply 9 can be connected to the cycloidal gear 3 through being connected to any position of the planet carrier assembly 2 and the angular contact bearing 1, and the potential on the planet carrier assembly 2, the angular contact bearing 1 and the cycloidal gear 3 is 24.
The inner surface of the needle tooth shell 7 is coated with an insulating coating, and the upper end surface and the lower end surface of the needle tooth 6 are also coated with the insulating coating; a lead is welded in the middle of the needle tooth 6, a through hole for placing the lead is formed in the middle of the installation position of the needle tooth 6 on the needle tooth shell 7, and the needle tooth 6 is connected with the anode of the light-emitting diode through the lead; the pin gear shell 7 is connected with the negative electrode of a 24V direct-current power supply through the outer surface, so that the potential on the pin gear shell 7 is 0, and the insulating coating prevents the conduction of the light-emitting diode 8 caused by the contact of the upper end surface and the lower end surface of the pin gear 7 and the pin gear 6 with the planet carrier assembly 2, the angular contact bearing 1 and the cycloid wheel 3, and the error display is generated.
The direct current power supply 9 can select any low-voltage direct current power supply from 12V to 36V, the power of the light emitting diodes 8 is smaller, but the number of the light emitting diodes is larger, so that the direct current power supply 9 with too low voltage cannot be too low, in order to prevent the occurrence of electric shock risk, the low-voltage direct current power supply 9 with the voltage not higher than 36V is used in the invention, and in the embodiment, the direct current power supply 9 is 24V; the meshing state display device may be any device that can display the meshing between the cycloid teeth and the pin teeth 6, such as a light emitting diode 8, a current meter, and the like, and in the present embodiment, the light emitting diode 8 is selected as the meshing state display device.
The working principle of the embodiment is as follows: when the input shaft 4 rotates, the crankshaft assembly 5 is driven to rotate, and the motion of an eccentric block on the crankshaft assembly 5 drives the cycloidal gear 3 to contact with part of the needle teeth 6. Under the combined action of the eccentric block and the needle teeth 6, the cycloidal gear 3 performs plane motion coupled with rotation around the center of the mechanism and rotation around the axis of the cycloidal gear. During this movement, the cycloid teeth of the cycloid wheel 3 are in contact with only some of the teeth 6, while there is a clearance with the remaining teeth 6. For these pins 6, which are in contact with the cycloid wheel 3, a current will flow through the pins 6 and the light emitting diodes 8 connected in series via the contact interface, causing the light emitting diodes 8 to emit light, since the potential of the cycloid wheel 3 is + 24V. For those needle teeth 6 that are not in contact with the cycloid wheel 3, the light emitting diode 8 connected in series therewith will not emit light. As the input shaft 4 moves continuously, the cycloid wheel 3 will come into contact with and disengage from the respective pin teeth 6 in turn, but at each moment it can be determined by observing which light emitting diodes 8 are in the light emitting state at which positions, which pin teeth 6 are in the engaged state with the cycloid teeth of the cycloid wheel 3.
As shown in fig. 4, the present embodiment is connected in parallel by a plurality of equivalent circuit diagrams, wherein the switch of the light emitting diode 8 corresponds to whether the cycloid tooth and the pin tooth 6 are engaged or not.
As shown in fig. 2 and fig. 3, the needle teeth 6 numbered 601, 606, 636, 640 are engaged with the cycloid teeth of the cycloid wheel 3, so that the light emitting diodes 8 numbered 801, 806, 836, 840 connected independently with each needle tooth are made to emit light, and the rest of the needle teeth 6 are not engaged with the cycloid teeth of the cycloid wheel 3, and the light emitting diodes 8 connected therewith will not emit light.
The implementation method of the embodiment comprises the following steps:
a light emitting diode 8 is arranged for each pair of cycloid teeth and pin teeth 6;
two ends of the light emitting diode 8 are respectively connected to the cycloid teeth and the pin teeth 6 and are powered by a 24V direct current power supply;
when the cycloid teeth and the pin teeth 6 are engaged, the light emitting diode 8 is conducted; when the cycloid teeth and the pin teeth 6 are not meshed, the light emitting diode 8 is not conducted.
As the running time of the RV reducer of the present embodiment increases, the material of the cycloid teeth or the pin teeth 6 of the cycloid gear 3 wears, which increases the actual gap between the cycloid teeth and the pin teeth 6 of the cycloid gear 3, and the meshing of the cycloid teeth and the pin teeth 6 fails to turn on the light emitting diode 8. When the number of the light emitting diodes 8 in the light emitting state is reduced, it indicates that the cycloid wheel 3 or the pin gear 6 is worn to some extent. Therefore, the transmission performance of the RV reducer can be judged to be degraded in real time more accurately.
It should be noted that, although the present invention describes that the dc power supply 9 is connected to the RV reducer in a polarity manner, it should be understood that the same effect can be achieved by changing the polarity of the dc power supply 9 on the RV reducer and adapting the polarity of the meshing state display device accordingly.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. The utility model provides a show RV reduction gear of cycloid tooth and pin gear meshing logarithm, a serial communication port, including RV reduction gear body, external power source and meshing state display device, RV reduction gear body includes cycloid wheel and pin gear shell, be equipped with a plurality of cycloid teeth on the cycloid wheel, install a plurality of pin teeth in the pin gear shell, meshing state display device's quantity with the pin tooth corresponds, the pin tooth with meshing state display device's one end one-to-one is connected, all meshing state display device's the other end all with the pin gear shell is connected, the pin gear shell is connected external power source's a utmost point, another utmost point of external power source is connected to the cycloid wheel.
2. The RV reducer exhibiting cycloidal and pin-tooth meshing pairs as defined in claim 1, wherein said RV reducer body further includes angular contact ball bearings, a planet carrier assembly, an input shaft, a crankshaft assembly, said angular contact ball bearings being mounted on said planet carrier assembly, said crankshaft assembly and said input shaft being mounted on said planet carrier assembly.
3. The RV reducer showing the meshing pairs of cycloidal teeth and pin teeth according to claim 1, wherein said meshing status display means is a light emitting diode or an ammeter.
4. The RV reducer showing the meshing pairs of cycloidal teeth and pin teeth according to claim 1, wherein said pin tooth housing is coated with an insulating coating on its inner surface, and said pin teeth are also coated with an insulating coating on their upper and lower end surfaces.
5. The RV reducer for displaying the meshing number of cycloidal teeth and pin teeth as claimed in claim 1, wherein a lead wire is connected to the middle of said pin teeth, a through hole for placing said lead wire is provided in the middle of the pin teeth mounting position on said pin teeth housing, and said pin teeth are connected to one end of said meshing state display device through said lead wire.
6. The RV reducer exhibiting cycloidal and pin gear mesh pairs of claim 2, wherein said planet carrier assembly, angular contact bearing are made of conductive material, one pole of said external power source is connected to said angular contact bearing, through said angular contact bearing and said planet carrier assembly, to said cycloidal gear.
7. The RV reducer showing the meshing pairs of cycloidal teeth and pin teeth according to claim 1, wherein each of said pin teeth is connected to the positive electrode of its corresponding said meshing status display means, said pin gear case is connected to the negative electrodes of all said meshing status display means, said cycloidal gear is connected to the positive electrode of an external power source, and said pin gear case is connected to the negative electrode of said external power source.
8. A method of displaying the meshing pairs of cycloid and pinwheel teeth of a RV reducer, characterized in that it is carried out by a RV reducer according to any of claims 1 to 7.
9. The method of demonstrating the cycloidal tooth and pin tooth mesh logarithm of an RV reducer of claim 8, comprising:
setting a meshing state display device for each needle tooth;
connecting two ends of the meshing state display device to the cycloid teeth and the pin teeth respectively, and supplying power through an external power supply;
when the cycloid teeth and the pin teeth are engaged, the engaged cycloid teeth and the pin teeth enable the engaged state display device to be conducted; when the cycloid teeth and the pin teeth are not meshed, so that the meshed state display device is not conducted.
10. The method of demonstrating the cycloidal and pin gear mesh logarithm of an RV reducer of claim 9, wherein said external power source is a 12V to 36V dc power source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910866730.2A CN110725901B (en) | 2019-09-12 | 2019-09-12 | RV reducer for displaying meshing logarithm of cycloid teeth and pin teeth and display method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910866730.2A CN110725901B (en) | 2019-09-12 | 2019-09-12 | RV reducer for displaying meshing logarithm of cycloid teeth and pin teeth and display method |
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| Publication Number | Publication Date |
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| CN110725901A true CN110725901A (en) | 2020-01-24 |
| CN110725901B CN110725901B (en) | 2020-11-17 |
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| CN201910866730.2A Active CN110725901B (en) | 2019-09-12 | 2019-09-12 | RV reducer for displaying meshing logarithm of cycloid teeth and pin teeth and display method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4056870A1 (en) * | 2021-03-11 | 2022-09-14 | Nabtesco Corporation | Speed reducer |
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| DE19938415C1 (en) * | 1999-08-13 | 2001-01-18 | Voith Hydro Gmbh & Co Kg | Propulsion unit, in particular, with at least one cycloidal propeller, for a ship comprises an auxiliary motor whose torque is transmitted to the drive drum via a bevel pinion made of a noise insulating material |
| CN104568428A (en) * | 2014-12-08 | 2015-04-29 | 北京工业大学 | Measuring instrument for comprehensive performances of RV (rot-vector) reducer |
| WO2016164486A1 (en) * | 2015-04-07 | 2016-10-13 | Tangent Motor Company | Electric drive unit |
| CN205943311U (en) * | 2016-05-30 | 2017-02-08 | 南京康尼机电股份有限公司 | A transparent RV speed -reducing device for imparting knowledge to students demonstration |
| CN109115492A (en) * | 2018-09-04 | 2019-01-01 | 中车戚墅堰机车车辆工艺研究所有限公司 | Cycloid pinwheel planetary gear transmission system mechanics analysis apparatus and method |
| CN109281932A (en) * | 2018-11-27 | 2019-01-29 | 瓦房店轴承集团国家轴承工程技术研究中心有限公司 | The mating lightweight of high rotational positioning industrial robot RV speed reducer, special-shape bearing |
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2019
- 2019-09-12 CN CN201910866730.2A patent/CN110725901B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19938415C1 (en) * | 1999-08-13 | 2001-01-18 | Voith Hydro Gmbh & Co Kg | Propulsion unit, in particular, with at least one cycloidal propeller, for a ship comprises an auxiliary motor whose torque is transmitted to the drive drum via a bevel pinion made of a noise insulating material |
| CN104568428A (en) * | 2014-12-08 | 2015-04-29 | 北京工业大学 | Measuring instrument for comprehensive performances of RV (rot-vector) reducer |
| WO2016164486A1 (en) * | 2015-04-07 | 2016-10-13 | Tangent Motor Company | Electric drive unit |
| CN205943311U (en) * | 2016-05-30 | 2017-02-08 | 南京康尼机电股份有限公司 | A transparent RV speed -reducing device for imparting knowledge to students demonstration |
| CN109115492A (en) * | 2018-09-04 | 2019-01-01 | 中车戚墅堰机车车辆工艺研究所有限公司 | Cycloid pinwheel planetary gear transmission system mechanics analysis apparatus and method |
| CN109281932A (en) * | 2018-11-27 | 2019-01-29 | 瓦房店轴承集团国家轴承工程技术研究中心有限公司 | The mating lightweight of high rotational positioning industrial robot RV speed reducer, special-shape bearing |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4056870A1 (en) * | 2021-03-11 | 2022-09-14 | Nabtesco Corporation | Speed reducer |
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