CN110848334A - Small tooth difference four-gear pair meshing speed reducer - Google Patents

Small tooth difference four-gear pair meshing speed reducer Download PDF

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CN110848334A
CN110848334A CN201911194554.9A CN201911194554A CN110848334A CN 110848334 A CN110848334 A CN 110848334A CN 201911194554 A CN201911194554 A CN 201911194554A CN 110848334 A CN110848334 A CN 110848334A
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gear
speed reducer
ring
small
fixed
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黄子帅
胡仁惠
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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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • 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
    • 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)
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Abstract

The invention discloses a small-tooth-difference four-gear-pair meshing reducer, wherein two duplicate gears which are distributed oppositely are assembled between two oppositely-arranged crossed roller bearings, a fixed gear which is meshed with each duplicate gear is arranged between each duplicate gear and the crossed roller bearing on the corresponding side, an output gear is sleeved on the periphery of the two duplicate gears, an input crankshaft is arranged in the middle of the two duplicate gears, the number of integral parts is small, no deformation part is contained, a redundant space for buffering deformation of a flexible part is not required to be provided in the internal part, the structure is simple and compact, and the size is small; moreover, the duplicate gear is meshed with the fixed gear and the output gear simultaneously to form over-positioning, so that the positioning precision is greatly improved, the influence of backlash is eliminated to a certain extent, and the precision of repeated positioning is improved.

Description

Small tooth difference four-gear pair meshing speed reducer
Technical Field
The invention relates to the technical field of transmission devices, in particular to a small-tooth-difference four-gear-pair meshing speed reducer.
Background
In the industry fields of aerospace, industrial robots, processing equipment and the like, three generally used reducers are respectively a harmonic reducer, an RV reducer and a planet wheel reducer, but the harmonic reducer and the RV reducer are overlarge in size and weight, low in precision, small in reduction ratio range, large in processing difficulty and high in manufacturing cost; the planetary reducer has the problem of low precision, generally 1-3 angular divisions, and the input shaft has a large eccentric amount, so that in the operation process, the input shaft needs to bear eccentric torque, so that the highest rotating speed is very low.
Furthermore, the three types of speed reducers described above have a common drawback: there is no self-locking. If the load torque received by the output end is larger than the driving torque, the output end of the output end can be carried away by the load, if the output end is installed on a robot or an aerospace vehicle and other equipment, serious safety accidents can be caused, the current solution is to add a brake mechanism at the input end of a speed reducer, but the weight and the volume of the whole component module can be increased, and the reliability cannot be guaranteed.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art and provides a small-size, compact-structure and high-precision four-gear-pair meshing speed reducer with small tooth difference.
The technical scheme adopted by the invention is as follows:
a small tooth difference four-gear pair meshing speed reducer comprises:
a pair of crossed roller bearings, the two crossed roller bearings being installed oppositely;
the double gears are oppositely assembled between the two crossed roller bearings, each double gear comprises a small gear ring and a large gear ring which are coaxially arranged, and the large gear ring is an outer gear ring;
the output gear is sleeved on the peripheries of the two duplicate gears, and an inner gear ring of the output gear is meshed with a large gear ring of the two duplicate gears;
the input crankshaft is arranged in the middle of the two duplicate gears, and at least one bearing is respectively arranged between the input crankshaft and the two duplicate gears as well as between the input crankshaft and the two crossed roller bearings;
and a fixed gear is respectively arranged between each duplicate gear and the crossed roller bearing on the corresponding side, and each fixed gear is respectively engaged and assembled with the small gear ring on the corresponding side.
As a further improvement of the technical scheme of the invention, the crossed roller bearing comprises a fixed flange, an output flange sleeved outside the fixed flange, and an outer raceway block fastened with the output flange, wherein the fixed flange is divided into an inner ring part and an outer ring part, raceways are formed among the outer raceway block, the output flange and the outer surface of the outer ring part, and rollers are arranged in the raceways.
Further as an improvement of the technical scheme of the invention, the length of the inner ring part is longer than that of the outer ring part, a long hole is formed in the middle of the inner ring part and the outer ring part, and the small gear ring is positioned in the long hole.
The technical scheme of the invention is further improved in that the small gear ring is an inner gear ring, the fixed gear adopts an outer gear ring, and the inner wall of the fixed gear is fixedly attached to the inner ring part.
The technical scheme of the invention is further improved in that the small gear ring is an outer gear ring, the fixed gear adopts an inner gear ring, and the outer wall of the fixed gear is fixedly attached to the outer ring part.
As the improvement of the technical scheme of the invention, the outer surface of the outer ring part is provided with a first-stage step, and the bearing is clamped between the first-stage step and the input crankshaft.
As further improvement of the technical scheme of the invention, the two fixing flanges, the two output flanges and the output gear are respectively and fixedly connected through screws.
As further improvement of the technical scheme of the invention, the input crankshaft is divided into two eccentric circle sections, and the two eccentric circle sections respectively comprise an embedded bearing and two outer sleeve bearings arranged in parallel.
As a further improvement of the technical scheme of the invention, the phase difference of the two eccentric circle segments is 180 degrees, and the eccentric distances of the two eccentric circle segments are equal.
Further as an improvement of the technical scheme of the invention, the bearing is a deep groove ball bearing or an angular contact ball bearing.
The invention has the beneficial effects that: according to the four-gear-pair meshing speed reducer with the small tooth difference, two duplicate gears which are distributed in an opposite mode are assembled between two opposite crossed roller bearings, a fixed gear meshed with each duplicate gear is configured between each duplicate gear and the corresponding crossed roller bearing, an output gear is sleeved on the periphery of the two duplicate gears, an input crankshaft is installed in the middle of the two duplicate gears, the number of integral components is small, a deformation piece is not contained, a redundant space for deformation buffering of a flexible component is not required to be provided inside the input crankshaft, the structure is simple and compact, and the size is small; moreover, the duplicate gear is meshed with the fixed gear and the output gear simultaneously, so that over-positioning is formed, the positioning precision is greatly improved, the influence of backlash is eliminated to a certain extent, and the precision of repeated positioning is improved.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a front view of an assembled structure according to one embodiment of the present invention;
FIG. 2 is a cross-sectional view of an assembled structure in accordance with an embodiment of the present invention;
FIG. 3 is an exploded schematic view of one embodiment of the present invention;
FIG. 4 is a cross-sectional view of an assembled structure of another embodiment of the present invention;
fig. 5 is an exploded schematic view of another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 3, a small tooth difference four-gear pair mesh speed reducer is described as an embodiment of the present invention, which includes a pair of crossed roller bearings 1, a pair of duplicate gears 2a, an output gear 3 and an input crankshaft 4.
Specifically, two crossed roller bearings 1 are installed oppositely, two duplicate gears 2a are assembled oppositely in the middle of the two crossed roller bearings 1, each duplicate gear 2a comprises a small gear ring 21a and a large gear ring which are coaxially arranged, the number of teeth of the large gear ring is different from that of the small gear ring 21a, the tooth profile is the modified involute tooth profile or the modified cycloid tooth profile, further, the large gear ring is an outer gear ring, and the small gear ring 21a is an inner gear ring; furthermore, the output gear 3 is sleeved on the periphery of the two duplicate gears 2a, and the inner gear ring thereof is engaged with the large gear rings of the two duplicate gears 2 a. The input crankshaft 4 is installed in the middle of the two duplicate gears 2a, two deep groove ball bearings 5 are respectively arranged between the input crankshaft 4 and the two duplicate gears 2a, one deep groove ball bearing 5 is respectively installed between the input crankshaft 4 and the two duplicate gears 2a, and furthermore, each deep groove ball bearing 5 can be replaced by an angular contact ball bearing.
Further, an external ring gear is disposed between each double gear 2a and the corresponding side crossed roller bearing 1 as a fixed gear 6a, and each fixed gear 6a is engaged with the corresponding side small ring gear 21 a.
According to the meshing speed reducer with the small tooth difference and the four gear pairs, two duplicate gears 2a which are distributed in an opposite mode are assembled between two crossed roller bearings 1 which are installed in an opposite mode, a fixed gear 6a which is meshed with each duplicate gear is configured between each duplicate gear 2a and the crossed roller bearing 1 on the corresponding side, an output gear 3 is sleeved on the periphery of the two duplicate gears 2a, an input crankshaft 4 is installed in the middle of the two duplicate gears 2a, the whole speed reducer is small in number of components and does not contain a deformation part, a redundant space for deformation buffering of a flexible part is not needed to be provided in the speed reducer, the structure is simple and compact, and the size is small; moreover, the duplicate gear 2a is meshed with the fixed gear 6a and the output gear 3 simultaneously, so that over-positioning is formed, the positioning precision is greatly improved, the influence of backlash is eliminated to a certain extent, and the precision of repeated positioning is improved.
Specifically, in the present embodiment, the crossed roller bearing 1 includes a fixed flange 11, an output flange 12 sleeved outside the fixed flange 11, and an outer raceway block 13 fastened to the output flange 12, where the fixed flange 11 is divided into an inner ring portion and an outer ring portion, a raceway is formed between the outer raceway block 13, the output flange 12, and an outer surface of the outer ring portion, and rollers 14 are disposed in the raceway. It should be noted that, when the small tooth difference four-gear pair mesh speed reducer is manufactured into a miniature version, which is not beneficial to the installation of the roller, the roller can be replaced by using the ball. Further, the length of the inner ring portion is larger than that of the outer ring portion, a long hole is formed in the middle of the inner ring portion and the outer ring portion, the small gear ring 21a of the duplicate gear 2a is placed in the long hole, the inner wall of the fixed gear 6a is fixedly attached to the inner ring portion, more specifically, the fixed gear 6a and the inner ring portion can be fixed in a press fitting mode, a hot fitting mode or other modes, and the fixing mode can be selected according to actual operation conditions.
Furthermore, two fixing flanges 11, two output flanges 12 and the output gear 3 are respectively fixedly connected through screws 7, in order to improve the aesthetic degree of the whole structure in the embodiment, the screws 7 connecting the output flanges 12 and the output gear 3 are divided into six groups, each group is 3, and the screws 7 of each group are distributed around the periphery of the output flange 12 at equal angles.
In the present embodiment, the input crankshaft 4 is preferably divided into two eccentric circular segments, the phase difference between the two eccentric circular segments is 180 °, and the eccentricity of the two eccentric circular segments is equal. The phase difference of the eccentric circle sections is 180 degrees, namely the eccentric torque is 0, so that the duplicate gear 2a can not generate eccentric force in the rotating process, and can rotate quickly, and the linear velocity of the tail end can reach more than 300 m/s. Specifically, each eccentric circle segment is composed of an embedded bearing 41 and two outer sleeve bearings 42 arranged in parallel.
Specifically, assuming that the number of teeth of the output gear 3 is z1, the number of teeth of the external gear of the duplicate gear 2a is z2, the number of teeth of the internal gear of the duplicate gear 2a is z3, and the number of teeth of the ring gear of the fixed gear 6a is z4, the operation modes of the small tooth difference four-gear pair meshing speed reducer of the present embodiment can be divided into the following two types:
the first method comprises the following steps: the fixed end is a fixed flange 11; the input end is an input crankshaft 4; the output end is an output flange 12.
The fixed flange 11 is fixed and then the input crankshaft 4 is rotated; the eccentric circle section of the input crankshaft 4 drives the dual gear 2a to do eccentric motion, so that the dual gear 2a drives the output flange 12 to do deceleration rotation motion; meanwhile, the duplicate gear 2a is restrained by the fixed gear 6a and performs reduced-speed rotary motion; since the two decelerated rotary motions are in the same direction, the motion of the final output flange 12 is a superposition of the two decelerated rotary motions, and the final motion direction is the same as the input crankshaft rotation direction.
Assuming that the reduction ratio of the output end to the input end is i1, the calculation formula is:
Figure BDA0002294376530000061
and the second method comprises the following steps: fixing end: an output flange 12; input end: an input crankshaft 4; output end: the flange 11 is fixed.
The output flange 12 is fixed and then the input crankshaft 4 is rotated; the eccentric circle of the input crankshaft 4 drives the dual gear 2a to do eccentric motion, so that the dual gear 2a drives the fixed flange 11 to do deceleration rotation motion; meanwhile, the duplicate gear 2a is restrained by the output gear 3 and performs reduced rotation movement; since the two decelerated rotary motions are in the same direction, the final motion of the fixed flange 11 is a superposition of the two decelerated rotary motions, the final motion direction being opposite to the input crankshaft rotation direction.
If the reduction ratio of the fixed end to the input end is i2, the calculation formula is:
Figure BDA0002294376530000071
referring to fig. 4 and 5, another embodiment of the present invention is shown, in which the small teeth difference four-gear pair mesh speed reducer in this embodiment includes the same components as those in the previous embodiment, and the assembly relationship is the same. The difference from the previous embodiment is that in the present embodiment, the small gear ring 21b of the dual gear 2b is an external gear ring, the correspondingly engaged fixed gear 6b is an internal gear ring, and the outer wall of the fixed gear 6b is attached and fixed to the outer ring portion of the fixed flange 11.
In order to limit and fix the deep groove ball bearing provided between the cross roller bearing 1 and the output crankshaft, the outer surface of the outer ring portion of the fixing flange 11 of the present embodiment is provided with a first step, and the deep groove ball bearing is engaged between the first step and the input crankshaft 4.
In this embodiment, if the number of teeth of the output gear 3 is z1, the number of teeth of the external gear of the duplicate gear 2b is z2, the number of teeth of the internal gear of the duplicate gear 2b is z3, and the number of teeth of the ring gear of the fixed gear 6b is z4, the operation modes thereof can be divided into the following two types:
the first method comprises the following steps: fixing end: a fixed flange 11; input end: an input crankshaft 4; output end: an output flange 12.
The fixed flange 11 is fixed and then the input crankshaft 4 is rotated; the eccentric circle of the input crankshaft 4 drives the dual gear 2b to do eccentric motion, so that the dual gear 2b drives the output flange 12 to do deceleration rotation motion; meanwhile, the duplicate gear 2b is restrained by the fixed gear 6b and performs reduced-speed rotary motion; since the two decelerated rotary motions are in opposite directions, the motion of the final output flange 12 is a superposition of the two decelerated rotary motions, the final motion direction being opposite to the input crankshaft rotation direction.
Assuming that the reduction ratio of the output end to the input end is i1, the calculation formula is:
and the second method comprises the following steps: fixing end: an output flange 12; input end: an input crankshaft 4; output end: the flange 11 is fixed.
The output flange 12 is fixed and then the input crankshaft 4 is rotated; the eccentric circle of the input crankshaft 4 drives the duplicate gear 2b to do eccentric motion
The duplicate gear 2b is restrained by the output gear 3 and performs reduced rotation movement; since the two decelerated rotary motions are in opposite directions, the final motion of the fixed flange 11 is a superposition of the two decelerated rotary motions, and the final motion direction is the same as the input crankshaft rotation direction.
If the reduction ratio of the fixed end to the input end is i2, the calculation formula is:
Figure BDA0002294376530000082
the number of teeth of the small-module gear is generally not more than 400, and in this embodiment, the more commonly used values are taken, where the tooth number z1 of the output gear 3 is 321, the outer gear tooth number z2 of the duplicate gear 2b is 320, the inner gear tooth number z3 of the duplicate gear 2b is 319, and the ring gear tooth number z4 of the fixed gear 6b is 320, and the above formula is substituted to obtain i 1-102399, and i2 is 102400, so that it can be seen that the small-gear-difference four-gear-pair meshing speed reducer in this embodiment adopts a single-stage double-gear-pair meshing transmission method and takes the difference between two motions, so that the single stage can achieve a large reduction ratio of 100000 or more.
The small-tooth-difference four-gear-pair meshing speed reducer of the two embodiments has the characteristic of mechanical self-locking, the maximum allowable self-locking torque is set to be T, the breaking torque of a single pair of meshing gear teeth of an internal-gear pair formed by the fixed gear and the small gear ring in the duplicate gear in the two embodiments is set to be T0, the meshing rate of the fixed gear ring is set to be η 4, the maximum allowable self-locking torque can be obtained by a calculation formula of T2. T0. z 4.η 4, when the load torque received by the output end exceeds the driving torque, but the load torque does not reach the maximum allowable self-locking torque T, the load torque can not enable the eccentric circle of the input crankshaft 4 to rotate and be self-locked, and therefore the small-tooth-difference four-gear-.
In addition, in the small tooth difference four-gear pair meshing speed reducer of the two embodiments, the number of meshing teeth is large, so that the allowable torque is large, the load capacity is improved, the unit volume load torque is larger than that of the harmonic speed reducer and the RV speed reducer, and the volume and the weight are far smaller than those of the harmonic speed reducer and the RV speed reducer under the same rated load. Meanwhile, the two bearings adopt the design of the opposite crossed roller bearing 1, the output flanges 12 are mutually fastened, and the input flanges are mutually fastened, so that the bearing device can bear larger torque and bending moment.
The invention is not limited to the above embodiments, and those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the invention, and such equivalent modifications or substitutions are included in the scope of the claims of the present application.

Claims (10)

1. A small tooth difference four-gear pair meshing speed reducer is characterized by comprising:
a pair of crossed roller bearings, the two crossed roller bearings being installed oppositely;
the double gears are oppositely assembled between the two crossed roller bearings, each double gear comprises a small gear ring and a large gear ring which are coaxially arranged, and the large gear ring is an outer gear ring;
the output gear is sleeved on the peripheries of the two duplicate gears, and an inner gear ring of the output gear is meshed with a large gear ring of the two duplicate gears;
the input crankshaft is arranged in the middle of the two duplicate gears, and at least one bearing is respectively arranged between the input crankshaft and the two duplicate gears as well as between the input crankshaft and the two crossed roller bearings;
and a fixed gear is respectively arranged between each duplicate gear and the crossed roller bearing on the corresponding side, and each fixed gear is respectively engaged and assembled with the small gear ring on the corresponding side.
2. The small tooth difference four-gear pair mesh speed reducer according to claim 1, characterized in that: the crossed roller bearing comprises a fixed flange, an output flange and an outer raceway block, wherein the output flange is arranged outside the fixed flange, the outer raceway block is fastened with the output flange, the fixed flange is divided into an inner ring portion and an outer ring portion, a raceway is formed between the outer surfaces of the outer raceway block, the output flange and the outer ring portion, and rollers are arranged in the raceway.
3. The small tooth difference four-gear pair mesh speed reducer according to claim 2, characterized in that: the length of the inner ring portion is larger than that of the outer ring portion, a long hole is formed in the middle of the inner ring portion and the outer ring portion, and the small gear ring is located in the long hole.
4. The small tooth difference four-gear pair mesh speed reducer according to claim 3, characterized in that: the small gear ring is an inner gear ring, the fixed gear adopts an outer gear ring, and the inner wall of the fixed gear is fixedly attached to the inner ring part.
5. The small tooth difference four-gear pair mesh speed reducer according to claim 3, characterized in that: the small gear ring is an outer gear ring, the fixed gear adopts an inner gear ring, and the outer wall of the fixed gear is fixedly attached to the outer ring part.
6. The small tooth difference four-gear pair mesh speed reducer according to claim 5, characterized in that: the outer surface of the outer ring part is provided with a first-stage step, and the bearing is clamped between the first-stage step and the input crankshaft.
7. The small tooth difference four-gear pair mesh speed reducer according to claim 2, characterized in that: the two fixing flanges, the two output flanges and the output gear are fixedly connected through screws respectively.
8. The small tooth difference four-gear pair mesh speed reducer according to claim 1, characterized in that: the input crankshaft is divided into two eccentric circle sections, and the two eccentric circle sections respectively comprise an embedded bearing and two outer sleeve bearings arranged in parallel.
9. The small tooth difference four-gear pair mesh speed reducer according to claim 8, characterized in that: the phase difference of the two eccentric circle sections is 180 degrees, and the eccentricity of the two eccentric circle sections is equal in size.
10. The small tooth difference four-gear pair mesh speed reducer according to claim 1, characterized in that: the bearing is a deep groove ball bearing or an angular contact ball bearing.
CN201911194554.9A 2019-11-28 2019-11-28 Small tooth difference four-gear pair meshing speed reducer Pending CN110848334A (en)

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