CN111043275B - Small-size doublestage hammer shape roller oscillating tooth reduction gear - Google Patents
Small-size doublestage hammer shape roller oscillating tooth reduction gear Download PDFInfo
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- CN111043275B CN111043275B CN201911166544.4A CN201911166544A CN111043275B CN 111043275 B CN111043275 B CN 111043275B CN 201911166544 A CN201911166544 A CN 201911166544A CN 111043275 B CN111043275 B CN 111043275B
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- 230000035939 shock Effects 0.000 claims abstract description 70
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 32
- 238000007789 sealing Methods 0.000 claims description 6
- 210000003781 tooth socket Anatomy 0.000 claims 1
- 239000002131 composite material Substances 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 229910000831 Steel Inorganic materials 0.000 abstract description 3
- 238000004891 communication Methods 0.000 abstract description 3
- 239000010959 steel Substances 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 12
- 125000006850 spacer group Chemical group 0.000 description 5
- 239000007787 solid Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 208000032369 Primary transmission Diseases 0.000 description 1
- 208000032370 Secondary transmission Diseases 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- 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
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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
- F16H2057/0087—Computer aided design [CAD] specially adapted for gearing features; Analysis of gear systems
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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
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
The invention discloses a small two-stage hammer-shaped roller oscillating tooth speed reducer which mainly comprises a first shell, an input shaft, a first-stage shock wave device inner ring, a first-stage shock wave device outer ring, a first-stage hammer-shaped roller oscillating tooth, a second shell, a first-stage oscillating tooth rack, a second-stage hammer-shaped roller oscillating tooth, a second-stage shock wave device outer ring, a second-stage shock wave device inner ring, a third shell, a second-stage oscillating tooth rack, a first-stage central wheel, a second-stage central wheel and the like; the device draws the advantages of a roller oscillating tooth speed reducer and a steel ball oscillating tooth speed reducer, and adopts five composite integrated special crossed roller bearings, so that the whole machine has a smaller length-diameter ratio, lighter weight and lower processing and manufacturing difficulty, and has higher structural rigidity, higher bearing capacity and higher transmission efficiency; the speed reducer can be parameterized, miniaturized and designed in series, and can be applied to the rapid rise of industries such as intelligent power-assisted manufacturing and 5G communication in multiple fields.
Description
Technical Field
The invention relates to a movable tooth transmission device, in particular to a small two-stage hammer-shaped roller movable tooth speed reducer.
Background
The speed reducers known in the market at present are developed from gears, and the three common types include a planetary speed reducer, an RV speed reducer and a harmonic speed reducer, which have too many component parts, are too complex to manufacture, and have insufficient precision and torsion, wherein although the precision of the RV speed reducer and the harmonic speed reducer is high, the precision retentivity and the rigidity are insufficient, the torsion is small, and the service life is short. With the rapid rise of the intelligent manufacturing, intelligent home and 5G communication industries, the miniaturization and light weight become a new development trend of the precision speed reducer. The transmission device is applied to precise servo mechanisms of robots, precise machine tools, aerospace and the like, and has the characteristics of high transmission precision, high transmission rigidity, large transmission ratio, high transmission efficiency, small volume, light weight, small transmission return difference and the like. The movable-tooth transmission technology is based on a new transmission principle different from the traditional gear transmission, and can have the advantages. For example, patent No. CN201910292297.6 proposes "a dual shock wave roller oscillating tooth speed reducer with a backlash eliminating mechanism", two eccentric circular shock wave devices are symmetrically arranged to eliminate inertial load, and a spring device and tapered roller oscillating teeth are adopted to eliminate axial backlash, but only one-stage speed reduction is needed, so that it is difficult to realize large-deceleration-ratio transmission, and the axial structure is too large, and is not suitable for the field with limited space size. Therefore, a two-stage oscillating tooth speed reducer which has the advantages of an oscillating tooth speed reducer and can keep a small axial size while realizing a large transmission ratio is developed, so that the two-stage oscillating tooth speed reducer can meet the development requirements of more new technologies and new equipment.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a small two-stage hammer-shaped roller oscillating tooth speed reducer, which draws the advantages of the roller oscillating tooth speed reducer and the steel ball oscillating tooth speed reducer, skillfully combines a shock wave device and a central wheel which are driven by the roller oscillating tooth and an oscillating tooth frame which is driven by the steel ball oscillating tooth through hammer-shaped roller oscillating teeth, and adopts five composite integrated special crossed roller bearings, so that the whole machine has smaller length-diameter ratio, lighter weight and lower processing and manufacturing difficulty, and simultaneously has larger structural rigidity, larger bearing capacity and higher transmission efficiency; the solid structure is adopted, so that the smaller outer diameter can be realized, and the device is applied to the field of small machinery; the speed reducer can be parameterized and designed in series, and can be applied to the fields, and the industries such as power-assisted intelligent manufacturing and 5G communication rise rapidly.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a small two-stage hammer-shaped roller oscillating tooth speed reducer comprises a shell, wherein an input shaft, a first-stage shock wave device outer ring and a first-stage shock wave device inner ring which are mutually hinged, a first-stage oscillating tooth rack, a second-stage shock wave device outer ring and a second-stage shock wave device inner ring which are mutually hinged and a second-stage oscillating tooth rack are sequentially arranged in the shell along the axial direction, the input shaft is hinged in the shell, and the first-stage shock wave device inner ring is fixedly arranged on an eccentric shaft section of the input shaft through six uniformly distributed first screws; the primary oscillating tooth rack is hinged in the shell, a primary hammer-shaped roller oscillating tooth is arranged in each primary oscillating tooth groove of the primary oscillating tooth rack, and each primary hammer-shaped roller oscillating tooth is meshed with the outer ring of the primary shock wave device and the string-shaped primary center wheel raceway in the shell simultaneously; the inner ring of the secondary shock wave device is fixedly arranged on the eccentric shaft section of the primary oscillating tooth rack through six uniformly distributed third screws; the second-stage oscillating tooth rack is hinged in the shell, each second-stage oscillating tooth groove of the second-stage oscillating tooth rack is provided with a second-stage hammer-shaped roller oscillating tooth, and each second-stage hammer-shaped roller oscillating tooth is meshed with the outer ring of the second-stage shock wave device and the chord-line-shaped second-stage center wheel raceway on the second-stage center wheel simultaneously.
The technical scheme of the invention is further improved as follows: the first-stage hammer-shaped roller oscillating tooth and the second-stage hammer-shaped roller oscillating tooth have the same appearance and parameters, the first-stage hammer-shaped roller oscillating tooth comprises a first conical surface, a first cylindrical surface, a second conical surface and a second cylindrical surface, and the first conical surface and the second conical surface adopt the same cone apex angle and are used for being meshed with an outer oscillating tooth raceway of an outer ring of a first-stage shock wave device; the first cylindrical surface is used for being meshed with a first-stage central wheel raceway in the shell; the second column surface is used for being meshed with the first-stage movable tooth groove; the second-stage hammer-shaped roller oscillating tooth comprises a first conical surface, a first cylindrical surface, a second conical surface and a second cylindrical surface, wherein the first conical surface and the second conical surface adopt the same conical vertex angle and are used for being meshed with an outer oscillating tooth raceway of the outer ring of the second-stage shock wave device; the first cylindrical surface is used for being meshed with a second-stage central wheel raceway in the shell; the second cylindrical surface is used for being meshed with the second-stage movable tooth groove.
The technical scheme of the invention is further improved as follows: the shell sequentially comprises a first shell, a primary central wheel, a second shell, a secondary central wheel and a third shell along the axial direction of the shell, and the first shell and the primary central wheel are fixedly arranged on the left side of the second shell through a plurality of uniformly distributed second screws; the third shell and the secondary central wheel are fixedly arranged on the right side of the second shell through six uniformly distributed fourth screws; the input shaft is hinged in the first shell, the first-stage movable rack is hinged in the second shell, the inner ring of the first-stage central wheel is provided with a first-stage central wheel full raceway, the second-stage movable rack is hinged in the third shell, the inner ring of the second-stage central wheel is provided with a second-stage central wheel full raceway which is meshed with the first-stage central wheel full raceway, and a generatrix of the raceway surface of the first-stage central wheel full raceway and the second-stage central wheel full raceway is parallel.
The technical scheme of the invention is further improved as follows: the shell sequentially comprises a first shell, a second shell and a third shell along the axial direction of the shell, and the first shell is fixedly arranged on the left side of the second shell through a plurality of uniformly distributed second screws; the third shell is fixedly arranged on the right side of the second shell through six uniformly distributed fourth screws; the input shaft is hinged in the first shell, the first-stage oscillating tooth rack is hinged in the second shell, the second-stage oscillating tooth rack is hinged in the third shell, wherein the right side of the first shell, the left side and the right side of the second shell and the left side of the third shell are respectively provided with a first-stage central wheel left half raceway, a first-stage central wheel right half raceway, a second-stage central wheel left half raceway and a second-stage central wheel right half raceway, wherein the left half raceway of the primary central wheel, the right half raceway of the primary central wheel, the left half raceway of the secondary central wheel and the right half raceway of the secondary central wheel are half raceway surfaces of which the generatrix and the axis have a certain inclination angle, and the inclination angle of the roller path of the semi-roller path surface is equal to the taper half angle of the first-stage hammer-shaped roller oscillating tooth and the second-stage hammer-shaped roller oscillating tooth, the first-stage hammer-shaped roller oscillating tooth is meshed with the semi-roller path surfaces in the first shell and the second shell simultaneously, and the second-stage hammer-shaped roller oscillating tooth is meshed with the semi-roller path surfaces in the second shell and the third shell simultaneously.
The technical scheme of the invention is further improved as follows: the first sealing ring and the second sealing ring are respectively and fixedly arranged on the first shell and the third shell;
a circle of first cylindrical rollers which are distributed in a crossed manner is densely arranged between the crossed roller raceway of the outer ring of the input shaft and the crossed roller raceway of the inner ring of the first shell, and a fifth isolating block is matched between every two first cylindrical rollers; the second plug is fixedly arranged in a hole on the outer ring of the first shell, the second column pin is simultaneously and fixedly arranged in pin holes of the first shell and the second plug, and the second set screw is screwed into the second plug and tightly presses the second column pin;
a circle of second cylindrical rollers which are distributed in a crossed manner are densely arranged between the crossed roller raceway on the inner side of the outer ring of the primary shock wave device and the eccentric shaft section of the input shaft and between the crossed roller raceways on the outer ring of the primary shock wave device, and a fourth isolating block is matched between every two second cylindrical rollers;
a circle of third cylindrical rollers which are distributed in a crossed manner is densely arranged between the outer ring crossed roller raceway of the primary movable rack and the inner ring crossed roller raceway of the second shell, and a third isolating block is matched between every two third cylindrical rollers; the third plug is fixedly arranged in a hole on the outer ring of the second shell, the third pin is simultaneously and fixedly arranged in the pin holes of the second shell and the third plug, and the third set screw is screwed into the third plug and tightly presses the third pin;
a circle of fifth cylindrical rollers which are distributed in a crossed manner are densely arranged between the crossed roller path on the inner side of the outer ring of the secondary shock wave device and the eccentric shaft section of the primary movable rack and between the crossed roller paths on the outer side of the inner ring of the secondary shock wave device, and a second isolating block is matched between every two fifth cylindrical rollers;
a circle of crossed fourth cylindrical rollers are densely arranged between the outer ring crossed roller raceway of the secondary movable rack and the inner ring crossed roller raceway of the third shell, and a first isolating block is matched between every two fourth cylindrical rollers; first stopper fixed mounting is downthehole on the third casing outer lane, and first pintle fixed mounting is simultaneously in the pinhole of third casing and first stopper, and first holding screw is screwed into first stopper and is compressed tightly first pintle.
The technical scheme of the invention is further improved as follows: the parameter equation of the theoretical tooth profile of the first-level central wheel raceway is as follows:
wherein, a1: eccentricity of input shaft eccentric section, unit (mm)
b1: theoretical profile radius of the outer ring of the primary shock wave device, unit (mm)
Z2: theoretical tooth profile curve fluctuation period number of first-stage central wheel raceway
The technical scheme of the invention is further improved as follows: the parameter equation of the theoretical tooth profile of the two-stage central wheel raceway is as follows:
wherein, a2: eccentricity of eccentric shaft section of first-level movable rack, unit (mm)
b2: theoretical profile radius of secondary shock wave device outer ring, unit (mm)
Z4: theoretical tooth profile curve fluctuation period number of two-stage central wheel raceway
The technical scheme of the invention is further improved as follows: the side surface of the first-level movable rack is provided with a Z1A uniformly distributed first-stage movable tooth groove, and the side surface of a second-stage movable tooth rack is provided with a Z3The two-stage movable tooth grooves are uniformly distributed;
the first-stage transmission ratio calculation formula is as follows:
the second-stage transmission ratio calculation formula is as follows:
the calculation formula of the total transmission ratio of the secondary series structure is as follows:
due to the adoption of the technical scheme, the invention has the technical progress that:
1. compared with a roller oscillating tooth speed reducer, the oscillating tooth rack of the invention is of a disc structure instead of a thin-wall cylinder structure, thereby greatly shortening the axial structure and improving the rigidity of the oscillating tooth rack.
2. The whole machine adopts five composite integrated special-made crossed roller bearings, so that the bearing capacity, the transmission efficiency and the structural rigidity are greatly improved.
3. Due to the adoption of the special hammer-shaped roller oscillating teeth, pre-tightening is not needed in the axial direction, and small assembly errors in the axial direction are allowed to occur without affecting transmission precision, so that the processing and manufacturing difficulty is greatly reduced.
4. The invention has the advantages of simple and compact structure, high transmission efficiency, wide transmission ratio range, large bearing capacity and the like, can carry out parameterization and serialization design and is suitable for large-scale application.
Drawings
FIG. 1 is a schematic view of the overall assembly structure of embodiment 1 of the present invention;
FIG. 2 and FIG. 3 are schematic cross-sectional views of the whole machine of embodiment 1 of the present invention;
FIG. 4 is a schematic structural diagram of a one-stage hammer roller oscillating tooth part according to embodiment 1 of the invention;
FIG. 5 is a schematic structural view of a primary oscillating tooth rack part according to embodiment 1 of the present invention;
FIG. 6 is a schematic structural view of a two-stage oscillating tooth rack part according to embodiment 1 of the present invention;
FIG. 7 is a schematic structural view of a primary center wheel part according to embodiment 1 of the present invention;
FIG. 8 is a schematic structural view of a secondary center wheel according to embodiment 1 of the present invention;
FIG. 9 is a schematic view of the overall assembly structure of embodiment 2 of the present invention;
FIG. 10 and FIG. 11 are schematic cross-sectional views of the whole machine of embodiment 2 of the present invention;
FIG. 12 is a schematic structural view of a first housing part according to embodiment 2 of the present invention;
FIG. 13 is a schematic structural view of a one-stage hammer roller oscillating tooth part according to embodiment 2 of the invention;
FIG. 14 is a schematic structural view of a second housing part according to embodiment 2 of the present invention;
FIG. 15 is a schematic structural view of a third housing part according to embodiment 2 of the present invention;
wherein, 1, a first shell, 2, a first sealing ring, 3, a first cylindrical roller, 4, an input shaft, 5, a first-stage shock wave device outer ring, 6, a second cylindrical roller, 7, a first screw, 8, a first-stage shock wave device inner ring, 9, a first-stage hammer-shaped roller oscillating tooth, 10, a second screw, 11, a second shell, 12, a third cylindrical roller, 13, a first-stage oscillating tooth rack, 14, a second-stage hammer-shaped roller oscillating tooth, 15, a second-stage shock wave device outer ring, 16, a first plug, 17, a first fastening screw, 18, a first pin, 19, a third shell, 20, a fourth cylindrical roller, 21, a fifth cylindrical roller, 22, a third screw, 23, a second-stage shock wave device inner ring, 24, a second-stage oscillating tooth rack, 25, a second sealing ring, 26, a fourth screw, 27, a second pin, 28, a second plug, 29, a second fastening screw, 30, a third pin, 31, a third plug, 32. the third set screw, 33, the first spacer, 34, the second spacer, 35, the third spacer, 36, the fourth spacer, 37, the fifth spacer, 38, the first-stage center wheel, 39, the second-stage center wheel, 101, the left half raceway of the first-stage center wheel, 901, the first conical surface, 902, the first cylindrical surface, 903, the second conical surface, 904, the second cylindrical surface, 1101, the right half raceway of the first-stage center wheel, 1102, the left half raceway of the second-stage center wheel, 1301, the first cogging slot, 1901, the right half raceway of the second-stage center wheel, 2401, the second cogging slot, 3801, the full raceway of the first-stage center wheel, 3901 and the full raceway of the second-stage center wheel.
Detailed Description
The present invention will be described in further detail with reference to the following examples:
example one
As shown in FIG. 1, a small double-stage hammer-shaped roller oscillating tooth speed reducer is designed for certain application occasions, and the overall size of the small double-stage hammer-shaped roller oscillating tooth speed reducer is as a preferred embodiment 1 of the invention, wherein the overall size is phi 70mm in outer diameter and 48mm in length; the theoretical parameters of the first and second stage transmissions are shown in table 1.
Table 1 example 1 structure theory parameter table
The taper half angles of the first conical surface 901 and the second conical surface 903 of the first-stage hammer-shaped roller oscillating tooth 9 and the second-stage hammer-shaped roller oscillating tooth 14 are both 45 degrees, and the angles can be selected according to the actual stress condition.
As shown in fig. 1 to 8, the small two-stage hammer-shaped roller oscillating tooth speed reducer comprises a shell, wherein an input shaft 4, a first-stage shock wave device outer ring 5 and a first-stage shock wave device inner ring 8 which are hinged to each other, a first-stage oscillating tooth rack 13, a second-stage shock wave device outer ring 15 and a second-stage shock wave device inner ring 23 which are hinged to each other, and a second-stage oscillating tooth rack 24 are sequentially arranged in the shell along the axial direction. The shell sequentially comprises a first shell 1, a first-stage central wheel 38, a second shell 11, a second-stage central wheel 39 and a third shell 19 along the axial direction of the shell, and the first shell 1 and the first-stage central wheel 38 are fixedly arranged on the left side of the second shell 11 through six uniformly distributed second screws 10; the third shell 19 and the secondary central wheel 39 are fixedly arranged on the right side of the second shell 11 through six uniformly distributed fourth screws 26. The input shaft 4 is hinged in the first shell 1, the first-stage movable rack 13 is hinged in the second shell 11, a string-shaped first-stage central wheel full raceway 3801 is arranged on the inner ring of the first-stage central wheel 38, the second-stage movable rack 24 is hinged in the third shell 19, a string-shaped second-stage central wheel full raceway 3901 is arranged on the inner ring of the second-stage central wheel 39, and the generatrices of the raceway surfaces of the first-stage central wheel full raceway 3801 and the second-stage central wheel full raceway 3901 are parallel to the axis.
The inner ring 8 of the primary shock wave device is fixedly arranged on the eccentric shaft section of the input shaft 4 through six uniformly distributed first screws 7; the primary oscillating tooth rack 13 is hinged in the shell, a primary hammer-shaped roller oscillating tooth 9 is arranged in each primary oscillating tooth groove 1301 of the primary oscillating tooth rack 13, and each primary hammer-shaped roller oscillating tooth 9 is meshed with the outer ring 5 of the primary shock wave device and the full raceway 3801 of the string-shaped primary center wheel in the shell simultaneously; the inner ring 23 of the secondary shock wave device is fixedly arranged on the eccentric shaft section of the primary oscillating tooth rack 13 through six uniformly distributed third screws 22; the secondary oscillating tooth rack 24 is hinged in the shell, each secondary oscillating tooth groove 2401 of the secondary oscillating tooth rack 24 is provided with a secondary hammer-shaped roller oscillating tooth 14, and each secondary hammer-shaped roller oscillating tooth 14 is simultaneously meshed with the secondary shock wave device outer ring 15 and the string-shaped secondary central wheel full raceway 3901 on the secondary central wheel 39.
The first-stage hammer-shaped roller oscillating tooth 9 and the second-stage hammer-shaped roller oscillating tooth 14 have the same appearance and parameters, the first-stage hammer-shaped roller oscillating tooth 9 comprises a first conical surface, a first cylindrical surface, a second conical surface and a second cylindrical surface, and the first conical surface and the second conical surface adopt the same cone apex angle and are used for being meshed with an outer oscillating tooth raceway of the outer ring 5 of the first-stage shock wave device; the first cylindrical surface is used for being meshed with a first-stage central wheel full raceway 3801 in the shell; the second cylindrical surface is used for being meshed with the first-stage movable tooth groove 1301; the second-stage hammer-shaped roller oscillating tooth 14 comprises a first conical surface, a first cylindrical surface, a second conical surface and a second cylindrical surface, wherein the first conical surface and the second conical surface adopt the same conical vertex angle and are used for being meshed with an outer oscillating tooth raceway of a second-stage shock wave device outer ring 15; the first cylindrical surface is used for being meshed with a full raceway 3901 of a secondary central wheel in the shell; the second cylindrical surface is used for meshing with the secondary oscillating tooth groove 2401.
Specifically, a circle of first cylindrical rollers 3 distributed in a crossed manner is densely arranged between the outer ring crossed roller raceway of the input shaft 4 and the inner ring crossed roller raceway of the first shell 1, and a fifth isolating block 37 is matched between every two first cylindrical rollers 3; the second stopper 28 is fixedly installed in a hole on the outer ring of the first housing 1, the second pin 27 is simultaneously fixedly installed in pin holes of the first housing 1 and the second stopper 28, and the second set screw 29 is screwed into the second stopper 28 and presses the second pin 27.
A circle of second cylindrical rollers 6 which are distributed in a crossed mode is densely arranged between the crossed roller raceway on the inner side of the outer ring 5 of the primary shock wave device and the eccentric shaft section of the input shaft 4 and between the crossed roller raceways on the outer ring 8 of the primary shock wave device, and a fourth isolating block 36 is matched between every two second cylindrical rollers 6.
A circle of third cylindrical rollers 12 which are distributed in a crossed manner are densely arranged between the outer ring crossed roller raceway of the first-stage movable rack 13 and the inner ring crossed roller raceway of the second shell 11, and a third isolating block 35 is matched between every two third cylindrical rollers 12; the third plug 31 is fixedly installed in a hole on the outer ring of the second housing 11, the third pin 30 is simultaneously fixedly installed in pin holes of the second housing 11 and the third plug 31, and the third set screw 32 is screwed into the third plug 31 and compresses the third pin 30.
A circle of fifth cylindrical rollers 21 which are distributed in a crossed manner are densely arranged between the crossed roller raceway on the inner side of the outer ring 15 of the secondary shock wave device and the eccentric shaft section of the primary movable rack 13 and between the crossed roller raceways on the outer ring 23 of the secondary shock wave device, and a second isolating block 34 is matched between every two fifth cylindrical rollers 21.
A ring of crossed fourth cylindrical rollers 20 are densely arranged between the outer ring crossed roller raceway of the secondary movable rack 24 and the inner ring crossed roller raceway of the third shell 19, and a first isolating block 33 is matched between every two fourth cylindrical rollers 20; the first plug 16 is fixedly mounted in a hole on the outer ring of the third housing 19, the first pin 18 is simultaneously fixedly mounted in the pin holes of the third housing 19 and the first plug 16, and the first set screw 17 is screwed into the first plug 16 and presses the first pin 18.
Preferably, the first seal ring 2 and the second seal ring 25 are fixedly mounted on the first housing 1 and the third housing 19, respectively.
The working principle of the invention is as follows: when the invention is used, taking the first embodiment as an example, the first shell 1 is provided with uniformly distributed threaded holes for fixing on a power machine, the input shaft 4 is driven to rotate, the first-stage shock wave device inner ring 8 fixedly arranged on the input shaft 4 is driven to rotate, because the center of the first-stage shock wave device inner ring 8 is eccentric relative to the center of the input shaft 4, the first-stage shock wave device outer ring 5 hinged on the first-stage shock wave device inner ring 8 revolves around the center of the input shaft 4 while rotating around the center of the first-stage shock wave device inner ring 8, and drives the first-stage hammer-shaped roller oscillating teeth 9 in the oscillating tooth raceway to roll on the first-stage central wheel full raceway 1 in the first-stage central wheel 38, meanwhile, the second cylindrical surface of the first-stage hammer-shaped oscillating teeth 9 is meshed with the first-stage oscillating tooth grooves 1301 of the first-stage oscillating tooth rack 904, the movement of the first-stage hammer-shaped oscillating teeth 9 on the first-stage central wheel full raceway 3801 can, the reciprocating motion along the radial direction is embodied in the reciprocating motion of the primary hammer-shaped oscillating tooth 9 in the primary oscillating tooth groove 1301, and the circumferential motion along the circumferential direction is used for pushing the primary oscillating tooth rack 13 to rotate, so that the primary speed reduction motion from the input shaft 4 to the primary oscillating tooth rack 13 is realized; similarly, the first-stage oscillating tooth rack 13 rotates to drive the second-stage shock absorber outer ring 15 hinged on the eccentric shaft section to revolve around the center of the first-stage oscillating tooth rack 13 while rotating around the eccentric shaft section, and drive the second-stage hammer roller oscillating tooth 14 in the oscillating tooth raceway to roll on the second-stage central wheel raceway 3901 in the second-stage central wheel 39, meanwhile, the second-stage hammer oscillating tooth 14 adopts the same geometric structure as the first-stage hammer oscillating tooth 9, the second column surface of the second-stage oscillating tooth rack is meshed with the second-stage oscillating tooth groove 2401 of the second-stage oscillating tooth rack 24, the motion of the second-stage hammer oscillating tooth 14 on the second-stage central wheel raceway 3901 can be decomposed into reciprocating motion along the radial direction and circular motion along the circumferential direction, the reciprocating motion along the radial direction is used for the reciprocating motion of the second-stage hammer oscillating tooth 14 in the second-stage oscillating tooth groove 2401, and the circular motion along the circumferential direction is used for pushing the second-stage oscillating tooth rack 24 to rotate, so as to realize the second-stage deceleration, and the motion is output by the secondary oscillating rack 24. Namely, two-stage speed reduction is further carried out on the basis of one-stage speed reduction, thereby realizing a large speed reduction ratio.
Because the structure of the invention adopts a solid structure, only one installation mode is adopted, and although only one installation mode is adopted, the solid structure can reduce the outer diameter.
Example two
As shown in FIG. 9, a small double-stage hammer-shaped roller oscillating tooth reducer is designed for certain application, and as a preferred embodiment 2 of the invention, the overall size is 70mm in outer diameter and 48mm in length; the structure divides the primary central wheel 38 and the secondary central wheel 39 in the embodiment 1 and compounds the two central wheels into the first shell 1, the second shell 11 and the third shell 19, and the theoretical parameters of the primary transmission and the secondary transmission are shown in a table 2.
Table 2 example 2 structure theory parameter table
The taper half angles of the first conical surface 901 and the second conical surface 903 of the first-stage hammer-shaped roller oscillating tooth 9 and the second-stage hammer-shaped roller oscillating tooth 14 are both 60 degrees, and the angles can be selected according to the actual stress condition.
Particularly, when the first-stage center wheel and the second-stage center wheel in the first embodiment are split and compounded on the shells on the two corresponding sides, the first cylindrical surface of the oscillating tooth of the first-stage hammer roller loses the meshing pair meshed with the first cylindrical surface, so that the first cylindrical surface can be shortened, and the cone vertex angles of the first conical surface and the second conical surface are increased, at the moment, the first conical surface and the second conical surface are meshed with the outer oscillating tooth raceway of the outer ring of the first-stage shock wave device and are simultaneously meshed with the left half raceway of the first-stage center wheel and the right half raceway of the first-stage center wheel.
Specifically, the shell sequentially comprises a first shell 1, a second shell 11 and a third shell 19 along the axial direction of the shell, and as shown in fig. 9-15, the first shell 1 is fixedly installed on the left side of the second shell 11 through six uniformly distributed second screws 10; the third shell 19 is fixedly arranged at the right side of the second shell 11 through six uniformly distributed fourth screws 26; the input shaft 4 is hinged in the first shell 1, the first-stage oscillating tooth rack 13 is hinged in the second shell 11, the second-stage oscillating tooth rack 24 is hinged in the third shell 19, wherein the right side of the first shell 1, the left side and the right side of the second shell 11 and the left side of the third shell 19 are respectively provided with a first-stage central wheel left half raceway 101, a first-stage central wheel right half raceway 1101, a second-stage central wheel left half raceway 1102 and a second-stage central wheel right half raceway 1901, wherein the first-stage central wheel left half raceway 101, the first-stage central wheel right half raceway 1101, the second-stage central wheel left half raceway 1102 and the second-stage central wheel right half raceway 1901 are half raceway surfaces, the generatrices of which have certain inclination angles with the axial line, the inclination angles of the raceways of the semi raceway surfaces are equal to the half angles of the cones of the first-stage hammer roller oscillating tooth 9 and the second-stage hammer roller oscillating tooth 14, the first-stage hammer roller oscillating tooth 9 is simultaneously meshed with, the two-stage hammer roller oscillating teeth 14 simultaneously engage with the half raceway surfaces in the second housing 11 and the third housing 19.
The second embodiment has the same transmission principle as the first embodiment, and the only difference is that the engagement of the first cylindrical surface 902 of the first-stage hammer roller oscillating tooth 9 and the first-stage central wheel full raceway 3801 is changed into the engagement of a first conical surface 901 and a first-stage central wheel left half raceway 101 and the engagement of a second conical surface 903 and a first-stage central wheel right half raceway 1101; the first cylindrical surface of the two-stage hammer-shaped roller oscillating tooth 14 is meshed with the two-stage central wheel raceway 3901, so that a first conical surface is meshed with the left half raceway 1102 of the two-stage central wheel and a second conical surface is meshed with the right half raceway 1901 of the two-stage central wheel. The phase of the first-stage centre wheel left half raceway 101 is the same as that of the first-stage centre wheel right half raceway 1101, and the phase of the second-stage centre wheel left half raceway 1102 is the same as that of the second-stage centre wheel right half raceway 1901.
The first shell 1, the first cylindrical roller 3 and the input shaft 4 form a first composite integrated crossed roller bearing; the second shell 11, the third cylindrical roller 12 and the first-stage movable rack 13 form a second composite integrated crossed roller bearing; the third shell 19, the fourth cylindrical roller 20 and the secondary movable rack 24 form a third composite integrated crossed roller bearing; the eccentric shaft section of the input shaft 4, the primary shock wave device inner ring 8, the second cylindrical roller 6 and the primary shock wave device outer ring 5 form a fourth composite integrated crossed roller bearing; the first-stage oscillating tooth rack 13, the second-stage shock wave device inner ring 23, the fifth cylindrical roller 21 and the second-stage shock wave device outer ring 15 form a fifth composite integrated bearing; therefore, the speed reducer only adopts five composite integrated crossed roller bearings, and the composite integration means that the speed reducer not only has the functions of the crossed roller bearings, but also is used as a member participating in the meshing of the movable teeth and transmits the movable tooth transmission. The whole machine does not use any other bearings, and compared with the condition that eight nine bearings are frequently used in the transmission reducer, the reducer greatly reduces the bearing efficiency loss, thereby improving the transmission efficiency.
The parameter equation of the theoretical tooth profile line of the first-stage central wheel raceway (the first-stage central wheel full raceway 3801, the first-stage central wheel left half raceway 101 and the first-stage central wheel right half raceway 1101) is as follows:
wherein, a1: eccentricity of input shaft eccentric section, unit (mm)
b1: theoretical profile radius of the outer ring of the primary shock wave device, unit (mm)
Z2: theoretical tooth profile curve fluctuation period number of first-stage central wheel raceway
The parameter equation of the theoretical tooth profile line of the two-stage central wheel raceway (the two-stage central wheel full raceway 3901, the two-stage central wheel left half raceway 1102 and the two-stage central wheel right half raceway 1901) is as follows:
wherein, a2: eccentricity of eccentric shaft section of first-level movable rack, unit (mm)
b2: theoretical profile radius of secondary shock wave device outer ring, unit (mm)
Z4: theoretical tooth profile curve fluctuation period number of two-stage central wheel raceway
The side surface of the first-level movable rack 13 is provided with Z1A uniformly distributed first-stage movable tooth groove 1301, and the side surface of a second-stage movable tooth frame 24 is provided with a Z3The secondary movable tooth grooves 2401 are uniformly distributed;
the first-stage transmission ratio calculation formula is as follows:
the second-stage transmission ratio calculation formula is as follows:
the calculation formula of the total transmission ratio of the secondary series structure is as follows:
Claims (5)
1. the utility model provides a small-size doublestage hammer roller oscillating tooth reduction gear, includes the casing, has set gradually input shaft (4), articulated one-level shock wave ware outer lane (5) and one-level shock wave ware inner circle (8), one-level oscillating tooth frame (13), articulated second grade shock wave ware outer lane (15) and second grade shock wave ware inner circle (23), second grade oscillating tooth frame (24) each other along axial direction in the casing, its characterized in that: the input shaft (4) is hinged in the shell, and the inner ring (8) of the primary shock wave device is fixedly arranged on the eccentric shaft section of the input shaft (4) through six uniformly distributed first screws (7); the primary oscillating tooth rack (13) is hinged in the shell, a primary hammer-shaped roller oscillating tooth (9) is arranged in each primary oscillating tooth groove (1301) of the primary oscillating tooth rack (13), and each primary hammer-shaped roller oscillating tooth (9) is meshed with the primary shock wave device outer ring (5) and a string-shaped primary center wheel raceway in the shell simultaneously; the inner ring (23) of the secondary shock wave device is fixedly arranged on the eccentric shaft section of the primary oscillating tooth rack (13) through six uniformly distributed third screws (22); the secondary oscillating tooth rack (24) is hinged in the shell, each secondary oscillating tooth groove (2401) of the secondary oscillating tooth rack (24) is provided with a secondary hammer-shaped roller oscillating tooth (14), and each secondary hammer-shaped roller oscillating tooth (14) is simultaneously meshed with a secondary shock wave device outer ring (15) and a chord-shaped secondary central wheel raceway on a secondary central wheel (39);
the first-stage hammer-shaped roller oscillating tooth (9) and the second-stage hammer-shaped roller oscillating tooth (14) have the same appearance and parameters, the first-stage hammer-shaped roller oscillating tooth (9) comprises a first conical surface, a first cylindrical surface, a second conical surface and a second cylindrical surface, and the first conical surface and the second conical surface adopt the same cone apex angle and are used for being meshed with an outer oscillating tooth raceway of the outer ring (5) of the first-stage shock wave device; the first cylindrical surface is used for being meshed with a first-stage central wheel raceway in the shell; the second cylindrical surface is used for being meshed with the primary movable tooth groove (1301); the second-stage hammer-shaped roller oscillating tooth (14) comprises a first conical surface, a first cylindrical surface, a second conical surface and a second cylindrical surface, wherein the first conical surface and the second conical surface adopt the same conical vertex angle and are used for being meshed with an outer oscillating tooth raceway of a second-stage shock wave device outer ring (15); the first cylindrical surface is used for being meshed with a second-stage central wheel raceway in the shell; the second cylindrical surface is used for being meshed with the second-stage movable tooth groove (2401);
the shell sequentially comprises a first shell (1), a primary central wheel (38), a second shell (11), a secondary central wheel (39) and a third shell (19) along the axial direction of the shell, and the first shell (1) and the primary central wheel (38) are fixedly arranged on the left side of the second shell (11) through a plurality of uniformly distributed second screws (10); the third shell (19) and the second-stage central wheel (39) are fixedly arranged on the right side of the second shell (11) through six uniformly distributed fourth screws (26); the input shaft (4) is hinged in the first shell (1), the first-stage movable rack (13) is hinged in the second shell (11), the inner ring of the first-stage central wheel (38) is provided with a first-stage central wheel full raceway (3801), the second-stage movable rack (24) is hinged in the third shell (19), the inner ring of the second-stage central wheel (39) is provided with a second-stage central wheel full raceway (3901) for meshing, and the generatrix of the raceway surfaces of the first-stage central wheel full raceway (3801) and the second-stage central wheel full raceway (3901) is parallel to the axis; the first sealing ring (2) and the second sealing ring (25) are respectively and fixedly arranged on the first shell (1) and the third shell (19);
a circle of first cylindrical rollers (3) which are distributed in a crossed manner is densely arranged between the outer ring crossed roller raceway of the input shaft (4) and the inner ring crossed roller raceway of the first shell (1), and a fifth isolating block (37) is matched between every two first cylindrical rollers (3); a second plug (28) is fixedly arranged in a hole on the outer ring of the first shell (1), a second pin (27) is simultaneously and fixedly arranged in pin holes of the first shell (1) and the second plug (28), and a second set screw (29) is screwed into the second plug (28) and presses the second pin (27);
a circle of second cylindrical rollers (6) which are distributed in a crossed manner are densely arranged between the crossed roller raceway on the inner side of the outer ring (5) of the primary shock wave device and the eccentric shaft section of the input shaft (4) and between the crossed roller raceways on the outer ring (8) of the primary shock wave device, and a fourth isolating block (36) is matched between every two second cylindrical rollers (6);
a circle of third cylindrical rollers (12) which are distributed in a crossed manner is densely arranged between the outer ring crossed roller raceway of the first-stage movable rack (13) and the inner ring crossed roller raceway of the second shell (11), and a third isolating block (35) is matched between every two third cylindrical rollers (12); a third plug (31) is fixedly arranged in a hole on the outer ring of the second shell (11), a third pin (30) is simultaneously and fixedly arranged in pin holes of the second shell (11) and the third plug (31), and a third set screw (32) is screwed into the third plug (31) and compresses the third pin (30);
a circle of fifth cylindrical rollers (21) which are distributed in a crossed manner are densely arranged between the crossed roller raceway on the inner side of the outer ring (15) of the secondary shock wave device and the eccentric shaft section of the primary movable rack (13) and the crossed roller raceway outside the inner ring (23) of the secondary shock wave device, and a second isolating block (34) is matched between every two fifth cylindrical rollers (21);
a ring of crossed fourth cylindrical rollers (20) are densely arranged between the outer ring crossed roller raceway of the secondary movable rack (24) and the inner ring crossed roller raceway of the third shell (19), and a first isolating block (33) is matched between every two fourth cylindrical rollers (20); the first plug (16) is fixedly arranged in a hole on the outer ring of the third shell (19), the first pin (18) is simultaneously and fixedly arranged in pin holes of the third shell (19) and the first plug (16), and the first set screw (17) is screwed into the first plug (16) and compresses the first pin (18).
2. The small double-stage hammer roller oscillating tooth speed reducer according to claim 1, wherein: the shell sequentially comprises a first shell (1), a second shell (11) and a third shell (19) along the axial direction of the shell, and the first shell (1) is fixedly installed on the left side of the second shell (11) through a plurality of uniformly distributed second screws (10); the third shell (19) is fixedly arranged on the right side of the second shell (11) through six uniformly distributed fourth screws (26); the input shaft (4) is hinged in the first shell (1), the first-stage movable rack (13) is hinged in the second shell (11), the second-stage movable rack (24) is hinged in the third shell (19), wherein the right side of the first shell (1), the left side and the right side of the second shell (11) and the left side of the third shell (19) are respectively provided with a first-stage central wheel left half raceway (101), a first-stage central wheel right half raceway (1101), a second-stage central wheel left half raceway (1102) and a second-stage central wheel right half raceway (1901), the first-stage central wheel left half raceway (101), the first-stage central wheel right half raceway (1101), the second-stage central wheel left half raceway (1102) and the second-stage central wheel right half raceway (1901) are half raceway surfaces, the generatrices of which have certain inclination angles with the axes, and the inclination angles of the raceways of the first-stage hammer-type movable teeth (9) and the second-stage hammer-type roller movable teeth (14) are equal, the first-stage hammer-shaped roller oscillating teeth (9) are simultaneously meshed with the half raceway surfaces in the first shell (1) and the second shell (11), and the second-stage hammer-shaped roller oscillating teeth (14) are simultaneously meshed with the half raceway surfaces in the second shell (11) and the third shell (19).
3. The small double-stage hammer roller oscillating tooth speed reducer according to claim 1, wherein: the parameter equation of the theoretical tooth profile of the first-level central wheel raceway is as follows:
wherein, a1: eccentricity of input shaft eccentric section, unit (mm)
b1: theoretical profile radius of the outer ring of the primary shock wave device, unit (mm)
Z2: theoretical tooth profile curve fluctuation period number of first-stage central wheel raceway
4. A small two-stage hammer roller oscillating tooth decelerator according to claim 3, wherein: the parameter equation of the theoretical tooth profile of the two-stage central wheel raceway is as follows:
wherein, a2: eccentricity of eccentric shaft section of first-level movable rack, unit (mm)
b2: theoretical profile radius of secondary shock wave device outer ring, unit (mm)
Z4: theoretical tooth profile curve fluctuation period number of two-stage central wheel raceway
5. The small two-stage hammer roller oscillating tooth reducer according to claim 4, wherein: the side surface of the first-level movable rack (13) is provided with Z1A first-stage movable tooth groove (1301) is uniformly distributed, and the side surface of a second-stage movable tooth frame (24) is provided with a Z3The two-stage movable tooth sockets (2401) are uniformly distributed;
the first-stage transmission ratio calculation formula is as follows:
the second-stage transmission ratio calculation formula is as follows:
the calculation formula of the total transmission ratio of the secondary series structure is as follows:
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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 |
| CN115854002A (en) * | 2022-12-07 | 2023-03-28 | 浙江夏厦精密制造股份有限公司 | Combined two-stage speed reducer |
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| JPS59141775A (en) * | 1983-01-31 | 1984-08-14 | Shimadzu Corp | Prime mover |
| JPS59140938A (en) * | 1983-01-31 | 1984-08-13 | Shimadzu Corp | Harmonic speed decreasing gear |
| JP4163069B2 (en) * | 2003-07-16 | 2008-10-08 | 住友重機械工業株式会社 | Reduction gear |
| JP2010014215A (en) * | 2008-07-04 | 2010-01-21 | Harmonic Drive Syst Ind Co Ltd | Wave motion gear device |
| KR101311413B1 (en) * | 2010-11-02 | 2013-09-25 | 주식회사 에스비비테크 | Strain wave gearing reducer |
| TWI412674B (en) * | 2010-11-17 | 2013-10-21 | Ind Tech Res Inst | Reducer structure and its wave gear drive |
| US9657813B2 (en) * | 2014-06-06 | 2017-05-23 | Delbert Tesar | Modified parallel eccentric rotary actuator |
| CN205401637U (en) * | 2016-02-05 | 2016-07-27 | 秦皇岛博硕光电设备股份有限公司 | Two ripples shock wave wares that roller oscillating -tooth speed reducer used |
| CN105697716A (en) * | 2016-02-08 | 2016-06-22 | 秦皇岛博硕光电设备股份有限公司 | Roller oscillating tooth speed reducer |
| CN209654538U (en) * | 2019-01-31 | 2019-11-19 | 江苏泰隆减速机股份有限公司 | A kind of engineering truck wheel side roller oscillating tooth gear retarder |
| CN109812547A (en) * | 2019-01-31 | 2019-05-28 | 江苏泰隆减速机股份有限公司 | A kind of engineering truck wheel side roller oscillating tooth gear retarder |
| CN109707802B (en) * | 2019-02-25 | 2020-12-22 | 燕山大学 | Two-stage integrated plane oscillating tooth speed reducer based on guide frame coupling |
| CN109973613B (en) * | 2019-03-28 | 2020-06-23 | 燕山大学 | Chain wheel shock wave push rod oscillating tooth two-stage speed reducer |
| CN110185747B (en) * | 2019-05-31 | 2021-10-15 | 燕山大学 | Guide frame fixed type two-stage sine oscillating tooth speed reducer |
| CN110397711B (en) * | 2019-07-16 | 2020-08-28 | 燕山大学 | Cam shock wave type two-stage plane steel ball speed reducer |
| CN110513443B (en) * | 2019-08-16 | 2020-08-11 | 燕山大学 | Eccentric driving two-stage plane oscillating tooth speed reducer |
| CN110454552B (en) * | 2019-08-28 | 2020-08-25 | 燕山大学 | Hollow oscillating-tooth-rack coupled two-stage plane oscillating-tooth speed reducer |
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