CN111173895B - Two-stage closed type undercut cycloid oscillating tooth transmission unit - Google Patents
Two-stage closed type undercut cycloid oscillating tooth transmission unit Download PDFInfo
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- CN111173895B CN111173895B CN202010008303.3A CN202010008303A CN111173895B CN 111173895 B CN111173895 B CN 111173895B CN 202010008303 A CN202010008303 A CN 202010008303A CN 111173895 B CN111173895 B CN 111173895B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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Abstract
The invention provides a two-stage closed type undercut cycloid oscillating tooth transmission unit which comprises a left side transmission wheel, a left side oscillating tooth, a middle transmission wheel, a right side oscillating tooth, a right side transmission wheel and the like. On the basis of the single-stage undercut cycloid oscillating tooth transmission unit, a single-stage undercut cycloid oscillating tooth transmission unit is added, the single-stage undercut cycloid oscillating tooth transmission unit and the single-stage undercut cycloid oscillating tooth transmission unit are not simply connected in series, and the input and the output of the first-stage single-stage undercut oscillating tooth transmission unit are simultaneously used as the input of the second-stage single-stage undercut oscillating tooth transmission unit; the whole mechanism can be equivalent to a two-stage differential gear train, the combination forms of the two-stage differential gear train are flexible and various, a single-stage undercut epicycloid oscillating tooth transmission unit can be adopted, a single-stage undercut hypocycloid oscillating tooth transmission unit can be adopted, a single-stage undercut epicycloid oscillating tooth transmission unit and a single-stage undercut hypocycloid oscillating tooth transmission unit can be adopted simultaneously, each unit can be provided with two choices of forward arrangement and reverse arrangement, and therefore sixteen combination forms are provided, different combination forms are provided, and the reduction ratio calculation formulas are different.
Description
Technical Field
The invention relates to the technical field of movable tooth transmission, in particular to a two-stage closed type undercut cycloid movable tooth transmission unit.
Background
In the traditional involute gear transmission, under some special conditions, designed gears can have undercut, although the transmission precision of the gears is not influenced, the root of a single tooth is thinned due to the undercut thickness, the bending resistance of the gears is reduced, the contact ratio is reduced, and the transmission stability is influenced, so that in the traditional design idea, the involute gears are designed to avoid undercut as much as possible. In the other conventional transmission form, the cycloidal pin gear transmission technology, the actual tooth profile of the cycloidal gear is strictly not allowed to be undercut, because the undercut distorts the transmission. With the development of a novel transmission technology (which is a representative oscillating tooth transmission technology), on the basis of the transmission idea of the cycloid pin wheel, the oscillating tooth transmission theory is applied, the pin teeth can be changed into steel ball oscillating teeth, the cycloid wheel is changed into a transmission wheel with a cycloid raceway, namely, the cycloid oscillating tooth transmission mechanism is obtained, compared with a cycloid pinwheel, the cycloid oscillating tooth transmission mechanism realizes full-circle tooth meshing on the structural principle, greatly improves the bearing capacity and the shock resistance of transmission, the design idea is to avoid the undercut of the actual meshing tooth profile of the cycloid raceway, and in the traditional three-dimensional solid modeling software, if the size of the selected movable teeth is too large, the actual meshing tooth profile of the cycloid raceway has an undercut phenomenon, the expression in the software is that the model cannot be established, and an error can be reported, so that the thinking of most of related practitioners and designers is limited. For example, patent No. CN201721031991.5 proposes "a cycloidal steel ball speed reducer and its robot joint", and the specification clearly proposes conditions for avoiding undercut and avoiding undercut. The problems that the power density of a traditional cycloid steel ball oscillating tooth speed reducer is not high, the power density is large in popular terms, the transmission ratio is relatively small, the space utilization is insufficient, and the market competitiveness is lacked are solved. Aiming at the problem, a new method is developed, the traditional design thinking is broken through, and the method is carried out against the way, namely in the design of the cycloid oscillating tooth transmission, the undercut phenomenon is not avoided, the undercut phenomenon is also utilized, the designed cycloid tooth profile is undercut, and therefore the undercut cycloid oscillating tooth transmission technology is obtained. Compared with the traditional cycloid oscillating tooth transmission, the undercut cycloid oscillating tooth transmission has the advantages that under the same size, the number of the oscillating teeth is more, the transmission ratio is higher, the whole-tooth whole-circle meshing stress is basically achieved, and the comprehensive performance of the undercut cycloid oscillating tooth transmission is superior to that of the traditional cycloid oscillating tooth transmission structure; compared with a cycloidal pin gear transmission structure, the transmission of the undercut cycloidal movable teeth has the advantages of simpler manufacture, fewer parts, simple assembly, longer service life, higher bearing capacity and shock resistance and the like. The transmission technology of the undercut cycloid oscillating tooth is applied to the speed reducer, and the problem to be solved urgently is solved.
Disclosure of Invention
Aiming at the problems, the invention provides a two-stage closed type undercut cycloid oscillating tooth transmission unit, on the basis of a single-stage undercut cycloid oscillating tooth transmission unit, a single-stage undercut cycloid oscillating tooth transmission unit is added, the single-stage undercut cycloid oscillating tooth transmission unit and the single-stage undercut cycloid oscillating tooth transmission unit are not simply connected in series, and the input and the output of the first-stage single-stage undercut oscillating tooth transmission unit are simultaneously used as the input of a second-stage single-stage undercut oscillating tooth transmission unit; the whole mechanism can be equivalent to a two-stage differential gear train, the combination forms of the two-stage differential gear train are flexible and various, a single-stage undercut epicycloid oscillating tooth transmission unit can be adopted, a single-stage undercut hypocycloid oscillating tooth transmission unit can be adopted, a single-stage undercut epicycloid oscillating tooth transmission unit and a single-stage undercut hypocycloid oscillating tooth transmission unit can be adopted simultaneously, each unit can be provided with two choices of forward arrangement and reverse arrangement, and therefore sixteen combination forms are provided, different combination forms are provided, and the reduction ratio calculation formulas are different.
The technical scheme adopted by the invention is as follows: a two-stage closed type undercut cycloid oscillating tooth transmission unit comprises a left side transmission wheel, a left side oscillating tooth, a middle transmission wheel, a right side oscillating tooth and a right side transmission wheel, wherein a left side oscillating tooth meshing pair is arranged on the right side of the left side transmission wheel; the left side of the middle driving wheel is provided with a left movable tooth meshing pair, and the right side of the middle driving wheel is provided with a right movable tooth meshing pair; a right movable tooth meshing pair is arranged on the left side of the right transmission wheel; a circle of left movable teeth which are uniformly distributed along the circumference are all meshed with left movable tooth meshing pairs on the left driving wheel and the middle driving wheel simultaneously; a circle of right movable teeth which are uniformly distributed along the circumference are all meshed with right movable tooth meshing pairs on the right driving wheel and the middle driving wheel simultaneously; the axis of the middle driving wheel is parallel to the axis of the left driving wheel, and the two axes are not coincident; the right driving wheel and the left driving wheel are coaxial; when one of the two left movable tooth meshing pairs is an undercut cycloid raceway, the other one is an evenly distributed movable tooth groove with the same number as that of the left movable tooth; when one of the two right movable tooth meshing pairs is an undercut cycloid raceway, the other is a uniformly distributed movable tooth groove with the same number as the right movable tooth; the undercut cycloid raceway is an envelope surface with undercut characteristics, which is obtained by sweeping a movable tooth meeting the size of an undercut condition for a circle along a cycloid on the driving wheel.
Furthermore, the two-stage closed type undercut cycloid oscillating tooth transmission unit adopts a pictographic method to obtain symbolic significance, the symbol S represents an undercut cycloid raceway, the symbol O represents an oscillating tooth groove, the S is connected with the corresponding O to form a pair of oscillating tooth meshing pairs, and the oscillating teeth are added to form a single-stage undercut cycloid oscillating tooth transmission unit, and the two-stage closed type undercut cycloid oscillating tooth transmission unit has four transmission structures of SOSO, SOOS, OSSO and OSOS according to the arrangement form that the meshing pairs are arranged and combined from left to right.
Furthermore, in the two-stage closed type undercut cycloid oscillating tooth transmission unit, in four transmission structures of SOSO, SOOS, OSSO and OSOS, two undercut cycloid raceways adopt undercut hypocycloid raceways at the same time.
Furthermore, in the two-stage closed type undercut cycloid oscillating tooth transmission unit, in four transmission structures of SOSO, SOOS, OSSO and OSOS, two undercut cycloid raceways adopt undercut epicycloid raceways at the same time.
Further, in the two-stage closed type undercut cycloid oscillating tooth transmission unit, in four transmission structures of SOSO, SOOS, OSSO and OSOS, any one of two undercut cycloid raceways adopts an undercut hypocycloid raceway, and the remaining one adopts an undercut epicycloid raceway.
Furthermore, when the meshing curve of the undercut hypocycloid raceway adopts a hypocycloid, the inner side tooth profile of the raceway is undercut, the outer side tooth profile is not undercut, and the wave number of the raceway is one more than the number of active teeth; the root cutting part of the tooth profile is blunted or not blunted; at the moment, the undercut cycloid raceway is an undercut hypocycloid raceway, and the plane rectangular coordinate parameter equation of the meshing curve C is as follows:
in the above formula, R-hypocycloid radial radius; a-hypocycloid amplitude; zcHypocycloid wave number.
Furthermore, when the meshing curve of the undercut epicycloidal raceway adopts an epicycloid, the tooth profile of the outer side of the raceway is undercut, the tooth profile of the inner side of the raceway is not undercut, and the wave number of the raceway is one less than the number of active teeth; the root cutting part of the tooth profile is blunted or not blunted; at the moment, the undercut cycloid raceway is an undercut epicycloid raceway, and the plane rectangular coordinate parameter equation of the meshing curve C is as follows:
in the above formula, R-epicycloidal radial radius; a-epicycloid amplitude; zc-epicycloidal wave number.
Furthermore, the movable tooth groove surface meshed with the movable tooth on the left side is completely attached to the movable tooth on the left side; the groove surface of the movable tooth groove meshed with the right movable tooth is completely attached to the right movable tooth.
Furthermore, the left movable tooth and the right movable tooth are both rotary bodies, any tangent plane is made along the axis of the rotary bodies, two symmetrical buses in the left and right in a plane can be obtained, the buses are continuous curves of the plane, and the distance from each point to the axis is D; maximum D in the subset corresponding to the section of generatrix in the set D meshing with the undercut cycloid racewaymaxThe relationship that can cause undercut of the raceway needs to be satisfied:
Dmax＞ρmin
in the formula, ρmin-minimum value of cycloid radius of curvature p.
Furthermore, when the cycloid parameter equation is determined, the curvature radius of any point on the cycloid parameter equation is determined; the formula for calculating the cycloid curvature radius is as follows:
due to the adoption of the technical scheme, the invention has the following advantages: (1) under the same size, compared with the traditional cycloid oscillating tooth speed reducing unit, the unit has more oscillating tooth number or larger oscillating tooth size, thereby having larger speed reducing ratio and larger bearing capacity; (2) the double-stage closed structure is adopted, and the double-stage closed type transmission mechanism has the characteristics of flexible and various combination forms and wide transmission ratio range; (3) the accuracy and the continuity of the whole transmission are not influenced by the local undercut, all the movable teeth participate in meshing force transmission, and the shock resistance is strong; (4) the structure is simple and compact, and the processing, the manufacturing and the assembly are convenient.
Drawings
Fig. 1 and 2 are exploded views of a drive unit of the SOSO type of the present invention with both stages being undercut hypocycloidal raceways.
Fig. 3 and 4 are exploded views of a drive unit of the SOSO type of the present invention with both stages being undercut epicycloidal raceways.
Fig. 5 and 6 are exploded views of a drive unit of the SOSO type of the present invention with an undercut hypocycloidal raceway on the first stage and an undercut epicycloidal raceway on the second stage.
Fig. 7 and 8 are exploded views of a drive unit of the SOSO type of the present invention with an undercut epicycloidal raceway on the first stage and an undercut hypocycloidal raceway on the second stage.
Fig. 9 and 10 are exploded views of a drive unit of the soss type of the present invention with both stages being undercut hypocycloidal raceways.
Fig. 11 and 12 are exploded views of a drive unit of the soss type of the present invention with both stages being undercut epicycloidal raceways.
Fig. 13 and 14 are exploded views of a drive unit of the soss type of the present invention with one stage being an undercut hypocycloidal raceway and the second stage being an undercut epicycloidal raceway.
Fig. 15 and 16 are exploded views of a drive unit of the soss type of the present invention with one stage being an undercut epicycloidal raceway and the second stage being an undercut hypocycloidal raceway.
Fig. 17 and 18 are exploded views of a drive unit of the OSSO type of the present invention with both stages being undercut hypocycloidal races.
Fig. 19 and 20 are exploded views of a drive unit of the OSSO type of the present invention with both stages being undercut epicycloidal races.
Fig. 21 and 22 are exploded views of a transmission unit of the OSSO type of the present invention having an undercut hypocycloidal raceway at one stage and an undercut epicycloidal raceway at the second stage.
Fig. 23 and 24 are exploded views of a transmission unit of the OSSO type of the present invention having an undercut epicycloidal raceway for the first stage and an undercut hypocycloidal raceway for the second stage.
Fig. 25 and 26 are exploded views of a drive unit of the invention of the oss type with both stages each having undercut hypocycloidal races.
Fig. 27 and 28 are exploded views of a drive unit of the invention of the oss type with both stages each having an undercut epicycloidal raceway.
Fig. 29 and 30 are exploded views of a transmission unit of the invention of the oss type with one stage being an undercut hypocycloidal raceway and the second stage being an undercut epicycloidal raceway.
Fig. 31 and 32 are exploded views of a transmission unit of the oss type of the present invention with one stage being an undercut epicycloidal raceway and the second stage being an undercut hypocycloidal raceway.
Reference numerals: 1-a left side transmission wheel; 2-left side oscillating tooth; 3-an intermediate transmission wheel; 4-right movable teeth; 5-right driving wheel.
Detailed Description
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.
Example (b): a two-stage closed type undercut cycloid oscillating tooth transmission unit comprises a left side transmission wheel, a left side oscillating tooth, a middle transmission wheel, a right side oscillating tooth and a right side transmission wheel, wherein a left side oscillating tooth meshing pair is arranged on the right side of the left side transmission wheel; the left side of the middle driving wheel is provided with a left movable tooth meshing pair, and the right side of the middle driving wheel is provided with a right movable tooth meshing pair; a right movable tooth meshing pair is arranged on the left side of the right transmission wheel; one circle of radius R1The number of the circumference uniform distribution is Zb1All the left movable teeth are simultaneously meshed with the left movable tooth meshing pairs on the left driving wheel and the middle driving wheel; one circle of radius R2The number of the circumference uniform distribution is Zb2All the right movable teeth are simultaneously meshed with the right movable tooth meshing pairs on the right driving wheel and the middle driving wheel; the axis of the middle driving wheel is parallel to the axis of the left driving wheel, and the distance between the two axes is A; the right driving wheel and the left driving wheel are coaxial; the movable tooth meshing pair is an undercut cycloid raceway and a uniformly distributed movable tooth groove with the same number as that of the movable teeth; the undercut cycloid raceway is an envelope surface which is formed by sweeping a circle of movable teeth meeting the size of an undercut condition along a cycloid on the driving wheel; the undercut cycloid raceway obtained by sweeping a circle along the hypocycloid is an undercut hypocycloid raceway, the undercut outer side of the inner side of the raceway is not tangent, and the wave number of the raceway is one more than that of the corresponding movable tooth grooves; the undercut cycloid raceway obtained by sweeping a circle along the epicycloid is an undercut epicycloid raceway, the undercut inner side of the outer side of the raceway is not tangent, and the wave number of the raceway is one less than that of the corresponding movable tooth grooves; activity deviceThe tooth socket meshing surface is in seamless fit with the movable teeth; when the left movable tooth meshing pair on the right side of the left driving wheel is an undercut cycloid raceway, the corresponding left movable tooth meshing pair on the left side of the middle driving wheel is a movable tooth groove; when the left movable tooth meshing pair on the right side of the left driving wheel is a movable tooth groove, the corresponding left movable tooth meshing pair on the left side of the middle driving wheel is an undercut cycloid raceway; when the right movable tooth meshing pair on the right side of the middle transmission wheel is an undercut cycloid raceway, the corresponding right movable tooth meshing pair on the left side of the right transmission wheel is a movable tooth groove; when the right movable tooth meshing pair on the right side of the middle transmission wheel is a movable tooth groove, the corresponding right movable tooth meshing pair on the left side of the right transmission wheel is an undercut cycloid raceway.
The parameter equation of the theoretical hypocycloid meshing curve of the undercut hypocycloid raceway in a plane rectangular coordinate system is as follows:
in the above formulas, the R-movable tooth groove is distributed with a circular radius, namely the distance from the axle center of the movable tooth groove to the axle center of the driving wheel where the movable tooth groove is positioned; a-the distance between the axis of the transmission wheel where the undercut hypocycloid raceway is located and the axis of the transmission wheel where the corresponding movable tooth groove is located; zc-wave number of undercut hypocycloidal raceways;
the parameter equation of the theoretical epicycloid meshing curve of the undercut epicycloid raceway in a plane rectangular coordinate system is as follows:
in the above formulas, the R-movable tooth groove is distributed with a circular radius, namely the distance from the axle center of the movable tooth groove to the axle center of the driving wheel where the movable tooth groove is positioned; a-the distance between the axis of the transmission wheel where the epicycloidal raceway is undercut and the axis of the transmission wheel where the corresponding movable tooth groove is located; zcWave number of undercut epicycloidal raceways.
In the embodiment, a symbolic meaning is taken by adopting a pictographic method, a symbol S represents an undercut cycloid raceway, a symbol O represents a movable tooth groove, S and the corresponding O are connected together to form a pair of movable tooth meshing pairs, and movable teeth are added to form a single-stage undercut cycloid movable tooth transmission unit. According to the above, the right side of the left driving wheel is provided with the movable tooth meshing pair, the two sides of the middle driving wheel are respectively provided with the movable tooth meshing pair, the left side of the right driving wheel is provided with the movable tooth meshing pair, and four movable tooth meshing pairs, namely two groups of movable tooth meshing pairs, are arranged from left to right in sequence, and respectively form the two-stage closed type undercut cycloid movable tooth transmission unit together with the left movable tooth and the right movable tooth. According to the sequence from left to right, the left side transmission unit is a first-stage transmission unit, the right side transmission unit is a second-stage transmission unit, and according to the expression of the symbols, the transmission structure comprises four transmission forms of SOSO, SOOS, OSSO and OSOS according to the arrangement form of the arrangement combination of the meshing pairs, and aiming at any one transmission structure, the transmission structure is divided into sixteen transmission structures in total under four conditions that two stages are undercut hypocycloid raceways, two stages are undercut epicycloid raceways, one stage is undercut hypocycloid raceway two-stage is undercut epicycloid raceway, and one stage is undercut epicycloid raceway two-stage is undercut hypocycloid raceway.
Fig. 1-32 illustrate sixteen preferred embodiments of the present invention, in which the movable teeth are all standard spheres of the same size. The transmission parameters are shown in table 1:
TABLE 1 structural theory parameter table
The working principle of the invention is as follows: from the foregoing, the structure of the present invention has four transmission forms of SOSO, OSSO and oss according to the arrangement form of the arrangement combination of the meshing pairs, where SOSO is, in turn, oss, in turn, SOSO, and SOSO and OSSO are, in turn, their own transmission principle and reduction ratio calculation formula are explained uniformly according to the left end fixation, and all cases can be covered.
When the left driving wheel is fixed, the axis of the middle driving wheel is driven to revolve around the axis of the left driving wheel, at the same time, the left movable teeth uniformly distributed along the circumference are simultaneously meshed with the right movable tooth meshing pair of the left driving wheel and the left movable tooth meshing pair of the middle driving wheel, because the right movable tooth meshing pair of the left driving wheel is fixedly connected with the left driving wheel, the left movable teeth are meshed with the right movable tooth meshing pair of the left driving wheel, the middle driving wheel is pushed to rotate along the self axis through the left movable tooth meshing pair of the middle driving wheel, the motion of the middle driving wheel is revolution around the axis of the left driving wheel and rotation around the self axis, when the middle driving wheel moves in the above rule, the right movable tooth meshing pair on the upper side and the right side of the middle driving wheel pushes the right movable teeth meshed with the movable teeth, and then the left movable tooth meshing pair of the right driving wheel meshed with the right movable teeth, and the right transmission wheel is pushed to rotate along the self axis, and because the right transmission wheel and the left transmission wheel are coaxial, the motion is input through the left side and is finally output through the deceleration of the right side.
The reduction ratio calculation formulas of the four transmission forms respectively correspond to the following steps:
for the SOSO model, the reduction ratio calculation formula is:
for the SOOS type, the reduction ratio calculation formula is:
for the OSSO type, the reduction ratio calculation formula is as follows:
for the oss type, the reduction ratio calculation formula is:
it is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms include, or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements does not include only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a closed undercut cycloid oscillating tooth drive unit of doublestage, includes left side drive wheel, left side oscillating tooth, middle drive wheel, right side oscillating tooth, right side drive wheel, its characterized in that: a left movable tooth meshing pair is arranged on the right side of the left driving wheel; the left side of the middle driving wheel is provided with a left movable tooth meshing pair, and the right side of the middle driving wheel is provided with a right movable tooth meshing pair; a right movable tooth meshing pair is arranged on the left side of the right transmission wheel; a circle of left movable teeth which are uniformly distributed along the circumference are all meshed with left movable tooth meshing pairs on the left driving wheel and the middle driving wheel simultaneously; a circle of right movable teeth which are uniformly distributed along the circumference are all meshed with right movable tooth meshing pairs on the right driving wheel and the middle driving wheel simultaneously; the axis of the middle driving wheel is parallel to the axis of the left driving wheel, and the two axes are not coincident; the right driving wheel and the left driving wheel are coaxial; when one of the two left movable tooth meshing pairs is an undercut cycloid raceway, the other one is an evenly distributed movable tooth groove with the same number as that of the left movable tooth; when one of the two right movable tooth meshing pairs is an undercut cycloid raceway, the other is a uniformly distributed movable tooth groove with the same number as the right movable tooth; the undercut cycloid raceway is an envelope surface with undercut characteristics, which is obtained by sweeping a movable tooth meeting the size of an undercut condition for a circle along a cycloid on the driving wheel.
2. A two-stage closed undercut cycloidal oscillating tooth drive unit as claimed in claim 1, wherein: the symbolic meaning is taken by adopting a pictographic method, a symbol S represents an undercut cycloid raceway, a symbol O represents a movable tooth groove, the S is connected with the corresponding O to form a pair of movable tooth meshing pairs, and movable teeth are added to form a single-stage undercut cycloid movable tooth transmission unit; in four transmission structures of SOSO, SOOS, OSSO and OSOS, two undercut cycloid raceways adopt undercut hypocycloid raceways at the same time, or both adopt undercut epicycloid raceways at the same time, or one of the undercut hypocycloid raceways is adopted and the other undercut epicycloid raceway is adopted.
3. A two-stage closed undercut cycloidal oscillating tooth drive unit as claimed in claim 2, wherein: when the meshing curve of the undercut cycloid raceway adopts hypocycloid, the inner side tooth profile of the raceway is undercut, the outer side tooth profile is not undercut, and the wave number of the raceway is one more than the number of active teeth; the root cutting part of the tooth profile is blunted or not blunted; at the moment, the undercut cycloid raceway is an undercut hypocycloid raceway, and the plane rectangular coordinate parameter equation of the meshing curve C is as follows:
in the above formula, R-the radial radius of the meshing curve C; a-the amplitude of the meshing curve C;Zcthe wave number of the meshing curve C.
4. A two-stage closed undercut cycloidal oscillating tooth drive unit as claimed in claim 2, wherein: when the meshing curve of the undercut cycloid raceway adopts an epicycloid, the outer side tooth profile of the raceway is undercut, the inner side tooth profile is not undercut, and the wave number of the raceway is less than one active tooth number; the root cutting part of the tooth profile is blunted or not blunted; at the moment, the undercut cycloid raceway is an undercut epicycloid raceway, and the plane rectangular coordinate parameter equation of the meshing curve C is as follows:
in the above formula, R-the radial radius of the meshing curve C; a-the amplitude of the meshing curve C; zcThe wave number of the meshing curve C.
5. A two-stage closed undercut cycloidal oscillating tooth drive unit as claimed in claim 1, wherein: the groove surface of the movable tooth groove meshed with the movable tooth on the left side is completely attached to the movable tooth on the left side; the groove surface of the movable tooth groove meshed with the right movable tooth is completely attached to the right movable tooth.
6. A two-stage closed undercut cycloidal oscillating tooth drive unit as claimed in claim 1, wherein: the left movable tooth and the right movable tooth are both rotary bodies, any section is made along the axial line of the rotary bodies, two mutually symmetrical generatrixes on the left and the right in a plane can be obtained, the generatrixes are continuous curves of the plane, and the distance from each point on the generatrixes to the axial line is D; in the set D, the maximum value Dmax in the subset corresponding to the section of bus that meshes with the undercut cycloid raceway needs to satisfy the relation that allows the raceway to be undercut:
Dmax＞ρmin
in the formula, ρmin-minimum value of cycloid radius of curvature p.
7. A two-stage closed undercut cycloidal oscillating tooth drive unit as claimed in claim 6, wherein: the formula for calculating the curvature radius of any point on the cycloid is as follows:
in the formula, x and y are coordinate values of the cycloid in a plane rectangular coordinate system.
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| CN202010008303.3A CN111173895B (en) | 2020-01-06 | 2020-01-06 | Two-stage closed type undercut cycloid oscillating tooth transmission unit |
| PCT/CN2021/070226 WO2021139636A1 (en) | 2020-01-06 | 2021-01-05 | Undercut cycloidal movable tooth transmission mechanism |
| CN202180013709.3A CN115066570A (en) | 2020-01-06 | 2021-01-05 | Undercut cycloid oscillating tooth transmission mechanism |
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