CN111188876B - Centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer - Google Patents

Centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer Download PDF

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Publication number
CN111188876B
CN111188876B CN202010012686.1A CN202010012686A CN111188876B CN 111188876 B CN111188876 B CN 111188876B CN 202010012686 A CN202010012686 A CN 202010012686A CN 111188876 B CN111188876 B CN 111188876B
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undercut
oscillating tooth
raceway
shaft
cycloid
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CN111188876A (en
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闫济东
邢鹏达
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Henan Zhulong High Tech Co ltd
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Henan Zhulong High Tech Co ltd
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Priority claimed from PCT/CN2021/070226 external-priority patent/WO2021139636A1/en
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed 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
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/021Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/023Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/08General details of gearing of gearings with members having orbital motion
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed 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
    • F16H2001/323Toothed 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 comprising eccentric crankshafts driving or driven by a gearing
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H2057/02039Gearboxes for particular applications
    • F16H2057/02069Gearboxes for particular applications for industrial applications
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H2057/02086Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing

Abstract

The invention provides a centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer which comprises an input shaft, a tapered roller bearing, a first crossed roller bearing, a constant-speed output shaft and the like. On the basis of the traditional cycloid steel ball oscillating tooth transmission technology, the steel ball oscillating tooth with larger size is adopted to cause the cycloid raceway to generate undercut, and then an undercut cycloid steel ball oscillating tooth transmission unit is obtained; in order to ensure the accuracy and the continuity of transmission, steel ball movable teeth with proper sizes are selected, so that the obtained undercut cycloid movable tooth rolling path only has unilateral undercut, the other side does not have undercut, the rolling path on the non-undercut side ensures the accuracy and the continuity of transmission, and the rolling path on the undercut side ensures that more steel ball movable teeth simultaneously participate in meshing force transmission, thereby improving the bearing capacity and the impact resistance; two identical undercut cycloid oscillating tooth transmission units are distributed in a centrosymmetric mode and applied to the speed reducer, and the centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer with the dynamic balance characteristic is obtained.

Description

Centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer
Technical Field
The invention relates to the technical field of oscillating tooth transmission, in particular to a centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer.
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 centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer, which adopts a steel ball oscillating tooth with a larger size on the basis of the traditional cycloid steel ball oscillating tooth transmission technology to cause the cycloid raceway to be undercut, thus obtaining an undercut cycloid oscillating tooth raceway and further obtaining an undercut cycloid steel ball oscillating tooth transmission unit; in order to ensure the accuracy and the continuity of transmission, steel ball movable teeth with proper sizes are selected, so that the obtained undercut cycloid movable tooth rolling path only has unilateral undercut, the other side does not have undercut, the rolling path on the non-undercut side ensures the accuracy and the continuity of transmission, and the rolling path on the undercut side ensures that more steel ball movable teeth simultaneously participate in meshing force transmission, thereby improving the bearing capacity and the impact resistance; two identical undercut cycloid oscillating tooth transmission units are distributed in a centrosymmetric mode and applied to the speed reducer, and the centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer with the dynamic balance characteristic is obtained.
The technical scheme adopted by the invention is as follows: the utility model provides a centrosymmetric single-stage undercut cycloid oscillating tooth reduction gear, includes input shaft, tapered roller bearing, first cross roller bearing, constant speed output shaft, the drive wheel that floats, fixed drive wheel, steel ball oscillating tooth, second cross roller bearing, two first cross roller bearing outer lane respectively fixed mounting at fixed drive wheel both ends: the left end and the right end of the input shaft are respectively hinged on an inner ring of a tapered roller bearing, and an outer ring of the tapered roller bearing is fixedly arranged on an inner ring of a first crossed roller bearing; two inner rings of the second crossed roller bearing are respectively sleeved on two sides of the input shaft and are axially pressed on the input shaft through the inner rings of the tapered roller bearings; the inner ring of each second crossed roller bearing is hinged with a floating transmission wheel; a circle of rollers of the second crossed roller bearing which is distributed in a crossed manner is arranged between each floating transmission wheel and the inner ring of the second crossed roller bearing; the left side and the right side are respectively provided with a circle of Z which is symmetrical about the center of the middle plane and is uniformly distributedbThe steel ball movable teeth are respectively meshed with the floating driving wheel and the fixed driving wheel on two sides of the steel ball movable teeth to form two single-stage undercut cycloid movable tooth transmission units which are centrosymmetric about a middle plane; two ends of a plurality of uniformly distributed constant speed output shafts are respectively and fixedly arranged on the inner rings of the first crossed roller bearings at two sides, and each constant speed output shaft respectively penetrates through the two floating transmission wheels.
Furthermore, the outer ring of each first crossed roller bearing is inserted into the fixed driving wheel through four uniformly distributed second pins and is used for positioning with the fixed driving wheel; a plug fixedly arranged through a first pin is arranged on an outer ring of each first crossed roller bearing, and a set screw is arranged in each plug and used for tightly setting the first pin; a second sealing ring is fixedly arranged on the outer ring of each first crossed roller bearing; an inner ring of each first crossed roller bearing is hinged in an outer ring of each first crossed roller bearing, a row of rollers of the first crossed roller bearings which are distributed in a crossed mode are assembled between the inner ring and the outer ring, and a first cushion block is assembled between every two first crossed rollers; a circle of rollers of the tapered roller bearing which is uniformly distributed and installed in the retainer are assembled in the inner ring of each first crossed roller bearing, and the inner sides of the rollers of the tapered roller bearing are matched with the inner ring of the tapered roller bearing which is hinged in the inner ring of the first crossed roller bearing; a first sealing ring is fixedly arranged on the inner ring of each first crossed roller bearing; and a second cushion block is arranged between the rollers of every two second crossed roller bearings.
Furthermore, the input shaft comprises a first shaft section, a first eccentric shaft section, a first rolling way, a second eccentric shaft section, a third eccentric shaft section, a second rolling way, a fourth eccentric shaft section, a second shaft section, a first threaded hole and an internal spline, the first shaft section and the second shaft section are respectively matched with the inner ring of the tapered roller bearing, a circle of six uniformly distributed first threaded holes are respectively formed at the shaft end, and one internal spline is respectively arranged in the shaft; the first eccentric shaft section and the fourth eccentric shaft section are respectively matched with the inner ring of the second crossed roller bearing; the second eccentric shaft section and the third eccentric shaft section are respectively provided with a first raceway and a second raceway; the first roller path and the second roller path are used for matching with the second crossed roller; the whole input shaft is completely and centrally symmetrically arranged relative to the middle plane of the input shaft, and the dynamic balance effect can be achieved.
Furthermore, the first crossed roller bearing inner ring comprises a second threaded hole, a third roller path, a first transmission hole and a fourth roller path, and the eight uniformly distributed second threaded holes are used for externally connecting parts; the third roller path is used for matching with the first crossed roller; the eight uniformly distributed first transmission holes are used for being matched with the constant-speed output shaft; the fourth raceway is used for cooperation with the tapered rollers.
Further, the constant-speed output shaft comprises a third shaft section, a fourth shaft section, a fifth shaft section, a sixth shaft section and a seventh shaft section, and the third shaft section and the seventh shaft section are respectively used for being matched with the first transmission hole; the fourth shaft section and the sixth shaft section are used for being matched with the antifriction sleeve; the fifth shaft section is not contacted with any part; the constant speed output shaft is symmetrical left and right about the middle plane thereof; the left side and the right side of each constant-speed output shaft are respectively hinged with an antifriction sleeve, and the antifriction sleeves are in direct contact with the floating transmission wheels.
Furthermore, the floating transmission wheel comprises a second transmission hole, a fifth roller path and a first tangent cycloid oscillating tooth meshing pair, and the second transmission hole is used for being in contact fit with an antifriction sleeve assembled on the constant-speed output shaft; the fifth roller path is used for matching with the second crossed roller; the first tangent cycloid oscillating tooth meshing pair is used for meshing with the steel ball oscillating tooth, and when the first tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway, the undercut cycloid raceway is an undercut hypocycloid raceway or an undercut epicycloid raceway.
Furthermore, the undercut hypocycloid raceway is an envelope surface of an engagement surface of a circle swept by the ball center of the steel ball oscillating tooth around a raceway engagement curve, and the inner side of the raceway is undercut while the outer side of the raceway is not undercut; the undercut epicycloid raceway is an envelope surface of an engagement surface of a steel ball oscillating tooth spherical center sweeping a circle around a raceway engagement curve, and the outer side of the raceway is undercut to a certain degree while the inner side of the raceway is not undercut; when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than the active tooth number of the steel ball, and the parameter equation of the meshing curve in a plane rectangular coordinate system is as follows:
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
in the above formulas, the movable teeth of the R-steel ball are distributed with the radius of a circle; a-the eccentricity of the floating transmission wheel and the fixed transmission wheel, namely the distance between the axis of the floating transmission wheel and the axis of the fixed transmission wheel; zc-wave number of undercut cycloid raceways; when the first tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove, each groove surface of the first tangent cycloid oscillating tooth meshing pair is in seamless fit with the oscillating tooth of the steel ball.
Furthermore, the fixed transmission wheel comprises a third threaded hole, a pin hole, an indicating groove and a second tangent cycloid oscillating tooth meshing pair, and sixteen uniformly distributed third threaded holes are used for being matched with cylindrical head screws; the eight uniformly distributed pin holes are used for matching with the second column pin; the indicating groove is used for conveniently distinguishing the installation phase when being assembled.
Furthermore, when the floating driving wheel is provided with an undercut cycloid raceway, the fixed driving wheel is provided with a movable tooth groove; when the floating driving wheel is provided with a movable tooth groove, the fixed driving wheel is provided with an undercut cycloid raceway; the first tangent cycloid oscillating tooth meshing pair and the second tangent cycloid oscillating tooth meshing pair are respectively an undercut cycloid raceway or an oscillating tooth groove; when the first tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove, the second tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway; when the first tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway, the second tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove.
Further, the second cross roller bearing inner ring comprises a sixth raceway for cooperation with the second cross roller.
Furthermore, the groove surface of the movable tooth groove is completely attached to the movable tooth of the steel ball
Further, when a parameter equation of the meshing curve is determined, the curvature radius of any point on the meshing curve is determined; the calculation formula of the curvature radius rho of the meshing curve is as follows:
further, the radius r of the movable tooth of the steel ball needs to satisfy the relation that the raceway can be undercut:
r>ρmin
in the formula, ρmin-minimum value of the curvature radius p of the meshing curve.
Due to the adoption of the technical scheme, the invention has the following advantages: (1) under the same size, compared with the traditional cycloidal pin gear speed reducer, the cycloidal pin gear speed reducer has more movable teeth or larger movable teeth size, thereby having larger speed reduction ratio and larger bearing capacity; (2) the single-side local undercut does not influence the accuracy and continuity of the whole transmission, and compared with the traditional cycloid pin gear reducer, all steel ball movable teeth participate in meshing force transmission, so that the shock resistance is strong; (3) by adopting a centrosymmetric structure, all transmission parts are centrosymmetric about the middle plane of the speed reducer, so that complete dynamic balance can be achieved in the motion process; (4) the hollow design is adopted, and when the wire is used on a robot, the wire can be distributed from the hollow part in the robot, so that the waterproof performance of the robot can be improved, and the wiring difficulty of the robot can be reduced; (5) the structure is simple and compact, and the processing, the manufacturing and the assembly are convenient; (6) the steel ball movable teeth are adopted, so that the steel ball movable teeth can be purchased in batches, the service life of the whole machine is prolonged, and the steel ball movable teeth can be compared favorably with the service life of a deep groove ball bearing.
Drawings
Fig. 1, 2 and 3 are sectional views of the overall assembly structure of the present invention.
FIG. 4 is an exploded view of the present invention.
Fig. 5 is a schematic structural view of the input shaft component of the present invention.
Fig. 6 and 7 are schematic structural views of the inner ring part of the first crossed roller bearing of the invention.
Fig. 8 is a schematic view of the construction of the constant velocity output shaft part of the present invention.
Fig. 9 and 10 are schematic structural views of the floating transmission wheel component of the present invention.
FIG. 11 is a schematic view of the structure of the fixed transmission wheel component of the present invention.
FIG. 12 is a schematic view of a second cross roller bearing inner race part of the present invention.
Reference numerals: 1-an input shaft; 2-tapered roller bearing inner race; 3-a first sealing ring; 4-a tapered roller; 5-a first crossed roller bearing inner race; 6-constant speed output shaft; 7-a second sealing ring; 8-a first cross roller; 9-cylindrical head screw; 10-a first crossed roller bearing outer race; 11-an antifriction sleeve; 12-a floating transmission wheel; 13-fixing a transmission wheel; 14-steel ball oscillating tooth; 15-set screws; 16-a plug; 17-a first pin; 18-a second cross roller; 19-a second crossed roller bearing inner race; 20-a second cushion block; 21-a first spacer block; 22-second stud; 23-a cage; 101-a first shaft section; 102-a first eccentric shaft segment; 103-a first raceway; 104-a second eccentric shaft section; 105-a third eccentric shaft section; 106-second raceway; 107-a fourth eccentric shaft section; 108-a second shaft section; 109-a first threaded hole; 110-internal splines; 501-a second threaded hole; 502-third raceway; 503-first drive hole; 504-fourth raceway; 601-a third shaft section; 602-a fourth shaft segment; 603-a fifth shaft segment; 604-a sixth shaft segment; 605-a seventh shaft segment; 1201-a second drive bore; 1202-fifth raceway; 1203-a first tangent cycloid oscillating tooth meshing pair; 1301-a third threaded hole; 1302-pin holes; 1303-indicating a slot; 1304-a second tangent cycloid oscillating tooth meshing pair; 1901-sixth raceway.
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): fig. 1 to 12 show a preferred embodiment of the present invention, which is a centrally symmetric single-stage undercut cycloid oscillating tooth speed reducer, comprising an input shaft, a tapered roller bearing inner race, a first seal ring, a tapered roller, a first crossed roller bearing inner race, a constant speed output shaft, a second seal ring, a first crossed roller, a cylindrical head screw, a first crossed roller bearing outer race, an antifriction sleeve, a floating transmission wheel, a fixed transmission wheel, a steel ball oscillating tooth, a set screw, a plug, a first pin, a second crossed roller bearing inner race, a second pad, a first pad, a second pin, and a retainer, wherein two first crossed roller bearing outer races are respectively and fixedly mounted at two ends of the fixed transmission wheel through eight uniformly distributed cylindrical head screws; each first crossed roller bearing outer ring is inserted into the fixed driving wheel through four uniformly distributed second column pins and is used for positioning with the fixed driving wheel; each first crossed roller bearing outer ring is provided with a plug fixedly arranged through a first pin, and each plug is internally provided with a fastening screw for fastening the first cross roller bearing outer ringA pin; a second sealing ring is fixedly arranged on each first crossed roller bearing outer ring; a first crossed roller bearing inner ring is hinged in each first crossed roller bearing outer ring, a row of first crossed rollers which are distributed in a crossed mode is assembled between the first crossed roller bearing inner ring and the first crossed roller bearing outer ring, and a first cushion block is assembled between every two first crossed rollers; a circle of tapered rollers which are uniformly distributed and installed in the retainer are assembled in each first crossed roller bearing inner ring, and the inner sides of the tapered rollers are matched with the tapered roller bearing inner rings which are hinged in the first crossed roller bearing inner rings; a first sealing ring is fixedly arranged on the inner ring of each first crossed roller bearing; the left end and the right end of the input shaft are respectively hinged on an inner ring of a tapered roller bearing: two second crossed roller bearing inner rings are respectively sleeved on two sides of the input shaft and are axially pressed on the input shaft through the tapered roller bearing inner rings; each second crossed roller bearing inner ring is hinged with a floating transmission wheel; a circle of second crossed rollers which are distributed in a crossed manner is arranged between each floating transmission wheel and the inner ring of the second crossed roller bearing, and a second cushion block is arranged between every two second crossed rollers; the left side and the right side are respectively provided with a circle of Z which is symmetrical about the center of the middle plane and is uniformly distributedbThe steel ball movable teeth are respectively meshed with the floating driving wheel and the fixed driving wheel on two sides of the steel ball movable teeth to form two single-stage undercut cycloid movable tooth transmission units which are centrosymmetric about a middle plane; when the floating driving wheel is provided with an undercut cycloid raceway, the fixed driving wheel is provided with a movable tooth groove; when the floating driving wheel is provided with a movable tooth groove, the fixed driving wheel is provided with an undercut cycloid raceway; two ends of eight uniformly distributed constant speed output shafts are respectively and fixedly arranged on the inner rings of the first crossed roller bearings on the two sides, and each constant speed output shaft respectively penetrates through the two floating transmission wheels; the left side and the right side of each constant-speed output shaft are respectively hinged with an antifriction sleeve, and the antifriction sleeves are in direct contact with the floating transmission wheels.
The input shaft comprises a first shaft section, a first eccentric shaft section, a first rolling way, a second eccentric shaft section, a third eccentric shaft section, a second rolling way, a fourth eccentric shaft section, a second shaft section, a first threaded hole and an internal spline, wherein the first shaft section and the second shaft section are respectively matched with an inner ring of the tapered roller bearing, a circle of six uniformly distributed first threaded holes are respectively formed in each shaft end, and one internal spline is respectively arranged in each shaft; the first eccentric shaft section and the fourth eccentric shaft section are respectively matched with the inner ring of the second crossed roller bearing; the second eccentric shaft section and the third eccentric shaft section are respectively provided with a first raceway and a second raceway; the first roller path and the second roller path are used for matching with the second crossed roller; the whole input shaft is completely and centrally symmetrically arranged relative to the middle plane of the input shaft, and the dynamic balance effect can be achieved.
The first crossed roller bearing inner ring comprises a second threaded hole, a third roller path, a first transmission hole and a fourth roller path, and eight uniformly distributed second threaded holes are used for externally connecting parts; the third roller path is used for matching with the first crossed roller; the eight uniformly distributed first transmission holes are used for being matched with the constant-speed output shaft; the fourth raceway is used for cooperation with the tapered rollers.
The constant-speed output shaft comprises a third shaft section, a fourth shaft section, a fifth shaft section, a sixth shaft section and a seventh shaft section, and the third shaft section and the seventh shaft section are respectively used for being matched with the first transmission hole; the fourth shaft section and the sixth shaft section are used for being matched with the antifriction sleeve; the fifth shaft section is not contacted with any part; the constant velocity output shaft is bilaterally symmetric about its mid-plane.
The floating transmission wheel comprises a second transmission hole, a fifth roller path and a first tangent cycloid oscillating tooth meshing pair, and the second transmission hole is used for being in contact fit with an antifriction sleeve assembled on the constant-speed output shaft; the fifth roller path is used for matching with the second crossed roller; the first tangent cycloid oscillating tooth meshing pair is used for meshing with the steel ball oscillating tooth, and particularly, when the first tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway, the undercut cycloid raceway can be an undercut hypocycloid raceway or an undercut epicycloid raceway; the undercut hypocycloid raceway is an envelope surface of an engagement surface of a steel ball oscillating tooth spherical center sweeping a circle around a raceway engagement curve, and the inner side of the raceway is undercut to a certain degree while the outer side of the raceway is not undercut; the undercut epicycloid raceway is an envelope surface of an engagement surface of a steel ball oscillating tooth spherical center sweeping a circle around a raceway engagement curve, and the outer side of the raceway is undercut to a certain degree while the inner side of the raceway is not undercut; when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than the active tooth number of the steel ball, and the parameter equation of the meshing curve in a plane rectangular coordinate system is as follows:
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
in the above formulas, the movable teeth of the R-steel ball are distributed with the radius of a circle; a-the eccentricity of the floating transmission wheel and the fixed transmission wheel, namely the distance between the axis of the floating transmission wheel and the axis of the fixed transmission wheel; zcWave number of undercut cycloid raceways. When the first tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove, each groove surface of the first tangent cycloid oscillating tooth meshing pair is in seamless fit with the oscillating tooth of the steel ball.
Sixteen uniformly distributed third threaded holes are used for being matched with the cylindrical head screws; the eight uniformly distributed pin holes are used for matching with the second column pin; the indication groove is used for conveniently distinguishing the installation phase when in assembly; the second tangent cycloid oscillating tooth meshing pair can be an undercut cycloid raceway or an oscillating tooth groove, specifically, which is influenced by the first tangent cycloid oscillating tooth meshing pair, and when the first tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove, the second tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway; when the first tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway, the second tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove.
The second crossed roller bearing inner ring comprises a sixth roller path and is characterized in that: the sixth raceway is for engagement with the second cross roller.
In the embodiment, the first tangent cycloid oscillating tooth meshing pair adopts an undercut hypocycloid raceway, the second tangent cycloid oscillating tooth meshing pair adopts an oscillating tooth groove, and the transmission parameters of the whole machine are shown in table 1.
TABLE 1 structural theory parameter table
If an undercut epicycloidal raceway is used in the preferred embodiment described above, its number of wave is 60.
The working principle of the invention is as follows: the invention adopts a centrosymmetric structure, two same floating driving wheels are distributed in a centrosymmetric way with a phase difference of 180 degrees, a first tangent cycloid oscillating tooth meshing pair on the floating driving wheels can adopt an undercut cycloid raceway or an oscillating tooth groove, and the undercut cycloid raceway can adopt an undercut hypocycloid raceway or an undercut epicycloid raceway, so that the centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer has four configurations. Furthermore, the main bodies at the two ends of the speed reducer are two crossed roller bearings, and the characteristics of the crossed roller bearings show that the axial relative position between the inner rings of the two first crossed roller bearings at the two sides is always unchanged, so that the structural design mode that compared with a transmission cycloidal pin gear speed reducer or a typical RV speed reducer, output end parts at the two sides are clamped by a plurality of uniformly distributed sleeves and screws is omitted, on one hand, the processing and manufacturing difficulty and the assembly difficulty are reduced, on the other hand, a large amount of space is omitted, the space originally reserved for the clamping structure is reserved for the constant-speed output shaft to use, more uniformly distributed constant-speed output shafts can be arranged, and the better force transmission effect is achieved. Secondly, the shafting structure of the input shaft is supported by the inner rings of the first crossed roller bearings on the two sides, and the shafting parts are highly integrated in function, so that the whole structure is simpler, and the space utilization is more sufficient.
The speed reducer has a plurality of installation and use modes, in general, one of an input shaft, a first crossed roller bearing inner ring and a first crossed roller outer ring is selected as a fixed part, one of the rest two parts is selected as a power input part, the rest part is a power output part, in the installation and use modes obtained by the arrangement and combination of the methods, except that the input shaft is used as an output part, the speed is increased, and the other conditions are reduced, wherein the transmission principle description is carried out on one speed reduction condition, namely the condition that the first crossed roller bearing outer ring is fixed, the input shaft is input, and the first crossed roller bearing inner ring is output: the input shaft is rotated, two floating transmission wheels which are hinged on the second eccentric shaft section and the third eccentric shaft section and are distributed in a phase difference of 180 degrees revolve around the axis of the input shaft, meanwhile, a first tangent cycloid oscillating tooth meshing pair on the floating transmission wheels is meshed with a circle of steel ball oscillating teeth which are uniformly distributed on the first tangent cycloid oscillating tooth meshing pair, and each steel ball oscillating tooth is also meshed with a second tangent cycloid oscillating tooth meshing pair which is fixed on the fixed transmission wheel, so that the steel ball oscillating teeth can force the floating transmission wheels to rotate around the axis of the steel ball oscillating teeth; when the input shaft rotates for one circle, and when the first tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway, the self-rotation angle of the floating transmission wheel is a central angle between the spherical centers of two adjacent steel ball oscillating teeth relative to the axis of the input shaft; in another case, when the first tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove, the self-rotation angle of the floating driving wheel is a central angle of a wave on an undercut cycloid raceway relative to the axis of the input shaft; the autorotation motion of the floating transmission wheel is not coaxial with the input shaft, so the autorotation motion of the floating transmission wheel needs to be converted to two first crossed roller bearing inner rings of the same axis of the input shaft through a constant speed output mechanism, the specific method is that n uniformly distributed first transmission holes are formed on the first crossed roller bearing inner rings, in the preferred embodiment of the invention, n is 8, similarly, n uniformly distributed second transmission holes are formed on the floating transmission wheel, n constant speed output shafts are formed, two ends of each constant speed output shaft are respectively inserted into the first transmission holes on the first crossed roller bearing inner rings at two ends, each constant speed output shaft passes through the second transmission hole of the floating transmission wheel, two antifriction sleeves arranged on each constant speed output shaft are respectively meshed with the second transmission holes on the two floating transmission wheels in a tangent mode, the outside diameter of the antifriction sleeves in the second transmission holes is two times larger than the eccentricity, namely 2A, at the moment, because the phase difference of the floating transmission wheels on both sides is 180 degrees, the antifriction sleeve on the left side is tangent with the lower side of the second transmission hole on the floating transmission wheel on the left side, the antifriction sleeve on the right side is tangent with the upper side of the second transmission hole on the floating transmission wheel on the right side, when the floating transmission wheels move, the second transmission hole can force the antifriction sleeve to revolve around the axis of the second transmission hole, because the distance between the two axes is just the eccentricity A, the eccentric motion of the floating transmission wheels can be transmitted to the first crossed roller bearing inner rings on both sides through the antifriction sleeve and then the constant-speed output shaft, and finally the motion is output by the first crossed roller bearing inner rings.
The input shaft adopts a hollow design, first threaded holes are uniformly distributed in the end faces of two sides of the input shaft, an inner hole is also provided with an internal spline, and the mode of externally connecting a power element is flexible and various.
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 "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include 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 (11)

1. The utility model provides a centrosymmetric single-stage undercut cycloid oscillating tooth reduction gear, includes input shaft, tapered roller bearing, first cross roller bearing, constant speed output shaft, the drive wheel that floats, fixed drive wheel, steel ball oscillating tooth, the cross roller bearing of second, its characterized in that: the two first crossed roller bearing outer rings are respectively and fixedly arranged at two ends of the fixed driving wheel; the left end and the right end of the input shaft are respectively hinged on the inner ring of a tapered roller bearing, and the outer ring of the tapered roller bearing is fixedly arrangedAn inner race of a first crossed roller bearing; two inner rings of the second crossed roller bearing are respectively sleeved on two sides of the input shaft and are axially pressed on the input shaft through the inner rings of the tapered roller bearings; the inner ring of each second crossed roller bearing is hinged with a floating transmission wheel; a circle of rollers of the second crossed roller bearing which is distributed in a crossed manner is arranged between each floating transmission wheel and the inner ring of the second crossed roller bearing; the left side and the right side are respectively provided with a circle of Z which is symmetrical about the center of the middle plane and is uniformly distributedbThe steel ball movable teeth are respectively meshed with the floating driving wheel and the fixed driving wheel on two sides of the steel ball movable teeth to form two single-stage undercut cycloid movable tooth transmission units which are centrosymmetric about a middle plane; the part of the driving wheel in the single-stage undercut cycloid oscillating tooth transmission unit, which is meshed with the steel ball oscillating tooth, is a first undercut cycloid oscillating tooth meshing pair; the part of the fixed wheel in the single-stage undercut cycloid oscillating tooth transmission unit, which is meshed with the steel ball oscillating tooth, is a second tangent cycloid oscillating tooth meshing pair; the first tangent cycloid oscillating tooth meshing pair and the second tangent cycloid oscillating tooth meshing pair are respectively an undercut cycloid raceway or an oscillating tooth groove; when the first tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove, the second tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway; when the first tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway, the second tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove; the undercut cycloid raceway is an undercut hypocycloid raceway or an undercut epicycloid raceway, the meshing curve of the undercut hypocycloid raceway is a hypocycloid, the meshing curve of the undercut epicycloid raceway is an epicycloid, and the radius of the movable teeth of the steel ball is greater than the minimum curvature radius of the meshing curve of the undercut cycloid raceway; two ends of a plurality of uniformly distributed constant speed output shafts are respectively and fixedly arranged on the inner rings of the first crossed roller bearings at two sides, and each constant speed output shaft respectively penetrates through the two floating transmission wheels.
2. A centrosymmetric single-stage undercut cycloidal oscillating tooth reducer as claimed in claim 1, wherein: the outer ring of each first crossed roller bearing is respectively inserted into the fixed driving wheel through four uniformly distributed second column pins and used for positioning with the fixed driving wheel; a plug fixedly arranged through a first pin is arranged on an outer ring of each first crossed roller bearing, and a set screw is arranged in each plug and used for tightly setting the first pin; a second sealing ring is fixedly arranged on the outer ring of each first crossed roller bearing; an inner ring of each first crossed roller bearing is hinged in an outer ring of each first crossed roller bearing, a row of rollers of the first crossed roller bearings which are distributed in a crossed mode are assembled between the inner ring and the outer ring, and a first cushion block is assembled between every two first crossed rollers; a circle of rollers of the tapered roller bearing which is uniformly distributed and installed in the retainer are assembled in the inner ring of each first crossed roller bearing, and the inner sides of the rollers of the tapered roller bearing are matched with the inner ring of the tapered roller bearing which is hinged in the inner ring of the first crossed roller bearing; a first sealing ring is fixedly arranged on the inner ring of each first crossed roller bearing; and a second cushion block is arranged between the rollers of every two second crossed roller bearings.
3. A centrosymmetric single-stage undercut cycloidal oscillating tooth reducer as claimed in claim 1, wherein: the input shaft comprises a first shaft section, a first eccentric shaft section, a first roller path, a second eccentric shaft section, a third eccentric shaft section, a second roller path, a fourth eccentric shaft section, a second shaft section, a first threaded hole and an internal spline, the first shaft section and the second shaft section are respectively matched with an inner ring of the tapered roller bearing, a circle of six uniformly distributed first threaded holes are formed in each shaft end, and one internal spline is arranged in each shaft; the first eccentric shaft section and the fourth eccentric shaft section are respectively matched with the inner ring of the second crossed roller bearing; the second eccentric shaft section and the third eccentric shaft section are respectively provided with a first raceway and a second raceway; the first roller path and the second roller path are used for matching with the second crossed roller; the whole input shaft is completely and centrally symmetrically arranged relative to the middle plane of the input shaft, and the dynamic balance effect can be achieved.
4. A centrosymmetric single-stage undercut cycloidal oscillating tooth reducer as claimed in claim 1, wherein: the inner ring of the first crossed roller bearing comprises eight second threaded holes, a third roller path, a first transmission hole and a fourth roller path which are uniformly distributed, and the second threaded holes are used for externally connecting parts; the third roller path is used for matching with the first crossed roller; the eight uniformly distributed first transmission holes are used for being matched with the constant-speed output shaft; the fourth raceway is used for cooperation with the tapered rollers.
5. A centrosymmetric single-stage undercut cycloidal oscillating tooth reducer as claimed in claim 1, wherein: the constant-speed output shaft comprises a third shaft section, a fourth shaft section, a fifth shaft section, a sixth shaft section and a seventh shaft section, and the third shaft section and the seventh shaft section are respectively used for being matched with the first transmission hole; the fourth shaft section and the sixth shaft section are used for being matched with the antifriction sleeve; the fifth shaft section is not contacted with any part; the constant speed output shaft is symmetrical left and right about the middle plane thereof; the left side and the right side of each constant-speed output shaft are respectively hinged with an antifriction sleeve, and the antifriction sleeves are in direct contact with the floating transmission wheels.
6. A centrosymmetric single-stage undercut cycloidal oscillating tooth reducer as claimed in claim 1, wherein: the floating transmission wheel comprises a second transmission hole, a fifth roller path and a first tangent cycloid oscillating tooth meshing pair, and the second transmission hole is used for being in contact fit with an antifriction sleeve assembled on the constant-speed output shaft; the fifth roller path is used for matching with the second crossed roller; the first tangent cycloid oscillating tooth meshing pair is used for meshing with the steel ball oscillating teeth.
7. A centrosymmetric single-stage undercut cycloidal oscillating tooth reducer as claimed in claim 1, wherein: the undercut hypocycloid raceway is an envelope surface of an engagement surface of a circle of the ball center of the steel ball oscillating tooth sweeping around a raceway engagement curve, and the inner side of the raceway is undercut while the outer side of the raceway is not undercut; the undercut epicycloid raceway is an envelope surface of an engagement surface of a steel ball oscillating tooth spherical center sweeping a circle around a raceway engagement curve, and the outer side of the raceway is undercut to a certain degree while the inner side of the raceway is not undercut; when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than the active tooth number of the steel ball, and the parameter equation of the meshing curve in a plane rectangular coordinate system is as follows:
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
in the above formulas, the movable teeth of the R-steel ball are distributed with the radius of a circle; a-the eccentricity of the floating transmission wheel and the fixed transmission wheel, namely the distance between the axis of the floating transmission wheel and the axis of the fixed transmission wheel; zc-wave number of undercut cycloid raceways; when the first tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove, each groove surface of the first tangent cycloid oscillating tooth meshing pair is in seamless fit with the oscillating tooth of the steel ball.
8. A centrosymmetric single-stage undercut cycloidal oscillating tooth reducer as claimed in claim 1, wherein: the fixed transmission wheel comprises a third threaded hole, a pin hole, an indicating groove and a second tangent cycloid oscillating tooth meshing pair, and sixteen uniformly distributed third threaded holes are used for being matched with the cylindrical head screw; the eight uniformly distributed pin holes are used for matching with the second column pin; the indicating groove is used for conveniently distinguishing the installation phase when being assembled.
9. A centrosymmetric single-stage undercut cycloidal oscillating tooth reducer as claimed in claim 1, wherein: the second crossed roller bearing inner ring comprises a sixth ball track, and the sixth ball track is used for being matched with the second crossed roller.
10. A centrosymmetric single-stage undercut cycloidal oscillating tooth reducer as claimed in claim 9, wherein: the groove surface of the movable tooth groove is completely attached to the movable teeth of the steel ball.
11. A centrosymmetric single-stage undercut cycloidal oscillating tooth reducer as claimed in claim 7, wherein: when the parameter equation of the meshing curve is determined, the curvature radius of any point on the meshing curve is determined; the calculation formula of the curvature radius rho of the meshing curve is as follows:
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WO2021139636A1 (en) * 2020-01-06 2021-07-15 河南烛龙高科技术有限公司 Undercut cycloidal movable tooth transmission mechanism
CN111911606B (en) * 2020-08-07 2022-03-11 燕山大学 Multi-stage super-large transmission ratio sinusoidal plane oscillating tooth speed reducer without oscillating tooth rack
CN111911604B (en) * 2020-08-07 2022-03-11 燕山大学 Planar sinusoidal oscillating tooth speed reducing unit without oscillating tooth rack
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