CN111237400B - Double-spherical surface cycloid roller nutation transmission device - Google Patents

Double-spherical surface cycloid roller nutation transmission device Download PDF

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CN111237400B
CN111237400B CN202010202697.6A CN202010202697A CN111237400B CN 111237400 B CN111237400 B CN 111237400B CN 202010202697 A CN202010202697 A CN 202010202697A CN 111237400 B CN111237400 B CN 111237400B
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crown gear
nutation
roller
bearing
input shaft
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CN111237400A (en
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李轩
孙立宁
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Suzhou University
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Suzhou University
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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • 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
    • 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
    • F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F16H2055/176—Ring gears with inner teeth

Abstract

The invention discloses a double-spherical cycloid roller nutation transmission device which comprises an input shaft, wherein a roller bearing, a first crown gear and a second crown gear are sleeved on the input shaft, the roller bearing comprises an outer ring and an inner ring, a retainer is connected between the outer ring and the inner ring, rollers are connected on the retainer, the inner ring is connected with the first crown gear, the outer ring is connected with the second crown gear, the input shaft is also connected with a nutation disc through a first bearing, the axis of the nutation disc is inclined with the axis of the input shaft, the nutation disc is positioned between the first crown gear and the second crown gear, driving rollers are arranged in the circumferential direction of the nutation disc, the first crown gear and the second crown gear are used for being simultaneously meshed with the driving rollers, the first crown gear is connected with one end of the input shaft through a second bearing, and the second crown gear is connected with the other end of the input shaft through a third bearing. The invention can effectively realize light weight and miniaturization of the device, and improve the service life, reliability and use flexibility of the transmission device.

Description

Double-spherical surface cycloid roller nutation transmission device
Technical Field
The invention relates to the technical field of gear transmission, in particular to a double-spherical-surface cycloid roller nutation transmission device.
Background
The existing nutation transmission device is mostly provided with structures such as an involute bevel gear meshing pair, a cone pendulum pin wheel meshing pair, a rolling cone movable tooth meshing pair or a double-arc spiral bevel gear meshing pair, the nutation transmission device with the structures is complex in structure, large in axial size and not beneficial to light weight and miniaturization, and inertia force generated by nutation motion of gears is not easy to offset when the gears are meshed on the same side, so that large vibration and impact phenomena can be generated, and the nutation transmission device is short in service life and poor in reliability; in addition, the existing nutation transmission device generally can only input and output at one side, has poor use flexibility and cannot meet the use requirement.
Disclosure of Invention
The invention provides a double-spherical cycloid roller nutation transmission device, which can effectively reduce the axial size of the transmission device and is beneficial to realizing the light weight and miniaturization of the device; inertia force generated by nutation motion can be effectively counteracted to avoid generating larger vibration and impact, and the service life and the reliability of the transmission device are favorably improved; the use flexibility and the universality of the transmission device are improved.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the utility model provides a two spherical cycloid roller nutation transmission, includes the input shaft, the cover is equipped with roller bearing, first crown gear and second crown gear on the input shaft, roller bearing includes outer lane and inner circle, be connected with the holder between outer lane and the inner circle, be connected with the roller on the holder, the inner circle with first crown gear is connected, the outer lane with the second crown gear is connected, the input shaft still is connected through first bearing and nutation dish, the axis of nutation dish with the axis of input shaft inclines mutually, the nutation dish is located between first crown gear and the second crown gear, the circumference of nutation dish is provided with driving roller, first crown gear with the second crown gear be used for with driving roller meshes simultaneously, first crown gear through the second bearing with the one end of input shaft is connected, the second crown gear through the third bearing with the other end of input shaft is connected.
In one embodiment, the tooth flanks of the first and second crown gears are each a continuous spherical cycloidal surface.
In one embodiment, the driving rollers are cylindrical rollers, drum rollers or tapered rollers.
In one embodiment, a plurality of the drive rollers are distributed around the nutating disk, and participate in the engagement.
In one embodiment, the roller bearing is a cross roller bearing.
In one embodiment, the input shaft is provided with a first shaft section, a second shaft section and a tilt offset shaft section, the tilt offset shaft section is located between the first shaft section and the second shaft section, the axis of the tilt offset shaft section is inclined with respect to the axis of the input shaft, the axes of the first shaft section and the second shaft section are both coincident with the axis of the input shaft, the tilt offset shaft section is connected with the nutating disc through a first bearing, the first crown gear is connected with the first shaft section through a second bearing, and the second crown gear is connected with the second shaft section through a third bearing.
In one embodiment, an inclined shaft sleeve is further sleeved on the input shaft, one side of the first bearing abuts against the inclined shaft sleeve, the other side of the first bearing abuts against a limiting flange, and the limiting flange is connected with the inclined offset shaft section.
In one embodiment, an oil seal is further disposed between the outer ring and the inner ring of the roller bearing.
In one embodiment, the inner ring and the first crown wheel are connected by a first screw, and the outer ring and the second crown wheel are connected by a second screw.
In one embodiment, the number of teeth of said first crown gear is defined as n 1 The number of teeth of the second crown gear is n 3 The transmission ratio of the double-spherical cycloid roller nutation transmission device is i rl When said second crown wheel is used as the output, i rl ＝n 3 /(n 3 -n 1 ) (ii) a When the first crown wheel is used as the output end, i rl ＝n 1 /(n 3 -n 1 )。
The invention has the following beneficial effects: according to the double-spherical cycloid roller nutation transmission device, the first crown gear and the second crown gear are meshed with the driving rollers on the nutation disc to form a double-spherical cycloid roller conjugate meshing pair, so that the axial size of the transmission device is greatly reduced, and the light weight and miniaturization of the device are realized; inertia force generated by nutation motion can be effectively counteracted, larger vibration and impact are avoided, and the service life and reliability of the nutation transmission device are effectively improved; the dual-mode intelligent card can realize two use modes of 'left end input, right end output' and 'right end input and left end output', and is flexible to use and high in universality.
Drawings
FIG. 1 is a schematic structural view of a dual spherical cycloid roller nutating drive of the present invention;
FIG. 2 is a three-dimensional cross-sectional view of the nutating drive shown in FIG. 1;
FIG. 3 is an exploded schematic view of the nutating drive shown in FIG. 1;
FIG. 4 is an exploded schematic view of another angle of the nutating drive shown in FIG. 1;
FIG. 5 is a schematic structural view of the input shaft of FIG. 1;
FIG. 6 is a right side view of the input shaft shown in FIG. 5;
figure 7 is a schematic view of the first crown wheel of figure 1;
FIG. 8 is a schematic illustration of the second crown wheel of FIG. 1;
FIG. 9 is a schematic illustration of a dual spherical cycloid roller mesh of the present invention;
FIG. 10 is a schematic illustration of the meshing of the nutating disk and the first crown gear of the dual spherical gerotor roller meshing pair illustrated in FIG. 9;
FIG. 11 is a schematic illustration of the meshing of the nutating disk and the second crown gear of the double spherical gerotor roller meshing pair illustrated in FIG. 9;
in the figure: 1. the bearing comprises a first crown gear, a second crown gear, a roller bearing 31, an inner ring, a roller bearing 32, an outer ring, a roller bearing 33, a nutation disc 4, a nutation disc 41, a driving roller 5, an input shaft 51, a first shaft section 52, a second shaft section 53, an inclined offset shaft section 54, a limit flange 6, an inclined shaft sleeve 7, an oil seal 8, a first screw 9, a second screw 10, a first bearing 11, a second bearing 12 and a third bearing.
Detailed Description
The present invention is further described below in conjunction with the drawings and the embodiments so that those skilled in the art can better understand the present invention and can carry out the present invention, but the embodiments are not to be construed as limiting the present invention.
As shown in fig. 1 to 4, the present embodiment discloses a double spherical cycloid roller nutation transmission device, which includes an input shaft 5, a roller bearing 3, a first crown gear 1 and a second crown gear 2 are sleeved on the input shaft 5, the roller bearing 3 includes an outer ring 32 and an inner ring 31, a cage is connected between the outer ring 32 and the inner ring 31, a roller 33 is connected on the cage, the inner ring 31 is connected with the first crown gear 1, the outer ring 32 is connected with the second crown gear 2, the input shaft 5 is further connected with the nutation disk 4 through a first bearing 10, the axis of the nutation disk 4 and the axis of the input shaft 5 are inclined to realize nutation of the nutation disk 4, the inclination angle of the axis of the nutation disk 4 and the axis of the input shaft 5 is a nutation angle, the nutation disk 4 is located between the first crown gear 1 and the second crown gear 2, a driving roller 41 is arranged in the circumferential direction of the nutation disk 4, as shown in fig. 9 to 11, the first crown gear 1 and the second crown gear 2 are used for meshing with the driving roller 41 to form double spherical cycloid gearing, when the cycloid roller is meshed with a conjugate crown gear, the input shaft 5, the other side of the input shaft 5 is connected with the second crown gear 12, and the input shaft 5 through the conjugate crown gear 12, and the conjugate bearing, and the input shaft 11.
The first crown gear 1 and the second crown gear 2 are meshed with the driving roller 41 to realize transmission, namely, the transmission is realized through rolling meshed contact, so that the transmission loss is reduced, and the transmission efficiency of the transmission device is greatly improved; in the above-mentioned structure, form two side meshing structure between 41 and first crown gear 1, the second crown gear 2 of drive roller on the nutation dish 4, the inertial force that nutation motion produced can effectively be offset to this structure to the vibration and the impact that nutation motion produced that have significantly reduced have improved motion stationarity, life and reliability, have also reduced transmission's axial dimensions greatly.
When the drive roller 41 is mounted on the nutating disk 4, the following method is adopted: a pin shaft is arranged in the circumferential direction of the nutation disk 4, and the driving roller 41 is rotatably sleeved on the pin shaft.
In one embodiment, as shown in fig. 1-2, the roller bearing 3 is a cross roller bearing, the adjacent rollers of the cross roller bearing are arranged in a cross manner, the rolling axes of the adjacent rollers are perpendicular to each other, by using the cross roller bearing, the supporting structure of the transmission device is greatly simplified, and the transmission device can bear larger external axial force and radial force, and the size of the inner ring and the outer ring is smaller, which is beneficial to the miniaturization of the device.
It will be appreciated that other bearings that can simultaneously withstand both axial and radial forces may be used for the roller bearing 3.
In one embodiment, as shown in fig. 3, 4, 7 and 8, the tooth surfaces of the first crown gear 1 and the second crown gear 2 are both continuous spherical cycloid curved surfaces, that is, the tooth surfaces of the first crown gear 1 and the second crown gear 2 are both continuous tooth surfaces, so that the tooth surface wear can be effectively reduced, and a lubricating oil film is easily formed.
Furthermore, the driving roller 41 is a cylindrical roller, so that the processing and the forming are convenient, and the movement is stable and reliable.
At the moment, the double-spherical cycloid roller conjugate meshing pair is formed by enveloping cylindrical roller shape-producing curved surfaces, and the cylindrical roller shape-producing curved surface equation is as follows:
Figure BDA0002419923290000051
the first crown gear flank equation and the mesh equation are:
Figure BDA0002419923290000052
the second crown gear flank equation and the mesh equation are:
Figure BDA0002419923290000053
wherein x is r 、y r 、z r X coordinates in x, y, z directions, respectively, of the tooth surface of the first crown gear 1 l 、 y l 、z l Coordinates in x, y, z directions of the tooth surface of the second crown gear 2 are respectively expressed, u is the tooth width, epsilon is the nutation angle, delta is the pitch cone angle, rho is the radius of the generating circle, theta is the variable of the generating fillet,
Figure BDA0002419923290000054
for gear angle n indicates the number of gear teeth, the indices 1, 2, 3 in turn denote the first crown gear 1, the nutating disk 4, the secondThe crown wheels 2 are, for example,
Figure BDA0002419923290000055
representing the gear angles, n, of the first crown wheel 1, the nutating disk 4, respectively the second crown wheel 2 1 、n 2 、n 3 Representing the number of teeth of the first crown wheel 1, the nutating disk 4 and the second crown wheel 2, respectively, and n 1 ＝n 2 ±1，
Figure BDA0002419923290000056
Understandably, the number of nutating-disk teeth n 2 I.e., the number of drive rollers 41 on the nutating disk 4.
In one of the embodiments, the first crown gear 1 has n teeth 1 The number of teeth of the second crown gear 2 is n 3 The transmission ratio of the double-spherical cycloid roller nutation transmission device is i rl When the second crown wheel 2 is taken as the output, i rl ＝n 3 /(n 3 -n 1 ) (ii) a When the first crown wheel 1 is taken as the output, i rl ＝n 1 /(n 3 -n 1 ) The rotation direction of the output end can pass through a transmission ratio i rl The positive sign indicates that the rotation direction of the output end is opposite to that of the input end, and the negative sign indicates that the rotation direction of the output end is the same as that of the input end.
In one embodiment, the drive roller 41 may be a drum roller or a tapered roller.
In one embodiment, a plurality of driving rollers 41 are uniformly distributed in the circumferential direction of the nutating disc 4, and when the first crown gear 1 and the second crown gear 2 are meshed with the nutating disc 4 at the same time to carry out meshing transmission, the plurality of driving rollers 41 of the nutating disc 4 are meshed, so that rolling multi-tooth linear contact is realized, tooth surface abrasion can be greatly reduced, a lubricating oil film is easy to form, and the transmission efficiency of the device is improved.
In one embodiment, as shown in fig. 5 to 6, the input shaft 5 is provided with a first shaft section 51, a second shaft section 52 and a tilt offset shaft section 53, the tilt offset shaft section 53 is located between the first shaft section 51 and the second shaft section 52, the axis of the tilt offset shaft section 53 is tilted (the tilt angle is the nutation angle) with respect to the axis of the input shaft 5 so as to stably and reliably realize nutation of the nutation disk 4, the axes of the first shaft section 51 and the second shaft section 52 are both coincident with the axis of the input shaft 5, the tilt offset shaft section 53 is connected to the nutation disk 4 through the first bearing 10, the first crown gear 1 is connected to the first shaft section 51 through the second bearing 11, and the second crown gear 2 is connected to the second shaft section 52 through the third bearing 12.
In one embodiment, the input shaft 5 is further sleeved with an inclined shaft sleeve 6, one side of the first bearing 10 abuts against the inclined shaft sleeve 6, the other side of the first bearing 10 abuts against a limiting flange 54, the limiting flange 54 is connected with the inclined offset shaft section 53, and the axial limiting effect on the first bearing 10 can be achieved through the limiting flange 54 and the inclined shaft sleeve 6.
Wherein, lean on one side of a first bearing 10 to be the slope setting on the skew shaft sleeve 6 to the first bearing 10 of laminating better, thereby play better limiting displacement to first bearing 10.
In one embodiment, an oil seal 7 is further provided between the outer ring 32 and the inner ring 31 of the roller bearing 3.
In one embodiment, the inner ring 31 is connected with the first crown wheel 1 through the first screw 8, and the outer ring 32 is connected with the second crown wheel 2 through the second screw 9, so that the connection is simple and reliable, and the installation and the disassembly are convenient.
The nutation transmission device can realize the mode of left end input and right end output by inputting from the side where the first crown gear 1 is located and outputting from the side where the second crown gear 2 is located, and can also realize the mode of right end input and left end output by inputting from the side where the second crown gear 2 is located and outputting from the side where the first crown gear 1 is located.
Under the mode of 'left end input and right end output', the use method of the transmission device and the meshing pair thereof comprises the following steps:
1) Connecting an output shaft of the motor with the input shaft 5 through a key groove, and fixedly connecting an inner ring 31 of the roller bearing 3 with a motor shell;
2) Starting a motor, and driving an input shaft 5 to rotate by a motor output shaft; the input shaft 5 can drive the first bearing 10 and the nutation disk 4 to make precession motion in the rotating process, and the driving roller 41 on the nutation disk 4 is in conjugate engagement with the tooth surface of the first crown gear 1, so that the rotating speed of the nutation disk 4 is reduced, and the first-stage speed reduction is realized;
the driving rollers 41 on the decelerated nutating disc 4 are in conjugate engagement with the tooth surfaces of the second crown gear 2, so that power is output through the second crown gear 2 and the outer ring 32 of the roller bearing 3 fixedly connected with the second crown gear, and secondary deceleration is realized.
Under the mode of 'right end input and left end output', the use method of the transmission device and the meshing pair thereof comprises the following steps:
1) Connecting an output shaft of a motor with an input shaft through a key groove, and fixedly connecting an outer ring 32 of the roller bearing 3 with a motor shell;
2) Starting a motor, and driving an input shaft 5 to rotate by a motor output shaft; the input shaft 5 can drive the first bearing 10 and the nutation disk 4 to make precession motion in the rotating process, and the driving roller 41 on the nutation disk 4 is in conjugate engagement with the tooth surface of the second crown gear 2, so that the rotating speed of the nutation disk 4 is reduced, and the first-stage speed reduction is realized;
the drive rollers 41 on the decelerated nutating disk 4 engage in a conjugate manner with the tooth flanks of the first crown wheel 1, so that a second reduction is achieved by the power take-off of the first crown wheel 1 and the inner ring 31 of the roller bearing 3 which is fixedly connected thereto.
According to the nutation transmission device, the driving rollers 41 on the nutation disc 4 are meshed with the first crown gear 1 and the second crown gear 2 on two sides of the nutation disc simultaneously to form a double-spherical cycloid roller conjugate meshing pair, so that the problem that a double-side meshing structure in the conventional nutation transmission device needs to adopt two pairs of gears and needs to occupy a longer axial dimension is solved, the axial dimension of the transmission device is greatly reduced, and the light weight and miniaturization of the device are realized; the meshing structure solves the problem that inertia force generated by nutation motion is not easy to offset when gears are meshed on one side, reduces tooth surface abrasion and return difference, is beneficial to axial clearance elimination, and greatly improves motion stability and bearing capacity; the two use modes of 'left end input, right end output' and 'right end input and left end output' can be realized, and the use is flexible and the universality is strong; the nutation disk with the rollers is simple in structure, easy to machine and manufacture and capable of saving machining cost.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitutions or changes made by the person skilled in the art on the basis of the present invention are all within the protection scope of the present invention. The protection scope of the invention is subject to the claims.

Claims (8)

1. A double-spherical cycloid roller nutation transmission device is characterized by comprising an input shaft, wherein a roller bearing, a first crown gear and a second crown gear are sleeved on the input shaft, the roller bearing comprises an outer ring and an inner ring, a retainer is connected between the outer ring and the inner ring, rollers are connected to the retainer, the inner ring is connected with the first crown gear, the outer ring is connected with the second crown gear, the input shaft is further connected with a nutation disc through a first bearing, the axis of the nutation disc is inclined to the axis of the input shaft, the nutation disc is located between the first crown gear and the second crown gear, driving rollers are arranged in the circumferential direction of the nutation disc, the first crown gear and the second crown gear are used for being meshed with the driving rollers at the same time, the first crown gear is connected with one end of the input shaft through a second bearing, and the second crown gear is connected with the other end of the input shaft through a third bearing;
the tooth surfaces of the first crown gear and the second crown gear are both continuous spherical cycloid curved surfaces;
a plurality of driving rollers are uniformly distributed in the circumferential direction of the nutation disc and participate in meshing;
in meshing transmission, one side of each drive roller on the nutating disc is in conjugate engagement with the tooth flanks of the first crown gear and the other side is in conjugate engagement with the tooth flanks of the second crown gear.
2. The dual spherical cycloidal roller nutating transmission of claim 1 wherein the drive rollers are cylindrical rollers, drum rollers or tapered rollers.
3. The dual spherical gerotor roller nutation drive of claim 1, wherein the roller bearings are cross roller bearings.
4. The dual spherical gerotor roller nutation drive of claim 1, wherein the input shaft has a first shaft section, a second shaft section, and an angularly offset shaft section disposed between the first and second shaft sections, the angularly offset shaft section having an axis that is inclined relative to the axis of the input shaft, the axes of the first and second shaft sections each being coincident with the axis of the input shaft, the angularly offset shaft section being connected to the nutating disc by a first bearing, the first crown gear being connected to the first shaft section by a second bearing, the second crown gear being connected to the second shaft section by a third bearing.
5. The dual spherical gerotor roller nutating transmission of claim 4, wherein the input shaft is further sleeved with a beveled sleeve, one side of the first bearing abuts against the beveled sleeve, the other side of the first bearing abuts against a limiting flange, and the limiting flange is connected to the beveled offset shaft section.
6. The dual spherical gerotor roller nutation drive of claim 1, wherein an oil seal is further disposed between the outer and inner races of the roller bearings.
7. The dual spherical gerotor roller nutation drive of claim 1, wherein the inner race and the first crown gear are connected by a first screw and the outer race and the second crown gear are connected by a second screw.
8. The dual spherical gerotor roller nutation of claim 1Transmission, characterized in that the number of teeth defining said first crown gear is n 1 The number of teeth of the second crown gear is n 3 The transmission ratio of the double-spherical cycloid roller nutation transmission device is i rl When said second crown wheel is used as the output, i rl ＝n 3 /(n 3 -n 1 ) (ii) a When the first crown wheel is used as the output end, i rl ＝n 1 /(n 3 -n 1 )。
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PCT/CN2020/082643 WO2021184423A1 (en) 2020-03-20 2020-04-01 Bispherical cycloidal roller nutation drive device

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EP0027103A2 (en) * 1979-10-05 1981-04-15 SKF Nova AB Gear
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CN1687613A (en) * 2005-06-07 2005-10-26 大连交通大学 Transmission device of having nutation oscillating tooth
CN101776130A (en) * 2009-01-13 2010-07-14 株式会社捷太格特 Gear set and nutation gear set
CN107614931A (en) * 2015-05-25 2018-01-19 Thk株式会社 Deceleration or speeder

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WO2021184423A1 (en) 2021-09-23

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