CN111350794B - Single-stage combined cycloid tooth surface movable tooth transmission unit - Google Patents
Single-stage combined cycloid tooth surface movable tooth transmission unit Download PDFInfo
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- CN111350794B CN111350794B CN202010178795.0A CN202010178795A CN111350794B CN 111350794 B CN111350794 B CN 111350794B CN 202010178795 A CN202010178795 A CN 202010178795A CN 111350794 B CN111350794 B CN 111350794B
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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
- 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
- F16H2001/327—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 with orbital gear sets comprising an internally toothed ring 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
- F16H2057/0087—Computer aided design [CAD] specially adapted for gearing features ; Analysis of gear systems
Abstract
The invention provides a single-stage combined cycloid tooth surface oscillating tooth transmission unit which comprises a combined tooth surface raceway, an oscillating tooth, a combined tooth surface transmission wheel, an oscillating tooth groove and the like. On the basis of the traditional transmission configuration, a large-size movable tooth is selected to meet the undercut condition, on the basis, the section of the movable tooth is discretized into four different sections, each section is respectively swept along a hypocycloid or an epicycloid to obtain a corresponding meshing tooth surface, or is spun along a side line to obtain a corresponding tooth surface, then specific three tooth surfaces are spliced into a whole to form a combined tooth surface raceway, and then the corresponding movable tooth and the movable gear with the movable tooth groove are matched to form a single-stage combined cycloid tooth surface movable tooth transmission unit.
Description
Technical Field
The invention relates to the technical field of movable tooth transmission, in particular to a single-stage combined cycloid tooth surface movable tooth transmission unit.
Background
With the development of the movable tooth transmission technology, various movable tooth transmission configurations are diversified, and the movable tooth transmission configurations are representatively exemplified by push rod movable tooth transmission, roller (steel ball) movable tooth transmission, swing movable tooth transmission, sleeve movable tooth transmission, plane steel ball transmission and the like; in any form of movable tooth transmission technology, the core and the essence of the movable tooth transmission technology are the movement of the movable tooth along the meshing curve thereof, and the space track curved surface obtained by the movement of the movable tooth along the meshing curve is the actual movable tooth meshing surface, and in the traditional movable tooth design, the actual movable tooth meshing surface is continuous and undercut is avoided. For example, CN201721031991.5 proposes "a cycloidal steel ball speed reducer and its robot joint", and its specification clearly proposes that the meshing tooth surface needs to avoid undercut and its corresponding condition.
A research team of the Anzijun professor of Yanshan university gives a paper named as 'cycloidal steel ball planetary transmission root-cut research based on a space meshing theory', introduces the structural composition and the transmission principle of cycloidal steel ball planetary transmission, provides a mathematical model for enveloping inner and outer cycloidal closed grooves by using a conical milling cutter, and establishes an envelope surface equation of the tooth surface of a cycloidal groove. The paper proposes that, with the change of basic design parameters, the tooth surfaces of the hypocycloid closed grooves and the epicycloid closed grooves are undercut in a certain sequence, and the tooth surface on the inner side of the hypocycloid closed groove is always undercut first, so that an inequality equation which is not undercut and needs to be satisfied is obtained, and verification is performed through specific examples and computer graphic simulation. The research provides theoretical basis for the design and manufacture of the cycloid steel ball planetary transmission, and clearly provides that the meshing tooth surface needs to meet the condition of no undercut and avoid undercut.
One common knowledge that designers in the field of oscillating tooth transmission should know is that under reasonable conditions, the larger the reduction ratio is, the better the two oscillating tooth reducers with the same size are; the more the number of the movable teeth is, the better the speed reduction ratio and the size of the two reducers are the same; the reduction ratio, the size and the oscillating tooth quantity are the same, and the bigger the oscillating tooth head is, the better the oscillating tooth head is. However, under the condition of following the traditional design method and rules, the designed speed reducer has unsatisfactory power density, namely large volume, relatively small transmission ratio and insufficient space utilization. All existing research and optimization are carried out on the basis of the condition that a meshing pair is not undercut, general optimization is carried out on parameter optimization and tooth profile modification, great limitation is achieved, and remarkable performance improvement cannot be brought to the speed reducer.
Aiming at the problems, the conventional thinking is broken through, the method is carried out against the conventional thinking, the method enters a new design field, namely, in the design process of the speed reducer, the undercut condition is fully excavated and utilized, the movable tooth speed reducer with obviously excellent comprehensive performance compared with the prior art is designed, and the method becomes a new direction and a problem to be solved urgently in the field of the movable tooth speed reducer.
The invention is based on the thought, has utilized the undercut condition rationally, has proposed a special combination flank of tooth to move the tooth and engaged and connected and its generating method, according to this method, apply to the cycloidal moving tooth drive field, produce the discrete flank of tooth first, and then put together and make up into a whole, thus form the combination flank of tooth and move the tooth drive raceway, then engage with corresponding moving tooth, namely form the combination flank of tooth and move the tooth drive and engage; the meshing pair is applied to a single-stage transmission unit, namely, the meshing pair is matched with another oscillating tooth transmission wheel which is meshed with an oscillating tooth through the oscillating tooth groove and is provided with the oscillating tooth groove, so that a single-stage combined cycloid tooth surface oscillating tooth transmission unit is obtained, and an oscillating tooth speed reducer with the transmission unit is obtained through the single-stage combined cycloid tooth surface oscillating tooth transmission unit.
Disclosure of Invention
Aiming at the problems, the invention provides a single-stage combined cycloid tooth surface movable tooth transmission unit, which is characterized in that on the basis of the traditional transmission configuration, a large-size movable tooth is selected to meet the undercut condition, on the basis, the movable tooth section is discretized and processed into four different sections, each section is respectively swept along an hypocycloid or an epicycloid to obtain a corresponding meshing tooth surface, or is self-rotated along a side line to obtain a corresponding tooth surface, then three specific tooth surfaces are spliced into a whole, namely a combined tooth surface raceway is formed, and then the corresponding movable tooth and a movable gear with a movable tooth groove are matched, so that the single-stage combined cycloid tooth surface movable tooth transmission unit is formed.
The technical scheme adopted by the invention is as follows: a single-stage combined cycloid tooth surface movable tooth transmission unit comprises a combined tooth surface raceway, movable teeth, a combined tooth surface transmission wheel, a movable tooth transmission wheel and a movable tooth groove, wherein the combined tooth surface raceway formed by combining various tooth surfaces is arranged on the combined tooth surface transmission wheel, and a meshing curve corresponding to the combined tooth surface raceway is an hypocycloid or an epicycloid in a plane; when the meshing curve is hypocycloid, the number of the movable teeth is one less than the wave number of the combined tooth surface raceway; when the meshing curve is an epicycloid, the number of the movable teeth is one more than the wave number of the combined tooth surface raceway; a circle of movable tooth grooves which are uniformly distributed and have the same number as the movable teeth are arranged on the movable tooth transmission wheel; the combined tooth surface transmission wheel and the movable tooth transmission wheel are eccentrically arranged, the axes of the combined tooth surface transmission wheel and the movable tooth transmission wheel are parallel, and the distance between the axes is the amplitude of a combined tooth surface roller path; all the movable teeth are arranged between the combined tooth surface transmission wheel and the movable tooth transmission wheel, one movable tooth is meshed in each movable tooth groove, and all the movable teeth are also meshed with the combined tooth surface roller path on the combined tooth surface transmission wheel respectively and simultaneously.
Furthermore, when the meshing curve adopts a hypocycloid, the combined tooth surface raceway is formed by respectively uniformly splicing and combining the positive tooth surface, the negative tooth surface and the negative rotary tangent surface which are equal in number, and the meshing curve sections corresponding to all the positive tooth surface and the negative tooth surface are taken and collected to form a complete curve, namely the meshing curve under the condition is a hypocycloid; when the meshing curve adopts an epicycloid, the combined tooth surface raceway is formed by respectively uniformly splicing and combining the positive tooth surface, the negative tooth surface and the positive rotary tangent surface which are equal in number, and the meshing curve sections corresponding to all the positive tooth surface and the negative tooth surface are combined to form a complete curve, namely the meshing curve under the condition is an epicycloid.
Furthermore, all the positive tooth surfaces and the negative tooth surfaces participate in meshing transmission, and all the positive rotating tangent surfaces and the negative rotating tangent surfaces do not participate in the meshing transmission.
Further, when the meshing curve is an epicycloid, the parametric equation in the planar rectangular coordinate system in the space is as follows:
when the meshing curve is hypocycloid, the parameter equation in the plane rectangular coordinate system in the space is as follows:
in each of the above formulae, the R-meshing curve radial radius; a-meshing curve amplitude; zcHypocycloid or epicycloid wave number.
Further, the curvature radius ρ of the meshing curve is
The radius of curvature p represents the undercut condition.
Further, the movable tooth surface is a rotating body about the axis thereof, and the types of the movable tooth surface comprise a theoretical movable tooth surface and an actual movable tooth surface; the actual movable tooth surface is a rotating internal tangent surface of the theoretical movable tooth surface; the movable tooth surface can adopt a theoretical movable tooth surface and can also adopt an actual movable tooth surface.
Furthermore, the maximum distance from a point on the tooth surface of the theoretical movable tooth to the tooth surface axis of the theoretical movable tooth is Dmax，DmaxThe relation is required to be satisfied:
Dmax＞ρmin
in the formula, ρmin-minimum value of radius of curvature p of the meshing curve.
Due to the adoption of the technical scheme, the invention has the following advantages: (1) the union of the corresponding meshing curves of all the positive tooth surfaces and the negative tooth surfaces is a complete closed meshing curve, so that the transmission process of the unit is accurate and continuous, all the movable teeth participate in meshing force transmission at the same time, and the shock resistance is strong; (2) all the positive rotary cutting surfaces and the negative rotary cutting surfaces do not participate in meshing transmission, so that the meshing transmission is not influenced; (3) under the same size condition, compared with the traditional oscillating tooth transmission unit, the unit has more oscillating tooth numbers or larger oscillating tooth sizes, thereby having larger reduction ratio and larger bearing capacity when being applied to a speed reducer; (4) the movable tooth surface is designed flexibly and changeably, a theoretical tooth surface can be directly adopted, and a rotating tooth surface internally tangent in the theoretical tooth surface in any shape can also be adopted. When the former is adopted, the meshing pair is in full-line contact meshing; when the latter is adopted, the meshing pair is in short line contact meshing or point contact meshing; (5) simple and flexible structure, and convenient processing, manufacturing and assembly.
Drawings
FIG. 1 is a schematic diagram illustrating the oscillating tooth generation principle of the present invention.
Fig. 2, fig. 3 and fig. 4 are schematic structural diagrams of the segmented structure of the oscillating tooth section.
FIG. 5 is a schematic diagram of the relationship between the actual engaging flank and the theoretical engaging flank of the oscillating tooth according to the present invention.
FIG. 6 is a schematic diagram of the coordinate system setting and structure of the oscillating tooth transmission wheel of the present invention.
Fig. 7 is a schematic diagram of the coordinate system setting and structure of the epicycloid combined tooth surface oscillating tooth transmission meshing pair of the invention.
Fig. 8 is a schematic diagram of a negative tooth surface generating principle of the epicycloid combined tooth surface oscillating tooth transmission meshing pair.
Fig. 9 is a negative tooth surface combination schematic diagram of the epicycloid combined tooth surface oscillating tooth transmission meshing pair.
Fig. 10 is a schematic diagram of the positive tooth surface generation principle of the epicycloid combined tooth surface oscillating tooth transmission meshing pair.
Fig. 11 is a schematic view of the combination of the positive tooth surfaces of the epicycloid combined tooth surface oscillating tooth transmission meshing pair.
Fig. 12 is a schematic view of a normal rotation section structure of an epicycloid combined tooth surface oscillating tooth transmission meshing pair.
Fig. 13 and 14 are schematic views of the normal rotation section structure of the epicycloid combined tooth surface oscillating tooth transmission meshing pair.
Fig. 15 is a schematic diagram of the coordinate system setting and structure of the hypocycloid combined tooth surface oscillating tooth transmission meshing pair of the present invention.
FIG. 16 is a schematic diagram of the positive tooth surface generation principle of the hypocycloid combined tooth surface oscillating tooth transmission meshing pair of the present invention.
Fig. 17 is a schematic view of the combination of the positive tooth surfaces of the hypocycloid combined tooth surface oscillating tooth transmission meshing pair.
FIG. 18 is a schematic diagram of the negative tooth flank generation principle of the hypocycloid combined tooth flank oscillating tooth transmission meshing pair of the present invention.
FIG. 19 is a schematic view of the negative flank combination of the hypocycloid combined flank oscillating tooth driving meshing pair of the present invention.
FIG. 20 is a schematic view of a negative rotary-cut cross-sectional structure of the hypocycloid combined tooth surface oscillating tooth transmission meshing pair of the present invention.
Fig. 21 and 22 are schematic negative tangent plane structures of the hypocycloid combined tooth surface oscillating tooth transmission meshing pair.
Fig. 23 and 24 are exploded schematic views of a single-stage combined cycloid tooth surface oscillating tooth transmission unit structure when an epicycloid is adopted by a meshing curve of the invention.
Fig. 25 and 26 are schematic sectional views of single-stage combined cycloid tooth surface oscillating tooth transmission units when the meshing curve adopts an epicycloid.
Fig. 27 and 28 are exploded schematic views of a single-stage combined cycloid tooth surface oscillating tooth transmission unit structure when a meshing curve adopts hypocycloids.
Fig. 29 and 30 are schematic sectional views of single-stage combined cycloid tooth surface oscillating tooth transmission units when the meshing curve adopts hypocycloids.
Reference numerals: 1-a compound tooth surface raceway; 2-movable teeth; 3-a combined tooth surface transmission wheel; 4-a movable tooth transmission wheel; 5-a movable tooth groove; 101-positive tooth flank; 102-negative tooth flank; 103-normal spin section; 104-negative spin section; 201-oscillating tooth flank.
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.
Fig. 23 to 26 show a first embodiment of the present invention, in which the meshing curve uses an in-plane epicycloid, the movable teeth use standard spheres, and it can be seen from fig. 23 and 24 that the wave number of the combined tooth surface raceway is 9, and the number of the movable teeth and the movable tooth grooves is 10; as can be seen from fig. 25 and 26, the oscillating tooth transmission wheel is eccentrically arranged with respect to the combined tooth surface transmission wheel, that is, the axis of the oscillating tooth transmission wheel is parallel to the axis of the combined tooth surface transmission wheel and the distance is an eccentricity which is equal to the amplitude of the combined tooth surface raceway.
Fig. 27 to 30 show a second embodiment of the present invention, in which the meshing curve uses an in-plane hypocycloid, the movable teeth use standard spheres, and it can be seen from fig. 27 and 28 that the wave number of the combined tooth surface raceway is 11, and the number of the movable teeth and the movable tooth grooves is 10; as can be seen from fig. 29 and fig. 30, the oscillating tooth transmission wheel is eccentrically arranged with respect to the combined tooth surface transmission wheel, that is, the axis of the oscillating tooth transmission wheel is parallel to the axis of the combined tooth surface transmission wheel and the distance is an eccentricity which is equal to the amplitude of the combined tooth surface raceway.
The parameters in the two examples are shown in Table 1.
TABLE 1 structural theory parameter table
The working principle of the invention is as follows: first, the structure generation principle of the core structure is explained, and a unified coordinate system is established for each element, as shown in fig. 1, 6, 7, and 15. Fig. 1 to 5 are schematic diagrams of a movable tooth generating process, a section blocking method, and a relationship between an actual engaging tooth surface and a theoretical engaging tooth surface; FIG. 6 is a coordinate system setting diagram of the oscillating tooth transmission wheel; fig. 7 to 14 show the generation process of the raceway with the combined tooth surface when the meshing curve C adopts an epicycloid; fig. 15 to 22 show the generation process of the combined tooth surface raceway when the meshing curve C adopts a hypocycloid. The circumference of the combined tooth surface transmission wheel is outward positive and inward negative.
When the meshing curve is an epicycloid, the parameter equation of the meshing curve in the xoy plane is as follows:
when the meshing curve is a hypocycloid, the parameter equation of the meshing curve in the xoy plane is as follows:
in each of the above formulae, the R-meshing curve radial radius; a-meshing curve amplitude; zcHypocycloid or epicycloid wave number.
Further, the curvature radius ρ of the meshing curve C is obtained (excluding the space chord line)
As shown in fig. 1, in the plane zoy, there is an arbitrary continuous curve y (f) (z) passing through the positive half axis of the y-axis but not the z-axis, which is the oscillating tooth generatrix. If a and b are any positive real numbers, the movable teeth are formed by rotating a closed graph formed by four lines of curves y ═ F (z), z ═ a, z ═ b and y ═ 0 around the z axis. When the meshing curve C is determined, the critical movable tooth section radius causing the undercut of the meshing tooth surface is determined, and when z is less than 0, the maximum value of the curve y is F (z) and DmaxThen D ismaxNeed to satisfy the relation
Dmax＞ρmin
In the formula, ρmin-minimum value of cycloid radius of curvature p.
As shown in figure 2, a chord L is drawn in the section of the movable tooth1Dividing the section of the movable teeth into two arc sections, i.e. a major arc section A1And a minor arc cross section A2Two parts, the geometric centers of which are set as the original points o; chord L1Is S. Introducing a passing chord L perpendicular to the z-axis1The chord length of the chord at the intersection point with the lower side of the oscillating tooth section is set to be 2r ', and then r' needs to satisfy the relational expression
0≤r'≤ρmin
In particular, if the oscillating tooth is a standard sphere with radius r, the chord L is1The length S of (A) can be determined by the following equation
In particular, when the value of r' is zero, the major arc cross section and the minor arc cross section are completely symmetrical and both become half cross sections.
Fig. 7 to 14 show the principle of generating a core transmission member according to the first embodiment of the present invention, in which an engagement curve C is an epicycloid in the xoy plane, and a combined tooth surface transmission wheel is a hollow disc at the lower side of the xoy plane and in the negative half area of the z-axis; the combined tooth surface roller path consists of three tooth surfaces, namely the number is ZcAnd a positive tooth surface, a negative tooth surface and a positive rotary tangent surface which are uniformly distributed around the z axis.
As shown in fig. 8, Z at epicycloidcA complete wave band is randomly taken out of the waves, the wave trough of the wave band is positioned in the center, and the two sides of the wave band are symmetrical about the center. A major arc section A1The geometrical center of the major arc section is arranged on the end point of one side of the wave band, the chord of the major arc section faces to the positive direction, then the geometrical center of the major arc section moves on the wave band from the head to the tail, the chord is always parallel to the z axis in the moving process, and the section is always vertical to the wave band. Therefore, the intersecting curved surface of the envelope surface of the major arc motion of the major arc section and the combined tooth surface transmission wheel is the negative tooth surface.
The resulting negative flanks are uniformly arrayed about the Z-axis, as shown in FIG. 9, resulting in ZcA negative tooth surface which is connected end to end.
As shown in fig. 10, Z at epicycloidcA symmetrical wave band is arbitrarily taken out of the waves, namely the peak of the wave band is positioned at the right center, the two sides of the wave band are symmetrical about the center, and the minimum curvature radius rho on the symmetrical wave band1minNeed to satisfy the relation
ρ1min≥Dmax
A minor arc section A2The geometric center of the minor arc section is arranged on the end point of one side of the wave band, the chord of the minor arc section faces to the negative direction, then the geometric center of the minor arc section moves on the wave band from the head to the tail, the chord is always parallel to the z axis in the moving process, and the section is always vertical to the wave band. Therefore, the intersecting curved surface of the minor arc motion envelope surface of the minor arc section and the combined tooth surface transmission wheel is the positive tooth surface.
The resulting orthodontic surfaces are uniformly arrayed about the Z-axis as shown in FIG. 11 to yield ZcA positive tooth surface in end-to-end engagement, and Z is obtained therefromcThe two sides of each uniform distribution are regular triangular prisms with planes and cambered surfaces.
As shown in fig. 12, one of the regular triangular prisms is selected, and the two side planes thereof are identical, one of the two side planes is selected, and the boundary is extended to obtain a normal rotation section, as shown in fig. 3, the extension width Δ is extended1Need to satisfy the relation
0≤Δ1≤r'
Let the intersection line of the two side planes be L2Then, the normal rotation section is cut around the intersection line L of the two side planes2The right triangular prism is removed by rotation from one side plane to the other side plane, and the curved surface left on the combined tooth surface transmission wheel is the right rotary section, as shown in fig. 13 and 14. By performing the above operation on all regular triangular prisms, Z can be obtainedcThe normal spin section is uniformly distributed, and the number of Z is finally obtainedcAnd a combined tooth surface raceway formed by combining a positive tooth surface, a negative tooth surface and a positive rotation tangent surface which are uniformly distributed about a z-axis, as shown in fig. 7.
Fig. 15 to 22 show the generation principle of the core transmission member according to the second embodiment of the present invention, in which the meshing curve C is a hypocycloid in the xoy plane, and the combined tooth surface transmission wheel is a hollow disc at the lower side of the xoy plane and in the negative half area of the z-axis; the combined tooth surface roller path consists of three tooth surfaces, namely the number is ZcAnd a positive tooth surface, a negative tooth surface and a negative tangent plane which are uniformly distributed around the z axis.
As shown in fig. 16, Z of the hypocycloidcA complete wave band is randomly taken out of the waves, the wave crest of the wave band is positioned in the center, and the two sides of the wave band are symmetrical about the center. A major arc section A1The geometrical center of the major arc cross section is arranged on the end point of one side of the wave band, the chord of the major arc cross section faces the negative direction, then the geometrical center of the major arc cross section moves on the wave band from the head to the tail, the chord is always parallel to the z axis in the moving process, and the cross section is always vertical to the wave band. Therefore, the intersecting curved surface of the envelope surface of the major arc motion of the major arc section and the combined tooth surface transmission wheel is the positive tooth surface.
As shown in FIG. 17, the resulting orthodontic surfaces are uniformly arrayed about the Z-axis to yield ZcA positive tooth surface which is connected end to end.
As shown in fig. 18, Z of the hypocycloidcA symmetrical wave band is arbitrarily taken out of the wave, namely the wave trough of the wave band is positioned at the positive center, the two sides of the wave band are symmetrical about the center, and the minimum curvature radius rho on the symmetrical wave band1minNeed to satisfy the relation
ρ1min≥Dmax
A minor arc section A2The geometric center of the minor arc section is arranged on the end point on one side of the wave band, the chord of the minor arc section faces to the positive direction, then the geometric center of the minor arc section moves on the wave band from the head to the tail, the chord is always parallel to the z axis in the moving process, and the section is always vertical to the wave band. Therefore, the intersecting curved surface of the minor arc motion envelope surface of the minor arc section and the combined tooth surface transmission wheel is the negative tooth surface.
The resulting negative flanks are uniformly arrayed about the Z-axis, as shown in FIG. 19, resulting in ZcA negative tooth surface which is connected end to end. And thus obtain ZcEvenly distributed negative three with two sides being planes and one side being cambered surfaceA prism body.
As shown in fig. 20, one of the negative triangular prisms is selected, and the two side planes thereof are identical, one of the side planes is selected, and the boundary is extended to obtain a negative spin-cut section, as shown in fig. 4, with an extension width Δ2Need to satisfy the relation
0≤Δ2≤r'
Let the intersection line of the two side planes be L3Then, the negative spin-cut cross-section is made to surround the intersection line L of the two side planes3The negative triangular prism is removed by rotation from one side plane to the other side plane, and the curved surface left on the combined tooth surface transmission wheel is the negative rotation section, as shown in fig. 21 and 22. By performing the above operation on all the negative triangular prisms, Z can be obtainedcUniformly distributed negative spin-cut surfaces, thereby finally obtaining the negative spin-cut surfaces with the quantity of ZcAnd a combined tooth surface raceway formed by combining a positive tooth surface, a negative tooth surface and a negative tangential plane which are all uniformly distributed about the z-axis, as shown in fig. 15.
The movable tooth surface comprises a theoretical movable tooth surface and an actual movable tooth surface, and the movable tooth surface can adopt both the theoretical movable tooth surface and the actual movable tooth surface. The combined tooth surface raceways obtained in the two embodiments are obtained based on the condition that the movable tooth surface adopts the theoretical movable tooth surface, and the actual movable tooth surface is any inscribed rotating tooth surface of the theoretical movable tooth surface, as shown in fig. 5, so that when the movable tooth surface adopts the theoretical movable tooth surface, the movable tooth surface is in full-line contact meshing with the combined tooth surface raceway; when the movable tooth surface adopts an actual movable tooth surface, the movable tooth surface is partially in short-line contact meshing or point contact meshing when being meshed with the combined tooth surface raceway.
The transmission principle of the invention is as follows: when the combined tooth surface transmission wheel is fixed, the axis of the movable tooth transmission wheel is driven to revolve around the axis of the combined tooth surface transmission wheel, and simultaneously, all movable teeth meshed with the movable tooth grooves on the movable tooth transmission wheel are meshed with the combined tooth surface roller path on the combined tooth surface transmission wheel at the same time, namely all movable teeth must move in the combined tooth surface roller path on the combined tooth surface transmission wheel, so that the movable tooth transmission wheel is pushed to rotate around the self axis through the reaction of the movable tooth grooves, and each time the axis of the movable tooth transmission wheel revolves around the axis of the combined tooth surface transmission wheel for one circle, the movable teeth on the movable tooth transmission wheel drive the movable tooth transmission wheel to rotate around the self axis through the wave number of one combined tooth surface roller path; when the oscillating tooth transmission wheel is fixed, the axis of the combined tooth surface transmission wheel is driven to revolve around the axis of the oscillating tooth transmission wheel, and simultaneously, all the oscillating teeth meshed with the combined tooth surface raceway on the combined tooth surface transmission wheel are simultaneously meshed with the oscillating tooth grooves on the oscillating tooth transmission wheel, namely all the oscillating teeth must move in the oscillating tooth grooves on the oscillating tooth transmission wheel, so that the combined tooth surface raceway reacts on the combined tooth surface transmission wheel, the combined tooth surface transmission wheel is pushed to rotate around the self axis, and every time the axis of the combined tooth surface transmission wheel revolves around the axis of the oscillating tooth transmission wheel for one circle, the upper oscillating teeth drive the combined tooth surface transmission wheel to rotate around the self axis by the distance between two adjacent oscillating tooth grooves, thereby realizing the deceleration.
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 (7)
1. The utility model provides a single-stage combination cycloid flank of tooth oscillating tooth transmission unit, includes combination flank of tooth raceway, oscillating tooth, combination flank of tooth drive wheel, oscillating tooth groove, its characterized in that: a combined tooth surface roller path formed by combining various tooth surfaces is arranged on the combined tooth surface transmission wheel, and a meshing curve corresponding to the combined tooth surface roller path is an hypocycloid or an epicycloid in a plane; when the meshing curve is hypocycloid, the number of the movable teeth is one less than the wave number of the combined tooth surface raceway; when the meshing curve is an epicycloid, the number of the movable teeth is one more than the wave number of the combined tooth surface raceway; a circle of movable tooth grooves which are uniformly distributed and have the same number as the movable teeth are arranged on the movable tooth transmission wheel; the combined tooth surface transmission wheel and the movable tooth transmission wheel are eccentrically arranged, the axes of the combined tooth surface transmission wheel and the movable tooth transmission wheel are parallel, and the distance between the axes is the amplitude of a combined tooth surface roller path; all the movable teeth are arranged between the combined tooth surface transmission wheel and the movable tooth transmission wheel, one movable tooth is meshed in each movable tooth groove, and all the movable teeth are also meshed with the combined tooth surface roller path on the combined tooth surface transmission wheel respectively and simultaneously.
2. A single stage combination cycloidal flank oscillating tooth drive unit as claimed in claim 1, wherein: when the meshing curve adopts a hypocycloid, the combined tooth surface raceway is formed by respectively uniformly splicing and combining the positive tooth surface, the negative tooth surface and the negative tangent surface which are equal in number, and the meshing curve sections corresponding to all the positive tooth surface and the negative tooth surface are combined to form a complete curve, namely the meshing curve under the condition is a hypocycloid; when the meshing curve adopts an epicycloid, the combined tooth surface raceway is formed by respectively uniformly splicing and combining the positive tooth surface, the negative tooth surface and the positive rotary tangent surface which are equal in number, and the meshing curve sections corresponding to all the positive tooth surface and the negative tooth surface are combined to form a complete curve, namely the meshing curve under the condition is an epicycloid.
3. A single stage combination cycloidal flank oscillating tooth drive unit as claimed in claim 2, wherein: all the positive tooth surfaces 101 and the negative tooth surfaces participate in meshing transmission, and all the positive rotary tangent surfaces 103 and the negative rotary tangent surfaces do not participate in meshing transmission.
4. A single stage combination cycloidal flank oscillating tooth drive unit as claimed in claim 2, wherein: when the meshing curve is an epicycloid, the parameter equation in a plane rectangular coordinate system in the space is as follows:
when the meshing curve is hypocycloid, the parameter equation in the plane rectangular coordinate system in the space is as follows:
in each of the above formulae, the R-meshing curve radial radius; a-meshing curve amplitude; zcHypocycloid or epicycloid wave number.
5. A single-stage combination cycloidal flank oscillating tooth transmission unit as claimed in claim 4, wherein: the radius of curvature rho of the meshing curve is
6. A single stage combination cycloidal flank oscillating tooth drive unit as claimed in claim 1, wherein: the movable tooth surface is a rotating body about the axis of the movable tooth surface, and the types of the movable tooth surface comprise a theoretical movable tooth surface and an actual movable tooth surface; the actual movable tooth surface is a rotating internal tangent surface of the theoretical movable tooth surface; the movable tooth surface adopts a theoretical movable tooth surface or an actual movable tooth surface.
7. A single stage combination cycloidal flank oscillating tooth drive unit as claimed in claim 6, wherein: the maximum distance from a point on the tooth surface of the theoretical movable tooth to the tooth surface axis of the theoretical movable tooth is Dmax，DmaxThe relation is required to be satisfied:
Dmax＞ρmin
in the formula, ρmin-minimum value of radius of curvature p of the meshing curve.
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| CN202010178795.0A CN111350794B (en) | 2020-03-15 | 2020-03-15 | Single-stage combined cycloid tooth surface movable tooth transmission unit |
| PCT/CN2021/080652 WO2021185189A1 (en) | 2020-03-15 | 2021-03-14 | Combined tooth surface cycloidal movable tooth transmission mechanism |
| EP21771249.6A EP4119813A4 (en) | 2020-03-15 | 2021-03-14 | Combined tooth surface cycloidal movable tooth transmission mechanism |
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| CN202010178795.0A CN111350794B (en) | 2020-03-15 | 2020-03-15 | Single-stage combined cycloid tooth surface movable tooth transmission unit |
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| CN111350794B true CN111350794B (en) | 2021-03-19 |
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