CN111706661A - Movable tooth transmission device with preset internal tooth profile - Google Patents

Movable tooth transmission device with preset internal tooth profile Download PDF

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Publication number
CN111706661A
CN111706661A CN202010595787.6A CN202010595787A CN111706661A CN 111706661 A CN111706661 A CN 111706661A CN 202010595787 A CN202010595787 A CN 202010595787A CN 111706661 A CN111706661 A CN 111706661A
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gear
tooth
movable
oscillating tooth
oscillating
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周江
徐振
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Individual
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • 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

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention discloses a movable tooth transmission device with a preset internal tooth profile, which comprises an input shaft, a movable tooth gear, a shock wave bearing, a shock wave device, a gear ring, a bearing seat, an output disc and movable teeth, wherein the input shaft is connected with the input shaft through a transmission shaft; the oscillating tooth gear comprises an oscillating tooth gear HA and an oscillating tooth gear HB, the oscillating tooth gear HA and the oscillating tooth gear HB are fixedly sleeved on the input shaft through a bearing I, the oscillating tooth gear HA and the oscillating tooth gear HB are arranged at intervals, the parts of the oscillating tooth gear HA and the oscillating tooth gear HB located at the fan-shaped position are connected through a screw I, and the shock wave bearing is fixedly sleeved outside the input shaft. According to the transmission speed reducer device capable of presetting the internal tooth profile, the internal tooth profile curve C is designed into a simple curve such as a straight line, an arc or a sine curve in advance, so that the tooth profile curve is convenient to process and detect, an ideal curve can be designed according to the number of teeth meshed simultaneously and the efficiency, and the problems that the internal tooth profile is difficult to process and detect and design in the prior art are solved.

Description

Movable tooth transmission device with preset internal tooth profile
Technical Field
The invention relates to the technical field of mechanical transmission reducers, in particular to a movable tooth transmission device with preset internal tooth profiles.
Background
The precision transmission device is the basis of high-end equipment, and the development of the precision transmission technology inevitably drives the progress of high-end manufacturing industry. In high-end manufacturing, the joint arm of an industrial robot puts higher technical requirements on precise rotary transmission. The requirements of the joint arm of the industrial robot on the speed reducer are small volume, large transmission ratio and large load. Therefore, it is necessary to design a transmission device with small volume, high precision and large speed ratio.
The movable gear transmission is used as a transmission mechanism with excellent performance, is widely adopted in the field of universal reducers and the field of precision robot reducers, and is proved by comparison tests and practical application of domestic and foreign professional companies. The typical structure of the oscillating tooth transmission mainly comprises three parts, namely a gear ring G, an oscillating tooth gear H provided with a group of oscillating teeth R and a shock wave device J. As shown in fig. 1 and 2, the number of teeth of the movable tooth H is Zh, the number of teeth of the fixed gear G is Zg, and when Zh ═ Zg ± 1, as long as the inner tooth profile curve C of the fixed gear G is an envelope curve conjugate with the movable tooth R at a constant speed, stable speed reduction (or speed increase) transmission can be realized, the inner tooth profile curve C is a special curve, and the precision level is to be reached, and the processing difficulty is high, and the grinding process cannot be used basically. At present, in order to process a high-precision inner tooth profile curve C, a slow wire-moving process is generally adopted, and the processing process has low efficiency and high cost and is not beneficial to large-scale popularization and application. And the detection difficulty of the inner tooth profile curve C is high, and the detection equipment is complex, so that the popularization and the application of the movable tooth transmission in a large range are restricted.
In addition, the internal tooth profile curve C is not only difficult to process and detect, but also inconvenient to design, and the shape of the internal tooth profile curve C influences the tooth form pressure angle, the number of meshing teeth and the transmission efficiency. The shape of the internal tooth profile curve C is determined by the speed ratio of the designed speed reducer, the radius of the shock absorber, the diameter of the movable teeth and the eccentricity, the adjustment difficulty is high, and the parameters are required to be iterated repeatedly to obtain an ideal shape of the internal tooth profile curve C. The invention patent CN 108087498A discloses a multi-tooth simultaneous meshing oscillating tooth transmission device, which is to analyze and research the pressure angle and the simultaneous meshing tooth number of an internal tooth shape and provides a design method of the internal tooth shape beneficial to multi-tooth simultaneous meshing, which is obtained by enlarging the eccentric distance, but the method can improve the tooth shape, but still can not solve the problems that the internal tooth shape is difficult to process and detect and design.
Disclosure of Invention
In view of the shortcomings in the prior art, the present invention provides a movable gear transmission device with a predetermined internal tooth profile to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a movable tooth transmission device with a preset internal tooth profile comprises an input shaft, a movable tooth gear, a gear ring, a movable tooth and a shock wave device, wherein the shock wave device is rotatably arranged on the input shaft;
and assuming that the number of the movable teeth is ZH, the number of the fixed teeth on the inner side of the gear ring is Zg, and when ZH is Zg +/-1, wherein a tooth profile curve C on the inner side of the gear ring is a preset tooth profile, a shock wave curve of the shock wave device is K, and the shock wave curve K is an envelope curve of constant-speed conjugate of the movable teeth meshed on the tooth profile curve C and the movable teeth.
As one of the core innovation points of the invention, the shape of the shock wave generator is designed into a special curve, and the invention has the advantages that the shape of the tooth profile curve can be preset, so that the processing difficulty of the internal gear is greatly reduced, the high-precision internal gear can be produced, the detection is convenient, the large-batch production is convenient, the meshing performance can be selectively designed, the number of teeth of multi-tooth meshing is enlarged, the pressure angle is improved, and the performance of the speed reducer is improved. Although the tooth form of the shock wave device is a special curve, the shock wave device is an outer circular surface, can be produced and manufactured by a forming grinding process or a coordinate grinding process, can be guaranteed in precision, is convenient to detect, and is used as a special curve without increasing the processing difficulty.
Further, the calculation method of the shock wave curve K is as follows:
setting XOY as a fixed coordinate system, r as the radius of the movable teeth, I as the transmission ratio of the movable tooth transmission, Zg as the tooth number of the fixed gear, DJ as the vertex angle of the tooth shape of the fixed teeth, RO as the value of the movable teeth at the highest position, J as the curve of the final enveloped shock absorber, p as the central pole diameter of the movable teeth, Jt as the rotation angle of the movable teeth, w as the rotation angle of the shock absorber, and Jt as w/I;
p＝RO＊sin(DJ/2)/sin(Jt+DJ/2)；
c1 is the theoretical track of the center of the oscillating tooth, then
xC1＝p＊cos(w)；
yC1＝p＊sin(w)；
Is provided with
Figure BDA0002557376070000031
Is the normal vector of the locus of O1 points, then
nox＝-B/C；noy＝A/C；
A＝F＊cos(w)-p＊sin(w)；
B＝F＊sin(w)+p＊cos(w)；
C＝(A^2+B^2)^0.5；
F＝-1/i＊p/tan(Jt+DJ/2)；
The coordinate formula of the tooth-shaped J curve of the shock wave device can be obtained as follows
xJ＝xC1+r＊nox；
yJ＝yC1+r＊noy；
The coordinate data on the tooth form J of the shock wave generator can be obtained by calculating according to the formula, wherein the movable tooth rotates by an angle every time.
As one of the core innovation points of the invention, the internal tooth profile curve C is designed into a simple curve in advance, such as a straight line, an arc or a sine curve, so that the tooth profile curve is convenient to process and detect, and an ideal curve can be designed according to the number of simultaneously meshed teeth and the efficiency, thereby solving the problem that the internal tooth profile is difficult to process and detect and difficult to design in the prior art.
Furthermore, the speed reducer device also comprises an output disc, the oscillating tooth gear comprises an oscillating tooth gear HA and an oscillating tooth gear HB, and the oscillating tooth gear HA and the oscillating tooth gear HB are rotationally sleeved on the input shaft;
the oscillating tooth gear HA and the oscillating tooth gear HB are arranged at intervals, the part, located at a sector, of the oscillating tooth gear HA and the oscillating tooth gear HB are fixedly connected, and the shock wave device is located between the oscillating tooth gear HA and the oscillating tooth gear HB.
Further, the ring gear rotates the suit in the outsides of oscillating tooth gear HA with oscillating tooth gear HB, the output dish with oscillating tooth gear HA fixed connection, the oscillating tooth is placed in the circumference groove of oscillating tooth gear, just the oscillating tooth contacts with ring gear and shock wave ware respectively, and can be in the up-and-down motion in the circumference groove of oscillating tooth gear.
As one of the core innovation points of the invention, by adopting the technical scheme, the transmission speed reducer device capable of presetting the internal tooth profile has the advantages of small volume, large transmission ratio, large load, high precision, large speed ratio, capability of realizing stable speed reduction or speed increase transmission, low processing difficulty, high processing efficiency, low cost, effectively reduced detection difficulty, convenient design and contribution to large-scale popularization and application.
Furthermore, the speed reducer device also comprises a shock wave bearing, the shock wave bearing is fixedly sleeved outside the input shaft, the shock wave bearing is positioned between the oscillating tooth gear HA and the oscillating tooth gear HB, and the shock wave is fixedly sleeved outside the shock wave bearing.
By adopting the technical scheme, the shock wave bearing is utilized to install the shock wave device, so that the connection mode of the shock wave device and the input shaft is more stable, and the stability of the device is improved.
Furthermore, the gear ring is fixedly sleeved outside the movable tooth gear HA and the movable tooth gear HB through two bearings II, and the movable tooth gear HA and the movable tooth gear HB are fixedly sleeved on the input shaft through the bearings I.
As one of the core innovation points of the invention, by adopting the technical scheme, the two bearings II are used for connecting the gear ring with the movable tooth gear HA and the movable tooth gear HB, so that the connection relationship between the two bearings II and the movable tooth gear HA and the movable tooth gear HB is relatively stable, and the stability of the device is improved.
Furthermore, the speed reducer device also comprises a bearing seat, the bearing seat is fixedly connected with the movable tooth gear HB through a third screw, the tightness degree between the movable tooth gear HB and the second bearing is adjusted through the thickness of the top of the bearing seat, the output disc is fixedly connected with the movable tooth gear HA through a second screw, and two sides of the movable tooth are respectively contacted with the two bearings.
As one of the core innovation points of the invention, by adopting the technical scheme, the bearing seat is used for fixedly mounting the movable-tooth gear HB, so that the tightness degree between the movable-tooth gear HB and the second bearing can be adjusted by the thickness of the top of the bearing seat, the device HAs better applicability, the output disc is fixedly connected with the movable-tooth gear HA through the second screw, the output disc can be stably driven by the movable-tooth gear HA, the movable teeth are blocked by the two bearings, the movement track of the movable teeth is relatively stable, and the stability of the device is further improved.
Furthermore, a second check ring is further installed between the first shock wave bearing and the first bearing, the outer portion of the input shaft is located on the position, back to the first bearing, of the two sides of the first shock wave bearing, of the first bearing is movably sleeved with the first check ring and a snap ring, and the first check ring is fixed through double nuts and used for locking the first bearing and the first shock wave bearing.
As one of the core innovation points of the invention, by adopting the technical scheme, the device has the advantages of more stable structure, better performance, difficult damage and long service life.
Furthermore, a first sealing ring is arranged between the output disc and the gear ring.
As one of the core innovation points of the invention, by adopting the technical scheme, the first sealing ring can effectively increase the sealing property between the output disc and the gear ring, thereby reducing the possibility of dust entering between the output disc and the gear ring.
Furthermore, the gear ring further comprises a rear end cover, the rear end cover is fixedly installed on the right side of the gear ring through a screw four, and a sealing ring two is further arranged at the junction of the rear end cover and the input shaft.
As one of the core innovation points of the invention, by adopting the technical scheme, the rear end cover has a better protection effect on the components in the device, and the sealing ring II can prevent dust from entering between the rear end cover and the input shaft to influence the service performance of the device.
Furthermore, the automatic feeding device also comprises a front end cover, wherein the front end cover is buckled in the hole in the middle of the output disc.
As one of the core innovation points of the invention, by adopting the technical scheme, the front end cover can prevent dust from entering the hole in the middle of the output disc to influence the service performance of the device.
In summary, the invention mainly has the following beneficial effects:
the transmission speed reducer device capable of presetting the internal tooth profile has the advantages of small volume, large transmission ratio, large load, high precision, large speed ratio, capability of realizing stable speed reduction or speed increase transmission, low processing difficulty, high processing efficiency, low cost, effective reduction of detection difficulty, convenient design and contribution to large-scale popularization and application;
the inner tooth profile curve C is designed into a simple curve in advance, such as a straight line, a circular arc or a sine curve and the like, so that the tooth profile curve is convenient to process and detect, an ideal curve can be designed according to the number of teeth meshed simultaneously and efficiency, and the problems that the inner tooth profile is difficult to process and detect and difficult to design cannot be solved in the prior art are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a prior art drive-reducer assembly;
FIG. 2 is a schematic cross-sectional view taken along A-A of FIG. 1;
FIG. 3 is a schematic diagram of a drive reducer assembly according to an embodiment of the present invention capable of predetermining an internal tooth profile;
FIG. 4 is a schematic cross-sectional view taken along line B-B of FIG. 3;
FIG. 5 is a schematic view of another tooth form of a drive reducer assembly of an embodiment of the present invention capable of predetermining an internal tooth form;
FIG. 6 is a schematic diagram of a basic configuration of an embodiment of a gear ring profile curve of a transmission reducer apparatus with a predetermined internal tooth profile as a circular arc;
FIG. 7 is a graph of a calculated shock curve K for one embodiment of a gear reducer assembly capable of a predetermined internal tooth profile;
FIG. 8 is a schematic diagram of a drive reducer assembly according to another embodiment of the present invention capable of predetermining internal tooth profiles;
fig. 9 is a schematic sectional structure view along the direction C-C of fig. 8.
In the figure: 1. an input shaft; 2. a movable-tooth gear; 201. a movable tooth gear HA; 202. a movable gear HB; 203. a movable-tooth gear HC; 204. a movable-tooth gear HD; 3. a shock wave device; 4. a shock wave bearing; 5. a first screw; 6. a snap ring; 7. a ring gear; 8. the movable teeth; 9. a second sealing ring; 10. double nuts; 11. a third screw; 12. a bearing seat; 13. a rear end cap; 14. a first check ring; 15. a first sealing ring; 16. a second bearing; 17. an output tray; 18. a second screw; 19. a second check ring; 20. a first bearing; 21. a front end cover; 22. and a fourth screw.
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. The present invention will be described in further detail with reference to the accompanying drawings.
Example 1
A movable tooth transmission device with a preset internal tooth profile comprises an input shaft 1, a shock wave device 3 and a speed reducing mechanism, wherein the speed reducing mechanism is in transmission connection with the input shaft 1;
as shown in fig. 4, the speed reducing mechanism includes a movable tooth gear 2, a shock wave bearing 4, a gear ring 7, a bearing seat 12, an output disc 17 and a movable tooth 8; the oscillating tooth gear 2 comprises an oscillating tooth gear HA201 and an oscillating tooth gear HB202, the oscillating tooth gear HA201 and the oscillating tooth gear HB202 are fixedly sleeved on the input shaft 1 through a bearing I20, the oscillating tooth gear HA201 and the oscillating tooth gear HB202 are arranged at intervals, the parts of the oscillating tooth gear HA201 and the oscillating tooth gear HB202, which are positioned at a fan-shaped position, are connected through a screw I5, the shock wave bearing 4 is fixedly sleeved outside the input shaft 1, the shock wave bearing 4 is positioned between the oscillating tooth gear HA201 and the oscillating tooth gear HB202, the shock wave device 3 is fixedly sleeved outside the shock wave bearing 4, the gear ring 7 is fixedly sleeved outside the oscillating tooth gear HA201 and the oscillating tooth gear HB202 through two bearing II 16, the bearing seat 12 and the oscillating tooth gear HB202 are fixedly connected through a screw III 11, and the oscillating tooth gear HB202 and the bearing II 16 can be adjusted through the thickness of the top of the bearing seat 12, the output disc 17 is fixedly connected with the oscillating tooth gear HA201 through a second screw 18, the oscillating tooth 8 is placed in the circumferential groove of the oscillating tooth gear 2, two sides of the oscillating tooth 8 are respectively contacted with the two bearings II 16, and the oscillating tooth 8 is respectively contacted with the gear ring 7 and the shock wave device 3 and can move up and down in the circumferential groove of the oscillating tooth gear 2.
By adopting the technical scheme, the transmission speed reducer device capable of presetting the internal tooth profile has the advantages of small volume, large transmission ratio, large load, high precision, large speed ratio, capability of realizing stable speed reduction or speed increase transmission, low processing difficulty, high processing efficiency, low cost, effective reduction of detection difficulty, convenience in design and contribution to large-scale popularization and application.
Preferably, as shown in fig. 4, a second retainer ring 19 is further installed between the shock wave bearing 4 and the first bearing 20, a first retainer ring 14 and a snap ring 6 are further movably sleeved on two sides of the outer portion of the input shaft 1, which are located on the first bearing 20 and back to the shock wave bearing 4, and the first retainer ring 14 is further fixed through a double nut 10 for locking the first bearing 20 and the shock wave bearing 4. The device has the advantages of more stable structure, better performance, difficult damage and long service life.
Preferably, as shown in fig. 4, a first sealing ring 15 is arranged between the output disc 17 and the gear ring 7. The first sealing ring 15 can effectively increase the sealing performance between the output disc 17 and the gear ring 7, and further reduce the possibility of dust entering between the output disc 17 and the gear ring 7.
Preferably, as shown in fig. 4, the device further includes a rear end cover 13, the rear end cover 13 is fixedly mounted on the right side of the gear ring 7 through a screw four 22, and a sealing ring two 9 is further disposed at a junction of the rear end cover 13 and the input shaft 1. The rear end cover 13 has a good protection effect on parts inside the device, and the second sealing ring 9 can prevent dust from entering between the rear end cover 13 and the input shaft 1 to influence the use performance of the device.
Preferably, as shown in fig. 4, the device further comprises a front end cover 21, and the front end cover 21 is buckled in the hole in the middle of the output disc 17. The front cover 21 prevents dust from entering the hole in the middle of the output disc 17 and affecting the performance of the device.
Preferably, as shown in fig. 5 to 7, the number of teeth of the movable teeth 8 is Zh, the number of teeth of the fixed teeth inside the ring gear 7 is Zg, and when Zh ═ Zg ± 1, where the tooth profile curve C inside the ring gear 7 is a predetermined tooth profile, a straight tooth profile is taken as an example, the shock curve of the shock wave generator 3 is K, and the shock curve K is an envelope curve of the movable teeth 8 meshing on the tooth profile curve C to be constant conjugate with the movable-teeth gear 2.
By adopting the technical scheme, the basic structure of the tooth profile curve is shown in fig. 6 when the tooth profile curve is a circular arc. The invention designs the shape of the shock wave device 3 into a special curve, and has the advantages that the curve shape of the tooth profile can be preset, so that the difficulty in processing the internal gear is greatly reduced, the high-precision internal gear can be produced, the detection is convenient, the large-batch production is convenient, the meshing performance can be selectively designed, the number of teeth meshed by multiple teeth is enlarged, the pressure angle is also improved, and the performance of the speed reducer is improved.
Preferably, as shown in fig. 5-7, the shock curve K is calculated as follows:
setting XOY as a fixed coordinate system, r as the radius of the movable teeth, I as the transmission ratio of the movable tooth transmission, Zg as the tooth number of the fixed gear, DJ as the vertex angle of the tooth shape of the fixed teeth, RO as the value of the movable teeth at the highest position, J as the curve of the final enveloped shock absorber, p as the central pole diameter of the movable teeth, Jt as the rotation angle of the movable teeth, w as the rotation angle of the shock absorber, and Jt as w/I;
p＝R0＊sin(DJ/2)/sin(Jt+DJ/2)；
c1 is the theoretical track of the center of the oscillating tooth, then
xC1＝p＊cos(w)；
yC1＝p＊sin(w)；
Is arranged as
Figure BDA0002557376070000121
Is the normal vector of the locus of O1 points, then
nox＝-B/C；noy＝A/C；
A＝F＊cos(w)-p＊sin(w)；
B＝F＊sin(w)+p＊cos(w)；
C＝(A^2+B^2)^0.5；
F＝-1/i＊p/tan(Jt+DJ/2)；
The coordinate formula of the tooth-shaped J curve of the shock wave device can be obtained as follows
xJ＝xC1+r＊nox；
yJ＝yC1+r＊noy；
The coordinate data on the tooth form J of the shock wave generator can be obtained by calculating according to the formula, wherein the movable tooth rotates by an angle every time.
Through above-mentioned technical scheme, with internal tooth profile curve C predesign for a simple curve, for example straight line, circular arc or sinusoidal curve etc for the profile curve is convenient for process and is detected, can design an ideal curve according to meshing tooth number and efficiency simultaneously moreover, thereby has solved still that the internal tooth form can not be processed and detected among the prior art, the problem that is difficult to design.
Example 2
A movable-tooth transmission device with a preset internal tooth profile is shown in figures 8-9, in order to effectively avoid vibration, two rows of shock absorbers 3 are adopted and are installed 180 degrees opposite to each other, and the movable-tooth transmission device adopts a large-speed-ratio, small-size and high-precision speed reducer output by a movable-tooth rolling rod and a movable-tooth gear. The embodiment has the characteristics of large bearing capacity, compact structure, high transmission precision, high efficiency and low noise, and has more important characteristics that the tooth profile curve is designed into the tooth profile of a simple curve, the processing is simple, the processing precision is high, and the processing cost is low. The main structure is oscillating tooth 8 and oscillating tooth gear 2, the oscillating tooth gear 2 comprises 4 oscillating tooth gears, wherein the oscillating tooth gears HA201 and HB202 are connected by screws, the HB202 and HC203 are connected by screws, and the HC203 and HD204 are connected by screws. The two shock wave devices are arranged at 180 degrees, the shock wave bearing 4, the input shaft 1 and the gear ring 7 (the tooth profile curve of the gear ring is designed into a simple curve in advance). The tooth profile curve of the shock wave device 3 is a special curve calculated by the movable tooth 8 and the tooth profile according to the constant speed conjugate envelope principle, and the shock wave bearing 4 is a flexible bearing. The shock bearing may be eliminated and the shock 3 may be directly integrated with the input shaft 1. The contour curve of the part of the input shaft provided with the shock wave bearing is an equidistant line of the contour curve of the shock wave device. The shock wave device 3 is sleeved on the shock wave bearing 4, the shock wave bearing 4 is sleeved on the input shaft 1, the input shaft 1 is supported through the pair of the first bearings 20, meanwhile, the oscillating tooth gears HA201 and HD204 are bearing seats of the first bearings 20, a check ring can be arranged between the shock wave bearing 4 and the first bearings 20, the first bearings 20 are locked through the snap ring 6 and the double nuts 10, the oscillating tooth gear 2 is composed of the oscillating tooth gears HA201, HB202, HC203 and HD204, the oscillating tooth gear 2 is supported by the second bearing 16, and meanwhile, the second bearing 16 supports the gear ring 7. The bearing seat 12 and the oscillating tooth gear HB202 are connected through screws, the tightness is adjusted through the thickness of the top of the bearing seat 12, and the output disc 17 and the oscillating tooth gear HA201 are connected through screws. The movable teeth 8 are placed in a circumferential groove of the movable tooth gear 2, two sides of the movable teeth are blocked by a bearing II 16, a blocking piece can be designed to block the movable teeth 8 independently, the movable teeth 8 are respectively contacted with the gear ring 7 and the shock absorber 3 and can move up and down in the groove of the movable tooth gear 2, a rear end cover 13 is further designed on the right side of the embodiment and connected to the gear ring 7 through screws, a sealing ring is further designed at the junction of the rear end cover 13 and the input shaft 1, a sealing ring is also designed between the output disc 17 and the gear ring 7 on the left side of the embodiment, and a front end cover 21 is further designed on a hole in the middle of the output disc 17 and buckled. The rotation of the input shaft 1 guides the shock wave device 3 to rotate, the movable teeth 8 are pushed to be meshed with the gear ring 7, the movable teeth 8 push the movable tooth gear 2 to do deceleration movement, and finally the output disc 17 outputs the deceleration movement. Of course, the output disc 17 can be driven to rotate, and the input shaft 1 outputs the speed-increasing motion.
In conclusion, the transmission speed reducer device capable of presetting the internal tooth profile has the advantages of small size, large transmission ratio, large load, high precision, large speed ratio, capability of realizing stable speed reduction or speed increase transmission, low processing difficulty, high processing efficiency, low cost, effective reduction of detection difficulty, convenience in design and contribution to large-scale popularization and application; the inner tooth profile curve C is designed into a simple curve in advance, such as a straight line, a circular arc or a sine curve and the like, so that the tooth profile curve is convenient to process and detect, an ideal curve can be designed according to the number of teeth meshed simultaneously and efficiency, and the problems that the inner tooth profile is difficult to process and detect and difficult to design cannot be solved in the prior art are solved.
The parts not involved in the present invention are the same as or can be implemented by the prior art. The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.

Claims (10)

1. A movable tooth transmission device with a preset internal tooth profile comprises an input shaft (1), a movable tooth gear (2), a gear ring (7), movable teeth (8) and a shock wave device (3), wherein the shock wave device (3) is rotatably arranged on the input shaft (1);
the method is characterized in that:
and assuming that the tooth number of the movable teeth (8) is ZH, the tooth number of the fixed teeth on the inner side of the gear ring (7) is Zg, and when ZH is Zg +/-1, the tooth profile curve C on the inner side of the gear ring (7) is a preset tooth profile, the shock curve of the shock wave device (3) is K, and the shock curve K is an envelope curve of constant-speed conjugate of the movable teeth (8) meshed on the tooth profile curve C and the movable-teeth gear (2).
2. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 1, wherein: the calculation method of the shock wave curve K is as follows:
setting XOY as a fixed coordinate system, r as the radius of the movable teeth, I as the transmission ratio of the movable tooth transmission, Zg as the tooth number of the fixed gear, DJ as the vertex angle of the tooth shape of the fixed teeth, RO as the value of the movable teeth at the highest position, J as the curve of the final enveloped shock absorber, p as the central pole diameter of the movable teeth, Jt as the rotation angle of the movable teeth, w as the rotation angle of the shock absorber, and Jt as w/I;
p＝RO＊sin(DJ/2)/sin(Jt+DJ/2)；
c1 is the theoretical track of the center of the oscillating tooth, then
xC1＝p＊cos(w)；
yC1＝p＊sin(w)；
Is provided with
Figure FDA0002557376060000011
Is the normal vector of the locus of O1 points, then
nox＝-B/C；noy＝A/C；
A＝F＊cos(w)-p＊sin(w)；
B＝F＊sin(w)+p＊coS(w)；
C＝(A^2+B^2)^0.5；
F＝-1/i＊p/tan(Jt+DJ/2)；
The coordinate formula of the tooth-shaped J curve of the shock wave device can be obtained as follows
xJ＝xC1+r＊nox；
yJ＝yC1+r＊noy；
The coordinate data on the tooth form J of the shock wave generator can be obtained by calculating according to the formula, wherein the movable tooth rotates by an angle every time.
3. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 2, wherein: the reducer device further comprises an output disc (17), the oscillating tooth gear (2) comprises an oscillating tooth gear HA (201) and an oscillating tooth gear HB (202), and the oscillating tooth gear HA (201) and the oscillating tooth gear HB (202) are rotatably sleeved on the input shaft (1);
the oscillating tooth gear HA (201) and the oscillating tooth gear HB (202) are arranged at intervals, the part, located at a fan-shaped position, of the oscillating tooth gear HA (201) and the oscillating tooth gear HB (202) are fixedly connected, and the shock wave device (3) is located between the oscillating tooth gear HA (201) and the oscillating tooth gear HB (202).
4. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 2, wherein: the ring gear (7) rotates the suit and is in the outside of oscillating tooth gear HA (201) with oscillating tooth gear HB (202), output dish (17) with oscillating tooth gear HA (201) fixed connection, oscillating tooth (8) are placed in the circumferential groove of oscillating tooth gear (2), just oscillating tooth (8) contact with ring gear (7) and shock wave ware (3) respectively, and can be in the up-and-down motion in the circumferential groove of oscillating tooth gear (2).
5. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 2, wherein: the speed reducer device further comprises a shock wave bearing (4), the shock wave bearing (4) is fixedly sleeved outside the input shaft (1), the shock wave bearing (4) is located between the oscillating tooth gear HA (201) and the oscillating tooth gear HB (202), and the shock wave device (3) is fixedly sleeved outside the shock wave bearing (4).
6. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 2, wherein: the gear ring (7) is fixedly sleeved on the movable gear HA (201) and the movable gear HB (202) through two bearings II (16), and the movable gear HA (201) and the movable gear HB (202) are fixedly sleeved on the input shaft (1) through a bearing I (20).
7. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 2, wherein: the reducer device further comprises a bearing seat (12), the bearing seat (12) is fixedly connected with the movable tooth gear HB (202) through a third screw (11), the tightness degree between the movable tooth gear HB (202) and the second bearing (16) is adjusted through the thickness of the top of the bearing seat (12), the output disc (17) is fixedly connected with the movable tooth gear HA (201) through a second screw (18), and two sides of the movable tooth (8) are respectively in contact with the second bearing (16).
8. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 5, wherein: shock wave bearing (4) with still install retaining ring two (19) between bearing (20), the outside of input shaft (1) is located bearing (20) dorsad the both sides of shock wave bearing (4) are still that the movable sleeve is equipped with retaining ring one (14) and snap ring (6), retaining ring one (14) are still fixed through two nuts (10) and are used for locking bearing one (20) and shock wave bearing (4).
9. The oscillating tooth transmission device with the preset internal tooth profile according to claim 2, wherein a first sealing ring (15) is arranged between the output disc (17) and the gear ring (7), the speed reducer device further comprises a rear end cover (13), the rear end cover (13) is fixedly arranged on the right side of the gear ring (7) through a fourth screw (22), and a second sealing ring (9) is further arranged at the junction of the rear end cover (13) and the input shaft (1).
10. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 2, wherein: the speed reducer device further comprises a front end cover (21), and the front end cover (21) is buckled in the hole in the middle of the output disc (17).
CN202010595787.6A 2020-06-28 2020-06-28 Movable tooth transmission device with preset internal tooth profile Pending CN111706661A (en)

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CN112728015A (en) * 2020-12-25 2021-04-30 枣庄北航机床创新研究院有限公司 T-shaped movable tooth transmission mechanism capable of eliminating gap

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US5061227A (en) * 1989-11-13 1991-10-29 Renk Aktiengesellschaft Bearing system for wave generator drive
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Publication number Priority date Publication date Assignee Title
CN112728015A (en) * 2020-12-25 2021-04-30 枣庄北航机床创新研究院有限公司 T-shaped movable tooth transmission mechanism capable of eliminating gap

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Application publication date: 20200925