CN111895058B - Forming design method of speed reducer - Google Patents

Forming design method of speed reducer Download PDF

Info

Publication number
CN111895058B
CN111895058B CN202010678263.3A CN202010678263A CN111895058B CN 111895058 B CN111895058 B CN 111895058B CN 202010678263 A CN202010678263 A CN 202010678263A CN 111895058 B CN111895058 B CN 111895058B
Authority
CN
China
Prior art keywords
speed reducer
driving shaft
rollers
circle
rotation direction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010678263.3A
Other languages
Chinese (zh)
Other versions
CN111895058A (en
Inventor
刘慧泉
李彦铮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Quanqiu Technology Co ltd
Original Assignee
Shenzhen Quanqiu Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Quanqiu Technology Co ltd filed Critical Shenzhen Quanqiu Technology Co ltd
Priority to CN202010678263.3A priority Critical patent/CN111895058B/en
Publication of CN111895058A publication Critical patent/CN111895058A/en
Application granted granted Critical
Publication of CN111895058B publication Critical patent/CN111895058B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
    • F16H13/06—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion
    • F16H13/08—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G06F30/27—Design optimisation, verification or simulation using machine learning, e.g. artificial intelligence, neural networks, support vector machines [SVM] or training a model
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/30—Circuit design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Evolutionary Computation (AREA)
  • Computer Hardware Design (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Artificial Intelligence (AREA)
  • Software Systems (AREA)
  • Medical Informatics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention belongs to the technical field of speed reducers, and particularly relates to a forming design method of a speed reducer, wherein the speed reducer designed by the forming design method comprises an outer gear ring, a roller and a driving shaft, the outer gear ring is a stator, the driving shaft rotates and drives the roller to rotate, the roller revolves around the driving shaft, the contour line of the cross section of the driving shaft is an equal-width curve, and the above data are determined in a self-defining manner according to actual requirements: m, n, R, R and Q, and arranging a plurality of rollers on the grating piece, and then carrying out design calculation by using the parameters so as to obtain the tooth profile contour line of the outer gear ring. By applying the technical scheme of the invention, a new planetary gear speed reducer can be designed and obtained, so that the problem that the speed reducer which is simple in design structure, small in size and flexible in reduction ratio matching design cannot be realized in the prior art is solved.

Description

Forming design method of speed reducer
Technical Field
The invention belongs to the technical field of speed reducers, and particularly relates to a forming design method of a speed reducer.
Background
The speed reducer is one of important core parts applied to the output end of a power source. At present, speed reducers applied to robots are mainly speed reducer mechanisms composed of RV speed reducers, harmonic speed reducers, planetary speed reducers, worm and gear speed reducers, and synchronous belts. The speed reducer mainly aims to convert high rotating speed and small torque of a power source, reduce a certain rotating speed and obtain larger output torque.
In the prior art, the traditional speed reducer has high manufacturing difficulty and high manufacturing precision, and typically represents an RV speed reducer and a harmonic speed reducer; the traditional speed reducer has larger dependence on manufacturing materials, such as flexible gear deformation materials of harmonic speed reducers; the traditional speed reducer has a transmission gap, such as a planetary speed reducer; the traditional speed reducing mechanism is complex in design, needs multi-stage nesting like a synchronous belt speed reducer, and has a relatively large structural organization; the volume design of traditional speed reducer is limited, and RV speed reducer and harmonic speed reducer have the advantage that obtains bigger reduction ratio in principle, but it is also the shortcoming that it can't accomplish small-size and little reduction ratio. In the traditional speed reducer, only the speed reducer with a worm gear structure has self-locking capability, and the self-locking capability can reduce the design of a brake retainer in the product design, so that the design is simplified, and the corresponding cost is reduced and controlled.
Therefore, the speed reducer which has the advantages of simple design structure, small size and flexible matching design of the reduction ratio can be realized in the prior art.
Disclosure of Invention
The invention aims to provide a forming design method of a speed reducer, and aims to solve the problem that the speed reducer which is simple in design structure, small in size and flexible in reduction ratio matching design cannot be achieved in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: a molding design method of a speed reducer comprises an outer gear ring, rollers and a driving shaft, wherein the outer gear ring is a stator, the driving shaft rotates and drives the rollers to rotate, the rollers revolve around the driving shaft, the contour line of the cross section of the driving shaft is an equal-width curve, and the molding design method of the speed reducer comprises the following steps:
determining a reduction ratio m, wherein m is an even number which is more than or equal to 4;
determining the parting number n of the equal-width curve, wherein n is an odd number and is larger than 1, determining the radius R of a circumscribed circle of a parting regular n-polygon of the equal-width curve, and drawing the parting regular n-polygon in the circumscribed circle to obtain the side length R of the parting regular n-polygon;
determining a radius Q of the roller;
in the same cross section, setting an included angle formed by the circle centers of two adjacent rollers and a point of the central axis of the driving shaft on the cross section as theta, establishing a plane rectangular coordinate system by taking the point of the central axis on the cross section as an origin, setting coordinates of points of a motion trajectory line of the circle centers of the rollers revolving around the driving shaft in the plane rectangular coordinate system as (X, Y), and setting coordinates of points of a tooth profile line of the outer gear ring in the plane rectangular coordinate system as (X, Y);
when the rotation direction of the revolution of the roller around the driving shaft is the same as the rotation direction of the rotation of the driving shaft, according to the formula:
Figure BDA0002584876800000021
Figure BDA0002584876800000022
X＝x+R*cos θ，
Y＝y+R*sin θ，
obtaining a tooth profile line of the outer gear ring;
when a rotation direction in which the roller revolves around the drive shaft is opposite to a rotation direction in which the drive shaft rotates, by the formula:
Figure BDA0002584876800000031
Figure BDA0002584876800000032
X＝x+R*cos θ，
Y＝y+R*sin θ，
and obtaining the tooth profile contour line of the outer gear ring.
Further, the molding design method of the speed reducer further comprises the following steps: and taking each vertex of the parting regular n-shaped polygon as a circle center as a parting circle with the radius of R, wherein the contour line of the overlapped part of each parting circle is the equal-width curve.
Further, when the rotation direction of the revolution of the roller around the drive shaft is the same as the rotation direction of the rotation of the drive shaft and when the roller rotates
Figure BDA0002584876800000033
Then x2+y2＝(R-r+Q)2(ii) a When the rotation direction of the roller revolving around the driving shaft is opposite to the rotation direction of the driving shaft rotating
Figure BDA0002584876800000034
Then x2+y2＝(R-r+Q)2。
Further, when n is constant and the volume of the reduction gear is constant, any one or any combination of Q, R, r is changed, the reduction gear ratio m can be changed, and the requirement of satisfying
Figure BDA0002584876800000035
Wherein T is the number of said rollers.
Further, the straight-line distance between the spherical centers of two adjacent rollers is L, and L is greater than 2Q.
Further, when the rotational direction in which the rollers revolve around the drive shaft is the same as the rotational direction in which the drive shaft rotates, the number of teeth of the outer ring gear is S, and S is (m-1) × n; when the rotation direction of the roller revolving around the drive shaft is opposite to the rotation direction of the drive shaft rotating, the number of teeth of the outer ring gear is S, and S is (1+ m) × n.
Furthermore, the speed reducer also comprises a grating element, the driving shaft, the grating element and the outer gear ring are sequentially and coaxially sleeved outwards, and grating grooves which are uniformly distributed in the circumferential direction and are used for accommodating the rollers are formed in the grating element; in the same cross section, making a first connection line between the center of the circumscribed circle and a point on the axial surface of the driving shaft, and taking the maximum distance value H of the first connection line1Making a second connection line between the center of the circumscribed circle and the addendum point of the external gear ring by using the minimum distance value H of the second connection line2The radius is taken as the outer circle of the grating and the center of the external circle is taken as the center of the circle; the grid part is positioned between the grid inner circle and the grid outer circle, and the thickness of the grid part is H3Then H is3＜H2-H1。
Further, the rollers are assembled by adopting steel balls; alternatively, the rollers are assembled using steel cylindrical rollers.
The invention has at least the following beneficial effects:
according to the forming design method of the speed reducer, two types of speed reducers with the same output direction and the reverse output direction are designed and manufactured, the two types of speed reducers are one type of planetary gear speed reducers, and the speed reducer has the remarkable characteristics of customizable reduction ratio, flexible size, low manufacturing cost and certain self-locking capacity, and compared with the speed reducer in the prior art, the speed reducer after being assembled has the leading capacity, and has the characteristics of high transmission efficiency, large transmission torque and high input rotating speed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions 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 based on these drawings without inventive exercise.
FIG. 1 is an assembly view of a reducer according to an embodiment of the present invention;
FIG. 2 is an exploded view of a reducer according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a speed reducer according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a profile molding structure of an outer gear ring of the speed reducer according to the embodiment of the invention;
FIG. 5 is a schematic diagram of the power principle of the reducer according to the embodiment of the present invention when the output rotation direction of the reducer is the same as the rotation direction of the driving runner;
FIG. 6 is a schematic diagram of the power principle of the reducer according to the embodiment of the present invention when the output rotation direction of the reducer is opposite to the rotation direction of the driving runner;
fig. 7 is a schematic structural diagram of the simplified outer ring gear of the speed reducer according to the embodiment of the present invention, which shows an outer gear profile.
Wherein, in the figures, the respective reference numerals:
10. an outer ring gear; 11. assembling the cavity; 12. an outer tooth; 13. an arc-shaped tooth socket; 20. a rolling grid assembly; 21. a grating element; 22. a roller; 212. a gate trench; 30. driving the rotating wheel; 31. an arc-shaped axial surface; 41. a first bearing; 42. a second bearing; 43. a baffle ring; 44. a snap ring; 101. a first motion limiting circle; 102. the second motion limits the circle.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 to 3, a speed reducer designed according to an embodiment of the present invention includes an outer ring gear 10, a grating member 21, rollers 22, and a driving runner 30, the grating member 21 and the rollers 22 constitute a modular rolling grating assembly 20, grating grooves 212 for accommodating the rollers 22 are uniformly arranged on the grating member 21 in a circumferential direction, the outer ring gear 10 is a stator and forms an assembly cavity 11, the driving runner 30, the rolling grating assembly 20, and the outer ring gear 10 are sequentially and coaxially sleeved outward and located in the assembly cavity 11, and then a first bearing 41 and a second bearing 42 are assembled at two ends of the grating member 21, outer rings of the first bearing 41 and the second bearing 42 are supported and fixed on the outer ring gear 10, a retainer ring 43 is used to stabilize the installation of the first bearing 41, and a retainer ring 44 is used to stabilize the installation of the second bearing 42, as shown in fig. 2. The drive rotor 30 rotates and drives the rollers 22 to rotate, and the rollers 22 revolve around the drive rotor 30. The contour of the cross section of the drive wheel 30 is a constant-width curve (constant-width curve means that a plane graph is placed between two parallel lines so that the curve is tangent to both of the parallel lines, and the plane graph is always tangent to both of the parallel lines regardless of how the plane graph moves in the plane, as long as it is also within the parallel lines, and the plane curve is a constant-width curve, and the distance between the parallel lines is referred to as the width of the constant-width curve).
Referring to fig. 4 in combination, the forming design method of the speed reducer provided by the invention comprises the following steps:
determining a reduction ratio m, wherein m is an even number which is more than or equal to 4; determining the parting number n of a uniform-width curve, wherein n is an odd number and is larger than 1, determining the radius R of a circumscribed circle of a parting regular n-polygon of the uniform-width curve, and drawing the parting regular n-polygon in the circumscribed circle to obtain the side length R of the parting regular n-polygon; the radius Q of the roller 22 is determined. In the process of designing the speed reducer, firstly, the above data must be determined in a customized manner according to actual needs: m, n, R and Q, and the plurality of rollers 22 on the grid member 21 are arranged, at this time, in the same cross section, an included angle formed by the circle centers of two adjacent rollers 22 and a point of the central axis of the driving wheel 30 on the cross section is set to be θ, and then design calculation is performed by using the above parameters.
In the calculation process, a plane rectangular coordinate system is established with a point of the central axis on the cross section as an origin, coordinates of a point of a motion trajectory line of the center of the roller 22 revolving around the driving runner 30 in the plane rectangular coordinate system are (X, Y), and coordinates of a point of a tooth profile line of the outer ring gear 10 in the plane rectangular coordinate system are (X, Y).
When the rotational direction in which the rollers 22 revolve around the drive rotor 30 is the same as the rotational direction in which the drive rotor 30 rotates, by the formula:
Figure BDA0002584876800000071
Figure BDA0002584876800000072
X＝x+R*cos θ，
Y＝y+R*sin θ，
and obtaining the tooth-shaped contour line of the outer gear ring 10 of the reducer with the same-direction output.
When the rotational direction in which the rollers 22 revolve around the drive rotor 30 is opposite to the rotational direction in which the drive rotor 30 rotates, by the formula:
Figure BDA0002584876800000073
Figure BDA0002584876800000074
X＝x+R*cos θ，
Y＝y+R*sin θ，
the tooth-shaped contour line of the outer gear ring 10 of the reducer with reverse output is obtained.
According to the forming design method of the speed reducer, two types of speed reducers with the same output direction and the reverse output direction are designed and manufactured, the two types of speed reducers are one type of planetary gear speed reducers, and the speed reducer has the remarkable characteristics of customizable reduction ratio, flexible size, low manufacturing cost and certain self-locking capacity, and compared with the speed reducer in the prior art, the speed reducer after being assembled has the leading capacity, and has the characteristics of high transmission efficiency, large transmission torque and high input rotating speed.
In the method for designing the shape of the speed reducer of the present invention, the contour of the driving runner 30 is determined by a graphical method, that is, a parting circle having a radius R is formed around each vertex of a parting regular n-polygon, and the contour line of the overlapping portion of each parting circle is an equal-width curve.
In the molding design method of the speed reducer, in order to further cooperate with the external gear ring 10 to push the grating element 21 to move, the grating element 21 realizes driving association with the driving rotating wheel 30 through the rollers 22, and the grating element 21 outputs power after reducing speed and increasing torque. In order to achieve a perfect driving ability of the driving wheel 30 for the grid element 21, it is necessary that all the rollers 22 have a good contact with the tread of the driving wheel 30, in order to transmit a stable driving torque at a stable rotational speed. Therefore, the equation of the motion trajectory of the roller 22 also needs to satisfy the following condition:
the rotation direction of the rollers 22 when revolving around the drive rotor 30 is the same as the rotation direction of the drive rotor 30 when rotating
Figure BDA0002584876800000081
Then x2+y2＝(R-r+Q)2(ii) a When the rotation direction of the rollers 22 revolving around the drive rotor 30 is opposite to the rotation direction of the drive rotor 30 rotating on its own axis
Figure BDA0002584876800000082
Then x2+y2＝(R-r+Q)2。
When the reducer is designed in combination with an application scene of the reducer in practical application, consideration needs to be given to, but not limited to, practical applicationThe size of the assembly space for assembling the reduction gear, the actually required reduction ratio, and the like, so that when n is constant and the volume of the reduction gear is constant, any one or any combination of Q, R, r is changed, the reduction ratio m can be changed according to the above equation for determining the tooth profile of the outer ring gear 10, and the reduction ratio m can be satisfied
Figure BDA0002584876800000083
Where T is the number of rollers 22.
For example, when the selection is determined to be m-8 and n-3, the number of rollers 22 is T-12, respectively.
For another example, when the size of the fitting space for mounting the reduction gear in practical use is determined, and it is determined that the reduction gear is designed and manufactured by the division number n, R, r is also a determined value as the size of the fitting space is determined to be constant, and the reduction ratio m can be arbitrarily selected, and according to the equation for determining the tooth profile of the outer ring gear 10, Q and m have a mutual influence relationship, and when Q is selected and determined, the reduction ratio m is accordingly determined (when a different Q value is used, the reduction ratio m of the reduction gear is accordingly changed). At this time, the reduction gear is designed and manufactured to satisfy the above-described design constraint.
In the actual design of the speed reducer of the present invention, in order to install the respective rollers 22 in the grating member 21, the grating grooves 212 must be formed so as to satisfy the design conditions: the straight distance between the centers of two adjacent rollers 22 is L, and L is greater than 2Q, that is, the interval connection part for retaining the bearing strength between the adjacent grid grooves 212 in the grid element 21.
After the reduction ratio m and the parting number n of the speed reducer designed by the invention are determined, the number of the external teeth 12 of the external gear ring 10 in the correspondingly designed speed reducer can be obtained. Namely: when the rotational direction in which the rollers 22 revolve around the drive rotor 30 is the same direction as the rotational direction in which the drive rotor 30 rotates, the number of the external teeth 12 of the outer ring gear 10 is S, and S is (m-1) × n; when the rotational direction in which the rollers 22 revolve around the drive rotor 30 is opposite to the rotational direction in which the drive rotor 30 rotates, the number of the external teeth 12 of the outer ring gear 10 is S, and S is (1+ m) × n.
For example, when the selection determines that m is 8 and n is 3: when the speed reducer is a speed reducer with the same output direction, the number S of the external teeth 12 is 21; when the reduction gear is a reverse output reduction gear, the number S of external teeth 12 becomes 27.
Further, a first line connecting the center of the circumscribed circle and a point on the axial plane of the driving rotor 30 is made in the same cross section, and the maximum distance value H of the first line is taken as the maximum distance value H1The radius is taken as the center of the circumscribed circle, the inner circle of the grating is taken as the center of the circumscribed circle, a second connecting line between the center of the circumscribed circle and the addendum point of the external gear ring 10 is taken, and the minimum distance value H of the second connecting line is taken2Is a radius and takes the center of an external circle as the center of a circle as the outer circle of the grating, the grating part 21 is positioned between the inner circle of the grating and the outer circle of the grating, and the thickness of the grating part 21 is H3Then H is3＜H2-H1. Therefore, the rolling grating component 20 is assembled in the assembly cavity 11, and the grating component 21, the outer gear ring 10 and the driving runner 30 do not generate the condition of motion interference, so that the normal and smooth work and operation of the speed reducer are ensured.
In the speed reducer of the present invention, the rollers 22 may be assembled using steel balls; alternatively, the rollers 22 may be assembled using steel cylindrical rollers. In order to ensure the power transmission stability of speed reduction and torque increase of the speed reducer and improve the motion load strength of the speed reducer, the speed reducer of the invention is preferably generally assembled by cylindrical rollers made of steel.
In the working process of the designed and assembled speed reducer, external power is input by the driving rotating wheel 30, and the driving rotating wheel 30 rotates (namely, the sun wheel rotates). Since each roller 22 is in tangential contact with the arcuate axial surface 31 of the drive rotor 30, each roller 22 also rotates (i.e. each planet spins) under the influence of friction.
Since the cross-sectional profile of the tread of the driving wheel 30 is a curve with equal width (i.e. the distances from different points on the tread to the central axis of the driving wheel 30 are unequal), during the driving wheel 30 drives each roller 22 to rotate simultaneously, the driving wheel 30 applies a force F1 to the corresponding roller 22 to push the corresponding roller 22 to move away in the radial direction (and also the corresponding roller 22 to move close in the radial direction), as shown in fig. 4 and 5, the range of the reciprocating movement of each roller in the radial direction is limited between the first movement limiting circle 101 and the second movement limiting circle 102. As shown in fig. 5, when the driving wheel 30 pushes the rollers 22 away from each other in the radial direction to abut against the groove walls of the arc-shaped tooth grooves 13, the rollers 22 are subjected to a reaction force F2, and a resultant force F3 of the reaction force F1 and the reaction force F2 is a driving force for the driving rollers 22 to revolve around the driving wheel 30 (the planetary wheel revolves around the sun wheel). The resultant force F3 acts on the grating 21 to form a driving force F3 '(F3 ═ F3') to drive the grating 21 to rotate and output outwards. As shown in fig. 5, the output rotation direction of the grating member 21 is the same as the rotation direction of the driving runner 30 (i.e., the same-direction output speed reducer).
Since the cross-sectional profile of the tread of the driving wheel 30 is a curve with equal width (i.e. the distances from different points on the tread to the central axis of the driving wheel 30 are unequal), during the driving wheel 30 drives each roller 22 to rotate simultaneously, the driving wheel 30 applies a force Δ F1 to the corresponding roller 22 to push the corresponding roller 22 to move away in the radial direction (and also the corresponding roller 22 to move close in the radial direction), as shown in fig. 4 and 6, the range of the reciprocating movement of each roller in the radial direction is limited between the first movement limiting circle 101 and the second movement limiting circle 102. As shown in fig. 6, when the driving wheel 30 pushes the rollers 22 away from each other in the radial direction to abut against the groove walls of the arc-shaped tooth grooves 13, the rollers 22 are subjected to a reaction force Δ F2, and a resultant force Δ F3 of the reaction force Δ F1 and the reaction force Δ F2 is a driving force for the driving rollers 22 to revolve around the driving wheel 30 (the planetary wheel revolves around the sun wheel). The resultant force delta F3 acts on the grating piece 21 to form a driving force delta F3'
(Δ F3 ═ Δ F3') to drive the grating element 21 in rotation and output. As shown in fig. 6, the output rotation direction of the grating member 21 is opposite to the rotation direction of the driving runner 30 (i.e., a reducer with reverse output).
The invention satisfies the above formula design conditions, and can obtain a stable profile curve of the outer gear ring 10 of the speed reducer (i.e. the tooth profile contour line of the outer gear ring 10). In addition, when the reduction gear does not require an accurate reduction ratio, a 45 ° tangent line can be used in place of the profile curve of the outer ring gear 10 in a simplified manner, and a schematic structural view of the tooth profile of the simplified outer teeth 12 is shown in fig. 7. That is, after the tooth profile line of the external tooth 12 of the external gear ring 10 of the equidirectional output speed reducer is obtained by applying the above formula, when the die sinking is performed, the middle point of the profile line of the arc-shaped tooth groove 13 is connected with the central point of the driving runner 30, then the profile curve of the external gear ring 10 is replaced by a 45 ° tangent, and the two tangents of the same arc-shaped tooth groove 13 are connected in a tangent manner by using an arc, so that the simplified tooth profile line of the external tooth 12 is obtained. By using the method, the manufacturing complexity can be further reduced, but the speed reducer designed and manufactured by the method has larger vibration and noise in the working process, so that the speed reducer is suitable for some low-precision use occasions.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. A molding design method of a speed reducer is characterized by comprising an outer gear ring, rollers and a driving shaft, wherein the outer gear ring is a stator, the driving shaft rotates and drives the rollers to rotate, the rollers revolve around the driving shaft, the contour line of the cross section of the driving shaft is an equal-width curve, and the molding design method of the speed reducer comprises the following steps:
determining a reduction ratio m, wherein m is an even number which is more than or equal to 4;
determining the parting number n of the equal-width curve, wherein n is an odd number and is larger than 1, determining the radius R of a circumscribed circle of a parting regular n-polygon of the equal-width curve, and drawing the parting regular n-polygon in the circumscribed circle to obtain the side length R of the parting regular n-polygon;
determining a radius Q of the roller;
in the same cross section, setting an included angle formed by the circle centers of two adjacent rollers and a point of the central axis of the driving shaft on the cross section as theta, establishing a plane rectangular coordinate system by taking the point of the central axis on the cross section as an origin, setting coordinates of points of a motion trajectory line of the circle centers of the rollers revolving around the driving shaft in the plane rectangular coordinate system as (X, Y), and setting coordinates of points of a tooth profile line of the outer gear ring in the plane rectangular coordinate system as (X, Y);
when the rotation direction of the revolution of the roller around the driving shaft is the same as the rotation direction of the rotation of the driving shaft, according to the formula:
Figure FDA0002939304650000011
Figure FDA0002939304650000012
X＝x+R*cosθ，
Y＝y+R*sinθ，
obtaining the tooth-shaped contour line;
when a rotation direction in which the roller revolves around the drive shaft is opposite to a rotation direction in which the drive shaft rotates, by the formula:
Figure FDA0002939304650000021
Figure FDA0002939304650000022
X＝x+R*cosθ，
Y＝y+R*sinθ，
and obtaining the tooth-shaped contour line.
2. The molding design method of a speed reducer according to claim 1,
the molding design method of the speed reducer further comprises the following steps:
and taking each vertex of the parting regular n-shaped polygon as a circle center to serve as a parting circle with the radius of R, wherein the contour line of the overlapped part of each parting circle is the equal-width curve.
3. The molding design method of a speed reducer according to claim 1,
when the rotation direction of the roller revolving around the driving shaft is the same as the rotation direction of the driving shaft rotating
Figure FDA0002939304650000023
Then x2+y2＝(R-r+Q)2；
When the rotation direction of the roller revolving around the driving shaft is opposite to the rotation direction of the driving shaft rotating
Figure FDA0002939304650000024
Then x2+y2＝(R-r+Q)2。
4. The molding design method of speed reducer according to claim 1, wherein when n is constant and the volume of the speed reducer is constant, Q, R, r is changed to change the reduction ratio m and satisfy
Figure FDA0002939304650000025
Wherein T is the number of said rollers.
5. The molding design method of a speed reducer according to claim 4,
and the straight line distance between the spherical centers of two adjacent rollers is L, and L is more than 2Q.
6. The molding design method of a speed reducer according to claim 1,
when the rotation direction of the revolution of the roller around the driving shaft is the same as the rotation direction of the rotation of the driving shaft, the number of teeth of the outer gear ring is S, and S is (m-1) n;
when the rotation direction of the roller revolving around the drive shaft is opposite to the rotation direction of the drive shaft rotating, the number of teeth of the outer ring gear is S, and S is (1+ m) × n.
7. The molding design method of the speed reducer according to claim 1, wherein the speed reducer further comprises a grid element, the driving shaft, the grid element and the outer gear ring are sequentially and coaxially sleeved outwards, and grid grooves which are uniformly distributed in the circumferential direction and are used for accommodating the rollers are formed in the grid element;
in the same cross section, making a first connection line between the center of the circumscribed circle and a point on the axial surface of the driving shaft, and taking the maximum distance value H of the first connection line1Making a second connection line between the center of the circumscribed circle and the addendum point of the external gear ring by using the minimum distance value H of the second connection line2The radius is taken as the outer circle of the grating and the center of the external circle is taken as the center of the circle;
the grid part is positioned between the grid inner circle and the grid outer circle, and the thickness of the grid part is H3Then H is3＜H2-H1。
8. The molding design method of a speed reducer according to any one of claims 1 to 7,
the rollers are assembled by steel balls;
alternatively, the rollers are assembled using steel cylindrical rollers.
CN202010678263.3A 2020-07-15 2020-07-15 Forming design method of speed reducer Active CN111895058B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010678263.3A CN111895058B (en) 2020-07-15 2020-07-15 Forming design method of speed reducer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010678263.3A CN111895058B (en) 2020-07-15 2020-07-15 Forming design method of speed reducer

Publications (2)

Publication Number Publication Date
CN111895058A CN111895058A (en) 2020-11-06
CN111895058B true CN111895058B (en) 2021-04-09

Family

ID=73191253

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010678263.3A Active CN111895058B (en) 2020-07-15 2020-07-15 Forming design method of speed reducer

Country Status (1)

Country Link
CN (1) CN111895058B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023148139A (en) * 2022-03-30 2023-10-13 住友重機械工業株式会社 power transmission device

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5275150B2 (en) * 2009-06-23 2013-08-28 株式会社ハーモニック・ドライブ・システムズ Wave gear device
WO2014060974A1 (en) * 2012-10-18 2014-04-24 Tq-Systems Gmbh Tooth geometries for a harmonic pin ring drive
CN103410952A (en) * 2013-08-21 2013-11-27 湖南恒至凿岩科技有限公司 High-level elliptic swing movable tooth transmission device
TWI558935B (en) * 2015-07-07 2016-11-21 Prodrives & Motions Co Ltd A gear reducer with a self-locking function, a cam profile and a socket profile forming method, and a compound reduction gear
TWI596288B (en) * 2016-05-03 2017-08-21 Prodrives & Motions Co Ltd Compound reducer
CN107882950B (en) * 2017-10-27 2020-05-22 苏州聚隆启帆精密传动有限公司 Harmonic-driven involute tooth profile modification method

Also Published As

Publication number Publication date
CN111895058A (en) 2020-11-06

Similar Documents

Publication Publication Date Title
US4829851A (en) Gearless differential speed reducer structure
EP3079934B1 (en) Compact integrated motor-gear drive unit with cycloidal reduction and device incorporating this unit
KR100988215B1 (en) Harmonic drive using profile shifted gear
US5707310A (en) Internal planetary gear device
US10174810B2 (en) Curved bearing contact system
CN108468758B (en) Speed reducer
CN113309842B (en) Cycloidal pin gear harmonic speed reducer
JP2023554689A (en) Gear pairs and nutation reducers
CN111895058B (en) Forming design method of speed reducer
JPH0627532B2 (en) Planetary gearbox
US11168764B2 (en) Planetary gearbox and associated robot joint and robot
CN110374991B (en) Double-wave-line ball speed reducing bearing with high rotation precision
TW201305465A (en) Transmission mechanism having eccentric cam assemblies
CN210265711U (en) Cycloidal gear speed reducer
WO2023116409A1 (en) Nutation gear reducer
TWI548823B (en) Deceleration machine
CN111895059B (en) Forming design method of speed reducer
CN212928677U (en) Transmission mechanism
CN210461387U (en) Double-wave-line ball reduction bearing with high rotation precision
CN212928684U (en) Speed reducer and power output equipment with same
CN211951390U (en) Cycloid pin gear speed reducer with cycloid gear axial supporting function
CN210769832U (en) Double-wave-line speed reduction bearing with high bearing capacity
CN111237400A (en) Double-spherical surface cycloid roller nutation transmission device
CN111022588A (en) Differential cycloidal gear speed change device
JP2017141910A (en) Transmission device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant