CN112377572B - Multistage gear drive structure - Google Patents

Multistage gear drive structure Download PDF

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Publication number
CN112377572B
CN112377572B CN202011394477.4A CN202011394477A CN112377572B CN 112377572 B CN112377572 B CN 112377572B CN 202011394477 A CN202011394477 A CN 202011394477A CN 112377572 B CN112377572 B CN 112377572B
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Prior art keywords
gear
output
input
stage
eccentric
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CN112377572A (en
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陈晔
程议
贾天玖
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Fujian Sipu Measurement Technology Co ltd
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Fujian Sipu Measurement Technology Co ltd
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/02Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F16H1/22Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H55/00Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02Toothed members; Worms
    • F16H55/08Profiling
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H55/00Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02Toothed members; Worms
    • F16H55/17Toothed wheels

Abstract

The invention discloses a multi-stage gear transmission structure, which belongs to the field of speed reducers and comprises more than two stages of transmission mechanisms, wherein each stage of transmission mechanism comprises an input assembly and an output assembly, the output assemblies comprise output gears and more than two output eccentric wheels which are uniformly distributed in the circumferential direction of the output gears and are attached to the output gears, and the central shaft of the output gear of the previous stage of transmission mechanism is connected with the input assembly of the next transmission mechanism in a rigid shaft mode. The invention has the beneficial effects that: the cooperation of utilizing between the gear more than the two-stage, not restricted by tooth number diameter relation, can also keep self size can not synchronous grow under the circumstances that realizes big drive ratio, reach the driven purpose of high power, also can make the robot satisfy multistage transmission simultaneously and keep the characteristics that self structure will be little and will be light.

Description

Multistage gear drive structure
Technical Field
The invention relates to the field of speed reducers, in particular to a multi-stage gear transmission structure.
Background
The mechanical technology of the machine has been developed for hundreds of years, various transmission modes are abundant, the gear transmission of pure machinery is more perfect, and the mature solutions can be found according to almost various mechanical design requirements, but the gear multi-stage transmission type reducer is rapidly developed in the last ten years and is predicted to be in the ubiquitous robot market in the future, the traditional gear multi-stage transmission type reducer is in a marginal position, and most market requirements are occupied by the high-price and expensive RV reducer and the harmonic reducer. This is that self characteristic of present gear drive leads to itself, and if the gear will reach than higher transmission ratio speed reduction proportion usually, the driven wheel of drive wheel must accord with the multiple relation of diameter number of teeth, and the conventional structure of gear requires the minimum number of teeth of gear must satisfy a definite value, leads to driven wheel number of teeth diameter too big, and the speed reducer that again or adopt multistage cascade mode to make is comparatively heavy, can't satisfy the robot and slow down the extra requirement that self structure will be little and will light etc..
Disclosure of Invention
Aiming at the problems that the gear transmission structure of the speed reducer in the prior art has to meet the multiple relation of diameter and tooth number when the speed reducer needs to reach a higher transmission ratio, the diameter of the tooth number of a driven wheel is overlarge, the structure of a multi-stage cascade speed reducer is heavy, and the like, the invention provides the multi-stage gear transmission structure. The specific technical scheme is as follows:
the utility model provides a multistage gear drive structure, includes the drive mechanism more than the two-stage, and every grade of drive mechanism all includes an input component and an output assembly, just output assembly includes output gear and evenly distributed output gear circumferencial direction and with two more than output gear laminating output gear's output eccentric wheel, last one-level drive mechanism's output gear center pin with next drive mechanism input assembly rigid shaft is connected.
The multi-stage transmission device adopts more than two stages of transmission mechanisms, each stage of transmission mechanism comprises an input assembly and an output assembly, the output assembly comprises an output gear and an output eccentric wheel, the output eccentric wheel drives the output gear to rotate during operation, and then the output gear drives the next stage of input eccentric wheel to rotate, so that the aim of multi-stage transmission speed reduction is fulfilled.
Preferably, the input assembly comprises an input eccentric wheel and more than two input gears which are uniformly distributed in the circumferential direction of the input eccentric wheel and fit with the outer circumferential profile of the input eccentric wheel, and each input gear central shaft is rigidly and coaxially connected with one output eccentric wheel central shaft; and the central shaft of the output gear of the transmission mechanism at the previous stage is connected with the central shaft of the input eccentric wheel of the transmission mechanism at the next time in a rigid shaft mode.
Preferably, any point M (x) in the eccentric profile curve of the output geart,yt) The following formula is satisfied:
wherein, the center of the output gear is the origin, t is (0, 2N)1π]N1 is the number of output gear teeth, N1 is an integer greater than 1, A is the axle center distance of two wheels, and B1 is the eccentricity of the output eccentric wheel.
Preferably, the profile curve of the output gear is obtained by taking an equidistant curve with the radius of the output eccentric wheel from the inner side of the profile curve of the output gear.
The output gear designed by the formula has the advantages that the transmission ratio of the output gear to the output eccentric wheel is not limited by the diameter, so that a designer can arrange the installation space more reasonably and effectively, and compared with the traditional gear, the number of gears which can be attached to the periphery of the central gear is limited due to the limitation of the diameter relation of the traditional gear, and more gears can be attached to the periphery of the central gear of the gear designed by the invention. During operation, when the output eccentric wheel rotates for one circle, the output gear rotates for 1/N1 circles, and the purpose of speed reduction transmission is achieved.
Preferably, N1 output eccentric wheels are uniformly distributed in the circumferential direction of the output gear.
Preferably, when the number of the output gear teeth N1 is even, N1/2 output eccentric wheels are uniformly distributed in the circumferential direction of the output gear.
Preferably, when the number of the output gear teeth N1 is odd, the output gear is uniformly distributed with (N1+1)/2 or (N1-1)/2 output eccentric wheels in the circumferential direction.
Preferably, 4-8 output eccentric wheels are uniformly distributed in the circumferential direction of the output gear.
Preferably, 6 output eccentric wheels are uniformly distributed in the circumferential direction of the output gear.
Preferably, the number of teeth N1 of the output gear is 3-21 teeth.
Preferably, the number of teeth N1 of the output gear is 4-8 teeth.
Preferably, the number of teeth of the output gear of each stage of the transmission mechanism is equal.
Preferably, the number of teeth N1 of the output gear is 8 teeth.
Preferably, each stage of the transmission mechanism further comprises a mounting disc, and the input assembly and the output assembly are respectively mounted on two corresponding side faces of the mounting disc.
Preferably, the output assembly comprises an output gear set formed by overlapping W1 output gears with a central shaft and more than two groups of output eccentric gear sets uniformly distributed in the circumferential direction of the output gear set, each group of output eccentric gear sets is formed by rigidly and coaxially connecting W1 output eccentric gears, and W1 is an integer greater than or equal to 2;
and each layer of output eccentric wheel in the output eccentric wheel set is uniformly distributed in the outer circumferential direction of the output gear of the corresponding layer in the output gear set and is attached to the outer circumferential profile of the output gear of the corresponding layer.
Preferably, the number of output gears W1 in the output gear set is 3-6.
Preferably, the number of output gears W1 in the output gear set is 4.
The output gear set formed by overlapping a plurality of output gears is adopted for transmission, so that the transmission stability between the output eccentric gear set and the output gear set can be greatly improved, the stable and smooth transmission of the output eccentric gear set to the output gear set is realized, and the continuity stability and the continuity of inter-tooth switching during transmission are enhanced.
Preferably, the position of the output gear set in the circumferential direction of the output gear positioned below from top to bottom is such that the output gear positioned above rotates clockwise around a central shaftAnd obtaining the compound.
Preferably, the position of the output gear set in the circumferential direction of the output gear positioned below from top to bottom is that the output gear positioned above rotates anticlockwise around a central shaftAnd obtaining the compound.
Preferably, any point M in the eccentric profile curve of the input gear2(xt,yt) The following formula is satisfied:
wherein, the input gear center is the origin, t ═ 0, 2N2π]N2 is the number of teeth of the input gear, N2 is an integer greater than 1, A is the axle center distance of two wheels, and B2 is the eccentricity of the input eccentric wheel.
Preferably, the input gear profile curve is obtained by taking an equidistant curve inward from the eccentric profile curve of the input gear by the radius of the input eccentric.
Preferably, the input gear tooth count N2 is 3-21 teeth.
Preferably, the input gear tooth count N2 is 4-8 teeth.
Preferably, the input gear tooth number N2 is 8 teeth.
Preferably, the input gear tooth number N2 is equal to the output gear tooth number N1.
Preferably, the number of teeth of the input gear of each stage of the transmission is equal.
Preferably, the number of teeth N2 of the input gear is 8 teeth.
Preferably, the input assembly comprises an input eccentric wheel set formed by overlapping W2 input eccentric wheels with a central shaft and more than two groups of input gear sets uniformly distributed in the circumferential direction of the input eccentric wheel set, each group of input gear sets is formed by coaxially connecting W2 input eccentric wheel sets, and W2 is an integer greater than or equal to 2;
and each layer of input gears in the input gear set are uniformly distributed in the direction of the outer circumference of the input eccentric wheel of the corresponding layer in the input eccentric wheel set and are attached to the outer circumference profile of the input eccentric wheel of the corresponding layer.
Preferably, the number of the input eccentric wheels W2 in the input eccentric wheel set is 3-6.
Preferably, the number W2 of the input eccentrics in the input eccentric wheel set is 4.
Preferably, the input gear set is located at a position in the circumferential direction of the input gear located below from top to bottom, and the input gear located above rotates clockwise around a central shaftAnd obtaining the compound.
Preferably, the circumferential position of the input gear positioned below the input gear set from top to bottom is that the input gear positioned above rotates counterclockwise around a central shaftAnd obtaining the compound.
Preferably, the transmission structure comprises two stages of transmission mechanisms, the number of teeth of output gears of the two stages of transmission mechanisms is 4-8 teeth and 4-8 teeth, and the number of teeth of input gears of the two stages of transmission mechanisms is 4-8 teeth and 4-8 teeth.
Preferably, each input eccentric wheel on the input eccentric wheel set consists of an input eccentric wheel main body and a rolling bearing sleeved on the periphery of the input eccentric wheel main body, and the outer diameter of the rolling bearing is equal to the diameter of the input eccentric wheel.
Has the advantages that:
the technical scheme of the invention has the following beneficial effects:
(1) by adopting the multi-stage gear transmission structure, in the process of contacting the output eccentric wheel with the corresponding gear of the output gear, the output eccentric wheel rotates for 1/N1 circles when rotating for one circle, and then the output eccentric wheel shifts the next gear on the output gear, thereby achieving the purpose of speed reduction transmission. In a similar way, every time the input eccentric wheel rotates for one circle, the corresponding tooth of the corresponding input gear rotates for 1/N2 circles, and therefore the purpose of speed reduction transmission is achieved.
(2) The output gear set formed by overlapping a plurality of output gears is adopted for transmission, the contact parts of the concave-convex edges of the output gears on different layers in the same output gear set and the corresponding output eccentric wheels are different, the transmission stability between the output eccentric wheel set and the output gear set is greatly improved, and the stable and smooth transmission of the output gear set by the output eccentric wheel set is realized.
(3) The input eccentric wheel divergently drives the input gear to form a stable single-stage driving structure, then the output eccentric wheel is gathered again through the input gear and drives back inwards to drive the output gear to rotate, a complete two-stage transmission driving structure is formed, and the whole transmission process of the speed reducer with a large transmission ratio is completed through two transmissions.
(4) The diameter of the driving gear and the driven gear of the speed reducer obtained by adopting the gear transmission structure can be approximately the same, and when one driving wheel transmits N times of gears, the periphery of the driving wheel can simultaneously drive a plurality of N times of gears in a surrounding manner, so that the problem that when the traditional single-stage transmission gear with a gear ratio is transmitted, a single gear cannot simultaneously drive a plurality of large gears on the same plane due to insufficient space around the driving gear is solved; and when the diameter size of the driving gear is approximately the same as that of the driven gear, compared with the speed reducer manufactured by the traditional gear transmission, more occupied space can be reduced, and the requirements of smaller and lighter machines are met.
(5) The structure of the input eccentric wheel and the structure of the output eccentric wheel are extremely simplified, the structure of the input eccentric wheel and the structure of the output eccentric wheel are eccentric wheels, the processing precision and the strength cost can be well controlled, and the processing problem equal to half of the processing problem in a transmission structure is solved.
(6) The output gear and the input gear are of a polygonal structure with concave edges, are completely different from the existing gear tooth structure in shape, can be directly processed by wire cutting and slow-moving wires, are low in manufacturing cost, are matched with an eccentric driving wheel complete structure with a simple structure, and can be manufactured under the condition of low cost, so that the manufactured speed reducer has a proper economic value.
(7) The input eccentric and the output eccentric are circular and can be seen as only one tooth, and in order to realize continuous and continuous rotation driving of the output gear and the input gear, a multi-layer overlapping structure is required.
(8) The transmission between the output eccentric wheel and the output gear and the transmission between the input gear and the input eccentric wheel are rolling friction instead of sliding friction, and the transmission efficiency and precision are further improved and the damage to the driving wheel is reduced through rubbing transmission.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a perspective view of a preferred input assembly of the present invention;
FIG. 2 is a perspective view of a preferred input assembly of the present invention;
FIG. 3 is a perspective view of a preferred output assembly of the present invention;
FIG. 4 is a schematic diagram of the eccentric profile of the preferred output gear of the present invention;
FIG. 5 is a schematic diagram of the eccentric profile of the preferred input gear of the present invention;
FIG. 6 is a schematic diagram of a preferred 3-fold transmission reduction structure of the present invention;
FIG. 7 is a schematic diagram of a preferred 4-fold transmission speed reduction structure of the present invention;
FIG. 8 is a schematic diagram of a preferred 5-fold transmission speed reduction structure of the present invention;
FIG. 9 is a schematic diagram of a preferred 6-fold transmission speed reduction structure of the present invention;
FIG. 10 is a schematic diagram of a preferred 8-fold transmission reduction structure of the present invention;
FIG. 11 is a schematic view of a preferred 10-fold transmission reduction structure of the present invention;
FIG. 12 is a schematic diagram of the preferred 14 times transmission reduction structure of the present invention;
FIG. 13 is a schematic view of a preferred input assembly of the present invention including 2 input gears;
FIG. 14 is a schematic view of a preferred input assembly of the present invention including 3 input gears;
FIG. 15 is a schematic view of a preferred input assembly of the present invention including 4 input gears;
FIG. 16 is a schematic view of a preferred input assembly of the present invention including 5 input gears;
FIG. 17 is a schematic view of a preferred input assembly of the present invention including 6 input gears;
FIG. 18 is a schematic view of a preferred input assembly of the present invention including 7 input gears;
FIG. 19 is a schematic view of a preferred input assembly of the present invention including 8 input gears;
FIG. 20 is a schematic view of a preferred input assembly of the present invention including 9 input gears;
FIG. 21 is a schematic view of a preferred input assembly of the present invention including 10 input gears.
In the figure: 1. an input component; 11. inputting an eccentric wheel set; 12. an input gear set; 101. inputting an eccentric wheel; 102. an input gear; 103. an input gear eccentric profile curve; 104. inputting a gear profile curve;
111. inputting an eccentric wheel main body; 112. a rolling bearing; 2. an output component; 21. an output gear set;
22. an output eccentric wheel set; 201. an output gear; 202. an output eccentric wheel; 203. an output gear eccentric profile curve; 204. outputting a gear profile curve; 3. and (7) mounting a disc.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1 to 3, a multi-stage gear transmission structure includes more than two stages of transmission mechanisms, each stage of transmission mechanism includes an input assembly 1 and an output assembly 2, and the output assembly 2 includes an output gear 201 and more than two output eccentric wheels 202 uniformly distributed in the circumferential direction of the output gear and attached to the output gear, and the central shaft of the output gear 201 of the previous stage of transmission mechanism is connected with the input assembly 1 of the next transmission mechanism in a rigid shaft.
The multi-stage transmission device adopts more than two stages of transmission mechanisms, each stage of transmission mechanism comprises an input assembly 1 and an output assembly 2, wherein the output assembly 2 comprises an output gear 201 and an output eccentric wheel 202, and during operation, the output eccentric wheel 202 drives the output gear 201 to rotate, and then the output gear 201 drives the next stage of input eccentric wheel 101 to rotate, so that the aim of multi-stage transmission and speed reduction is fulfilled.
As a preferred embodiment, the input assembly 1 comprises an input eccentric 101 and more than two input gears 102 uniformly distributed in the circumferential direction of the input eccentric and conforming to the outer circumferential profile of the input eccentric 101, wherein the central shaft of each input gear 102 is rigidly and coaxially connected with the central shaft of one output eccentric 202; the central shaft of the output gear 201 of the previous transmission mechanism is connected with the central shaft of the input eccentric wheel 101 of the next transmission mechanism in a rigid shaft mode.
As shown in FIG. 4, as a preferred embodiment, any point M (x) in the eccentric profile curve 203 of the output geart,yt) The following formula is satisfied:
where the center of the output gear 201 is the origin, and t is (0, 2N)1π]N1 is the number of teeth of the output gear 201, N1 is an integer greater than 1, a is the axial distance of two wheels, and B1 is the eccentricity of the output eccentric 202.
In a preferred embodiment, the output gear profile curve 204 is obtained by the output gear eccentric profile curve 204 being spaced inward by an equidistant curve of the output eccentric radius R1.
According to the output gear 201 designed by the formula, the transmission ratio of the output gear 201 to the output eccentric wheel is not limited by the diameter, so that a designer can arrange the installation space more reasonably and effectively, and compared with the traditional gear, the number of gears which can be attached to the periphery of the central gear is limited due to the fact that the traditional gear is limited by the diameter relation, and more gears can be attached to the periphery of the central gear of the gear designed by the invention. In operation, when the output eccentric wheel 202 rotates for one circle, the output gear 201 rotates for 1/N1 circles, and the purpose of speed reduction transmission is achieved.
As a preferred embodiment, N1 output eccentrics 202 are uniformly distributed in the circumferential direction of the output gear 201.
In a preferred embodiment, when the number of teeth N1 of the output gear 201 is even, N1/2 output eccentrics 202 are uniformly distributed in the circumferential direction of the output gear 201.
In a preferred embodiment, when the number of teeth N1 of the output gear 201 is odd, the output gear 201 has (N1+1)/2 or (N1-1)/2 output eccentrics 202 uniformly distributed in the circumferential direction.
In a preferred embodiment, 4-8 output eccentric wheels 202 are uniformly distributed on the output gear 201 in the circumferential direction.
In a preferred embodiment, 6 output eccentric wheels 202 are uniformly distributed on the output gear 201 in the circumferential direction.
In a preferred embodiment, the number of teeth N1 of the output gear 201 is 3-21.
In a preferred embodiment, the number of teeth N1 of the output gear 201 is 4-8.
In a preferred embodiment, the output gear 201 of each stage has the same number of teeth.
In a preferred embodiment, the number of teeth N1 of the output gear 201 is 8.
In the process of operation, it is found that the transmission efficiency is relatively good when the number of teeth N1 of the output gear 201 is 8.
In a preferred embodiment, each stage of the transmission mechanism further comprises a mounting plate 3, and the input assembly 1 and the output assembly 2 are respectively mounted on two sides of the corresponding mounting plate 3.
As a preferred embodiment, the output assembly 2 comprises an output gear set 21 formed by superposing W1 output gears 201 with a central shaft and more than two groups of output eccentric wheel sets 22 uniformly distributed in the circumferential direction of the output gear set 21, each group of output eccentric wheel sets 22 is formed by rigidly and coaxially connecting W1 output eccentric wheels 202, and W1 is an integer greater than or equal to 2;
each layer of output eccentric wheel 202 in the output eccentric wheel set 22 is uniformly distributed in the outer circumferential direction of the output gear 201 of the corresponding layer in the output gear set 21 and is attached to the outer circumferential profile of the output gear 201 of the corresponding layer.
In a preferred embodiment, the number of output gears 201 in the output gear set 21, W1, is 3-6.
In a preferred embodiment, the number W1 of the output gears 201 in the output gear set 21 is 4.
In the test process, when the number W1 of the output gears 201 in the output gear set 21 is 4, the transmission stability is better.
Adopt the output gear set 21 that a plurality of output gears 201 coincide to constitute to transmit, can improve the transmission stability between output eccentric wheelset 22 and the output gear set 21 greatly to realize output eccentric wheelset 22 and to output gear set 21's stable smooth and easy transmission, the continuity stability continuity of intertooth space switching when reinforcing the transmission.
In a preferred embodiment, the output gear set 21 is arranged such that the output gear 201 located above rotates clockwise around the central axis from the upper to the lower position in the circumferential direction of the output gear 201 located belowAnd obtaining the compound.
In a preferred embodiment, the output gear set 21 is arranged such that the output gear 201 located above rotates counterclockwise around the central axis from the upper to the lower position in the circumferential direction of the output gear 201 located belowAnd obtaining the compound.
As shown in FIG. 5, as a preferred embodiment, any point M in the eccentric profile curve 103 of the input gear2(xt,yt) The following formula is satisfied:
where the center of the input gear 102 is the origin, and t is (0, 2N)2π]N2 is the number of teeth of the input gear 102, N2 is an integer greater than 1, a is the axial distance of two wheels, and B2 is the eccentricity of the input eccentric 101.
In a preferred embodiment, the input gear profile 104 is the eccentric profile 103 of the input gear that is spaced inward from the equidistant curve of radius R3 of the input eccentric 101.
As shown in fig. 13-21, N2 input gears 102 are uniformly distributed in the circumferential direction of the input eccentric 101 as a preferred embodiment.
As shown in fig. 6 to 12, the number of teeth N2 of the input gear 102 is 3 to 21 as a preferred embodiment.
In a preferred embodiment, the number of teeth N2 of the input gear 102 is 4-8.
In a preferred embodiment, the number of teeth N2 of the input gear 102 is 8.
In a preferred embodiment, the number of teeth N2 of the input gear 102 is equal to the number of teeth N1 of the output gear 201.
In a preferred embodiment, the number of teeth on the input gear 102 is equal for each stage.
In a preferred embodiment, the number of teeth N2 of the input gear 102 is 8.
As a preferred embodiment, the input assembly 1 comprises an input eccentric wheel set 11 formed by overlapping W2 input eccentric wheels 101 with a central shaft, and more than two groups of input gears 102 uniformly distributed in the circumferential direction of the input eccentric wheel set 11, wherein each group of input gears 102 is formed by coaxially connecting W2 input eccentric wheel sets, and W2 is an integer greater than or equal to 2;
each layer of input gears in the input gear set are uniformly distributed in the outer circumferential direction of the input eccentric wheel 101 of the corresponding layer in the input eccentric wheel set and are attached to the outer circumferential profile of the input eccentric wheel 101 of the corresponding layer.
In a preferred embodiment, the number W2 of the input eccentrics 101 in the input eccentric wheel set 11 is 3-6.
In a preferred embodiment, the number W2 of input eccentrics 101 in the input eccentric wheel set 11 is 4.
In a preferred embodiment, the input gear set 12 is positioned circumferentially around the lower input gear 102 from top to bottom such that the upper input gear 102 rotates clockwise about a central axisAnd obtaining the compound.
In a preferred embodiment, the input gear set 12 is positioned circumferentially around the lower input gear 102 from top to bottom such that the upper input gear 102 rotates counterclockwise about a central axisAnd obtaining the compound.
In a preferred embodiment, the transmission structure comprises a two-stage transmission, the number of teeth of the output gear 201 of the two-stage transmission is 4-8 and 4-8, respectively, and the number of teeth of the input gear 102 of the two-stage transmission is 4-8 and 4-8, respectively.
In a preferred embodiment, each input eccentric 101 of the input eccentric wheel set 11 is composed of an input eccentric wheel main body 111 and a rolling bearing 112 disposed around the input eccentric wheel main body 111, and the outer diameter of the rolling bearing 112 is equal to the diameter of the input eccentric 101.
The rolling bearing can reduce friction loss and has better transmission effect.
As shown in fig. 6-12, for the input assembly 1 with the input gear 102 having 3, 4, 5, 6, 8, 10, 14 teeth, each input gear 102 rotates 1/N2 cycles per rotation of the input eccentric, so that when the input gear 102 has 3, 4, 5, 6, 8, 10, 14 teeth, the input eccentric rotates one cycle, and the input gear 102 rotates 1/2, 1/3, 1/4, 1/5, 1/6, 1/8, 1/10, or 1/14 cycles, thereby achieving the purpose of speed reduction.
When the speed reducer is applied, the input eccentric wheel 101 in the input assembly 1 is controlled to rotate, the input eccentric wheel 101 divergently drives the input gear 102 to form a stable single-stage driving structure, the rotating speed of the driving gear is changed into 1/N2 of the rotating speed of the input eccentric wheel 101, then the input gear 102 is gathered again through the output eccentric wheel 202 and drives the input gear 201 to rotate, and a complete two-stage transmission driving structure is formed, at the moment, the rotating speed of the output gear 201 is 1/(N1N 2) of the rotating speed of the input eccentric wheel 101, the whole transmission process of the speed reducer with a large transmission ratio is completed through two transmissions, the requirement of the periphery of the input eccentric wheel 101 according to the transmission ratio is driven, the two-stage gear transmission in the invention can be changed into three-stage or four-stage transmission and the like, and the space occupied by the transmission structure is greatly saved; but also can be transmitted from the output end to the input end, thereby achieving the purpose of acceleration.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. 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 (31)

1. A multi-stage gear transmission structure is characterized by comprising more than two stages of transmission mechanisms, wherein each stage of transmission mechanism comprises an input assembly and an output assembly, the output assembly comprises an output gear and more than two output eccentric wheels which are uniformly distributed in the circumferential direction of the output gear and are attached to the output gear, and the central shaft of the output gear of the previous stage of transmission mechanism is connected with the rigid shaft of the input assembly of the next transmission mechanism;
the input assembly comprises an input eccentric wheel and more than two input gears which are uniformly distributed in the circumferential direction of the input eccentric wheel and are attached to the outer circumferential profile of the input eccentric wheel, and the central shaft of each input gear is rigidly and coaxially connected with the central shaft of one output eccentric wheel; the output gear central shaft of the previous stage of the transmission mechanism is rigidly connected with the central shaft of the input eccentric wheel of the next transmission mechanism;
the output assembly comprises an output gear set formed by superposing W1 output gears with a central shaft and more than two groups of output eccentric gear sets uniformly distributed in the circumferential direction of the output gear set, each group of output eccentric gear sets is formed by rigidly and coaxially connecting W1 output eccentric gears, and W1 is an integer larger than or equal to 2; each layer of output eccentric wheel in the output eccentric wheel set is uniformly distributed in the outer circumferential direction of the output gear of the corresponding layer in the output gear set and is attached to the outer circumferential contour of the output gear of the corresponding layer;
any point M (x) in the eccentric profile curve of the output geart,yt) The following formula is satisfied:
wherein, the center of the output gear is the origin, t is (0, 2N)1π]N1 is the number of output gear teeth, N1 is an integer greater than 1, A is the axle center distance of two wheels, and B1 is the eccentricity of the output eccentric wheel.
2. The multi-stage gear transmission structure according to claim 1, wherein said profile curve of said output gear is obtained by inward-taking an equidistant curve of a radius of an output eccentric from an eccentric profile curve of said output gear.
3. The multi-stage gear transmission structure according to claim 2, wherein N1 output eccentric wheels are uniformly distributed in the circumferential direction of the output gear.
4. The multi-stage gear transmission structure of claim 2, wherein when the number of output gears N1 is even, N1/2 of said output eccentrics are uniformly distributed in the circumferential direction of said output gears.
5. The multi-stage gear transmission structure of claim 2, wherein when the number of the output gear teeth N1 is odd, the output gear has (N1+1)/2 or (N1-1)/2 output eccentrics distributed uniformly in the circumferential direction.
6. The multi-stage gear transmission structure according to claim 2, wherein 4 to 8 output eccentric wheels are uniformly distributed in the circumferential direction of the output gear.
7. The multi-stage gear transmission structure according to claim 2, wherein 6 output eccentric wheels are uniformly distributed in the circumferential direction of the output gear.
8. The multi-stage gear transmission structure according to claim 2, wherein the number of teeth N1 of said output gear is 3-21 teeth.
9. The multi-stage gear transmission structure according to claim 2, wherein the number of teeth N1 of said output gear is 4-8 teeth.
10. A multi-stage gear transmission according to claim 2, wherein the number of teeth of the output gear of each stage is equal.
11. The multiple gear transmission structure according to claim 2, wherein the number of teeth N1 of said output gear is 8.
12. The multi-stage gear transmission structure according to claim 1, wherein each stage of said transmission mechanism further comprises a mounting plate, and said input member and said output member are respectively mounted on two sides of said mounting plate.
13. The multiple gear transmission arrangement of claim 12, wherein the number of output gears W1 in said output set of gears is 3-6.
14. The multiple gear transmission arrangement of claim 12, wherein the number of output gears W1 in said output gear set is 4.
15. The multi-stage gear transmission structure according to claim 12, wherein said output gear group is located at a circumferential position of said output gear located at a lower position from top to bottom such that said output gear located at an upper position rotates clockwise about a central axisTo obtain。
16. The multi-stage gear transmission structure according to claim 12, wherein said output gear group is located at a circumferential position of said output gear located at a lower position from top to bottom such that said output gear located at an upper position rotates counterclockwise about a central axisAnd obtaining the compound.
17. A multi-stage gear transmission according to any one of claims 1 to 16, wherein any point M in the eccentric profile curve of the input gear is2(xt,yt) The following formula is satisfied:
wherein, the input gear center is the origin, t ═ 0, 2N2π]N2 is the number of teeth of the input gear, N2 is an integer greater than 1, A is the axle center distance of two wheels, and B2 is the eccentricity of the input eccentric wheel.
18. The multiple-stage gear transmission according to claim 17, wherein said input gear profile curve is obtained by inward-taking an equidistant curve from a radius of the input eccentric from an eccentric profile curve of the input gear.
19. The multiple-stage gearing arrangement according to claim 18, wherein said input gear tooth number N2 is 3-21 teeth.
20. The multiple-stage gearing arrangement according to claim 18, wherein said input gear tooth number N2 is 4-8 teeth.
21. The multiple-stage gearing arrangement according to claim 18, wherein said input gear tooth number N2 is 8 teeth.
22. The multiple gear transmission arrangement of claim 18, wherein said input gear tooth number N2 is equal to said output gear tooth number N1.
23. A multi-stage gearing arrangement as claimed in claim 18, wherein the input gears of each stage of the gearing arrangement have an equal number of teeth.
24. The multiple-stage gearing arrangement according to claim 18, wherein said input gear has 8 teeth N2.
25. The multi-stage gear transmission structure according to any one of claims 18 to 24, wherein the input assembly includes an input eccentric gear set in which W2 input eccentric gears are superposed on a central shaft, and two or more input gear sets uniformly distributed in a circumferential direction of the input eccentric gear set, each of the input gear sets being coaxially connected by W2 input eccentric gear sets, and W2 being an integer of 2 or more;
and each layer of input gears in the input gear set are uniformly distributed in the direction of the outer circumference of the input eccentric wheel of the corresponding layer in the input eccentric wheel set and are attached to the outer circumference profile of the input eccentric wheel of the corresponding layer.
26. The multiple gear transmission arrangement of claim 25, wherein the number of input eccentrics in said set of input eccentrics, W2, is 3-6.
27. The multiple gear transmission arrangement of claim 25, wherein the number of input eccentrics in said set of input eccentrics, W2, is 4.
28. The multiple gear transmission of claim 27, wherein said input gear set is circumferentially positioned with said input gear on top and on bottom at a location such that said input gear on top rotates clockwise about said central axisAnd obtaining the compound.
29. The multiple gear transmission of claim 25, wherein said input gear set is circumferentially positioned with said input gear on top and on bottom at a position where said input gear on top rotates counterclockwise about a central axisAnd obtaining the compound.
30. A multi-stage gear transmission according to any of claims 1 to 16, 18 to 24 and 26 to 29, wherein the transmission comprises two stages of said transmission, the output gears of the two stages have 4 to 8 teeth and 4 to 8 teeth, respectively, and the input gears of the two stages have 4 to 8 teeth and 4 to 8 teeth, respectively.
31. The multiple gear transmission structure according to any one of claims 13 to 16 and 26 to 29, wherein each of the input eccentrics of the input eccentric wheel set is composed of an input eccentric wheel body and a rolling bearing sleeved on the periphery of the input eccentric wheel body, and the outer diameter of the rolling bearing is equal to the diameter of the input eccentric wheel.
CN202011394477.4A 2020-12-03 2020-12-03 Multistage gear drive structure Active CN112377572B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201068954Y (en) * 2007-05-08 2008-06-04 陈纯英 Gear transmission arrangement and gear
CN201196247Y (en) * 2008-01-26 2009-02-18 张斌 Fixed-shaft eccentric center cycloid wheel speed reducer
RU2385435C1 (en) * 2008-12-22 2010-03-27 Виктор Владимирович Становской Eccentric-cycloidal engagement of complex tooth profiles
CN111466070A (en) * 2017-12-18 2020-07-28 索尼公司 Actuator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201068954Y (en) * 2007-05-08 2008-06-04 陈纯英 Gear transmission arrangement and gear
CN201196247Y (en) * 2008-01-26 2009-02-18 张斌 Fixed-shaft eccentric center cycloid wheel speed reducer
RU2385435C1 (en) * 2008-12-22 2010-03-27 Виктор Владимирович Становской Eccentric-cycloidal engagement of complex tooth profiles
CN111466070A (en) * 2017-12-18 2020-07-28 索尼公司 Actuator

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