CN112728015B - T-shaped movable tooth transmission mechanism capable of eliminating gap - Google Patents

T-shaped movable tooth transmission mechanism capable of eliminating gap Download PDF

Info

Publication number
CN112728015B
CN112728015B CN202011566484.8A CN202011566484A CN112728015B CN 112728015 B CN112728015 B CN 112728015B CN 202011566484 A CN202011566484 A CN 202011566484A CN 112728015 B CN112728015 B CN 112728015B
Authority
CN
China
Prior art keywords
gear ring
inner gear
eccentric
step shaft
tooth
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
CN202011566484.8A
Other languages
Chinese (zh)
Other versions
CN112728015A (en
Inventor
陈志同
张黎明
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.)
Zaozhuang Beihang Machine Tool Innovation Research Institute Co ltd
Original Assignee
Zaozhuang Beihang Machine Tool Innovation Research Institute 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 Zaozhuang Beihang Machine Tool Innovation Research Institute Co ltd filed Critical Zaozhuang Beihang Machine Tool Innovation Research Institute Co ltd
Priority to CN202011566484.8A priority Critical patent/CN112728015B/en
Publication of CN112728015A publication Critical patent/CN112728015A/en
Application granted granted Critical
Publication of CN112728015B publication Critical patent/CN112728015B/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
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/48—Special means compensating for misalignment of axes, e.g. for equalising distribution of load on the face width of the teeth
    • 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
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
    • 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
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • F16H2057/126—Self-adjusting during operation, e.g. by a spring
    • F16H2057/127—Self-adjusting during operation, e.g. by a spring using springs
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Landscapes

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

Abstract

The invention relates to the field of precision reducers, and solves the problems that in the prior art, a movable tooth reducer has high requirement on part machining precision and back clearance exists in rotation. A T-shaped movable tooth transmission mechanism capable of eliminating gaps comprises an eccentric shaft, a movable tooth frame, a front inner gear ring and a rear inner gear ring, wherein the eccentric shaft comprises an eccentric step shaft and a concentric step shaft, the eccentric sleeve is sleeved on the concentric step shaft, the axis of the excircle of the eccentric sleeve and the axis of the eccentric step shaft are respectively positioned on two sides of the axis of the concentric step shaft, one end of the concentric step shaft provided with the eccentric sleeve is provided with a spring adjusting column, the spring adjusting column is provided with a gap eliminating elastic rod, the spring adjusting column is coaxial with the concentric step shaft, the axis of the gap eliminating elastic rod is vertical to the axis of the spring adjusting column, the inner wall of the eccentric sleeve is provided with two grooves, two ends of the gap eliminating elastic rod are respectively inserted into the two grooves, one end of the spring adjusting column is provided with an installation plate, and the installation plate is connected with the concentric step shaft through bolts.

Description

T-shaped movable tooth transmission mechanism capable of eliminating clearance
Technical Field
The invention relates to the field of precision speed reducers, in particular to a T-shaped movable tooth transmission mechanism capable of eliminating a gap.
Background
The industrial robot precision reducer widely uses a cycloid RV reducer and a harmonic reducer. The bearing strength and rigidity of the harmonic reducer are smaller than those of the RV reducer, the precision of the harmonic reducer is high, the requirement on the performance of materials is high, and the service life of the harmonic reducer is remarkably reduced along with the increase of service time.
Compared with RV reducers or harmonic reducers, the original oscillating tooth reducer in China has the advantages of strong bearing capacity, high rigidity, long service life and the like, has the potential of replacing and surpassing RV and harmonic reducers, but the traditional oscillating tooth reducer has a rotary back clearance, so that the transmission precision is not high.
In addition, the existing oscillating tooth speed reducer often has higher requirements on the machining precision, so that the machining difficulty and the machining cost are higher.
Disclosure of Invention
The invention provides a T-shaped movable tooth transmission mechanism capable of eliminating a gap, which solves the problems of rotation back gap and low transmission precision of a movable tooth speed reducer in the prior art.
A T-shaped movable tooth transmission mechanism capable of eliminating gaps comprises an eccentric shaft, a movable tooth rack, a front inner gear ring and a rear inner gear ring, wherein the front inner gear ring and the rear inner gear ring have the same tooth number and tooth shape, the front inner gear ring and the rear inner gear ring are coaxially connected through a spigot, and the front inner gear ring and the rear inner gear ring are staggered by a phase angle of one-half tooth shape;
the eccentric shaft comprises an eccentric step shaft and concentric step shafts, the concentric step shafts are arranged at two ends of the eccentric step shaft, the concentric step shafts are coaxial, the eccentric sleeve is sleeved on the concentric step shaft, the axis of the excircle of the eccentric sleeve and the axis of the eccentric step shaft are respectively positioned at two sides of the axis of the concentric step shaft, the axis of the excircle of the eccentric sleeve, the axis of the eccentric step shaft and the axis of the concentric step shaft are coplanar, the eccentric sleeve and the eccentric step shaft are both sleeved with a first bearing, and a laser disc is sleeved on the first bearing; the eccentric shaft drives the shock wave disk to revolve around the eccentric crankshaft mechanism, and simultaneously, the shock wave disk rotates around the rotation axis of the shock wave disk. The first bearing is preferably a cylindrical roller bearing.
A spring adjusting column is arranged at one end of the concentric step shaft provided with the eccentric sleeve, an anti-backlash elastic rod is arranged on the spring adjusting column, the spring adjusting column is coaxial with the concentric step shaft, the axis of the anti-backlash elastic rod is vertical to that of the spring adjusting column, two grooves are arranged on the inner wall of the eccentric sleeve, two ends of the anti-backlash elastic rod are respectively inserted into the two grooves, an installation plate is arranged at one end of the spring adjusting column, and the installation plate is connected with the concentric step shaft through a bolt; the rotary back clearance is eliminated through the elasticity of the elastic clearance eliminating rod, and the transmission precision is improved. When the movable-tooth needle roller of the rear inner gear ring is in contact with the left tooth surface, the spring adjusting column is used for dialing the elastic anti-backlash rod to rotate, the elastic anti-backlash rod drives the eccentric sleeve and the shock wave disc to rotate, the shock wave disc pushes the push rod and the movable-tooth needle roller to radially displace, and the movable-tooth needle roller is in contact with the right tooth surface of the front inner gear ring, so that clearance elimination is realized.
A push rod is connected in a radial hole of the movable rack in a sliding mode, a movable-tooth roller pin is arranged in the movable rack and can move along the radial direction of the concentric step shaft, one end of the push rod abuts against the excitation disc, and the other end of the push rod abuts against the movable-tooth roller pin. When the eccentric shaft is used, the eccentric shaft drives the excitation disc to push the push rod to move along the radial direction, the push rod pushes the movable-tooth roller pins to roll along the tooth-shaped curve of the front inner gear ring or the rear inner gear ring under the constraint of the front inner gear ring or the rear inner gear ring, and the movable-tooth roller pins drive the movable-tooth rack to move to realize speed reduction transmission. The anti-backlash elastic rod has elasticity by rotating the spring adjusting column, applies torque to the input stage, and drives the eccentric sleeve to rotate to eliminate the gap between the wheel teeth.
Furthermore, the tooth-shaped curves of the front inner gear ring and the rear inner gear ring are equidistant curves of conjugate motion curves of the movable-tooth needle rollers. Specifically, the theoretical standard trajectory curve of the inner gear ring is as follows:
x＝(L+L 1 )*sinβ 2 -R*sin(α 2 -β 2 )
y＝(L+L 1 )*cosβ 2 +R*cos(α 2 -β 2 )
in the formula
Figure GDA0003910618680000021
L 1 ＝R b *cosα 1 -e*cosβ 1
Figure GDA0003910618680000022
β1＝Z*β2
Z is the number of teeth of the inner gear ring, beta 1 And beta 2 For fixing the angle, R, of the eccentric shaft and the internal gear ring for the movable gear rack b Is the excircle radius of the shock wave disc, L is the distance from the center of the oscillating tooth to the edge of the shock wave disc (the sum of the radius of the oscillating tooth and the length of the movable push rod), and R is the radius of the oscillating tooth. In actual production, numerical values of L and R are changed (the numerical values of L and R are increased) to shape the tooth form of the inner gear ring, so that tooth form interference caused by machining errors can be avoided, and the production difficulty is reduced.
Further, the tang includes protruding tang and concave tang, is equipped with centering steel ball between the lateral wall of protruding tang and the inside wall of concave tang.
Further, a second bearing is arranged between the eccentric sleeve and the concentric step shaft. The second bearing is preferably a needle bearing.
Furthermore, the concentric step shaft is provided with a radial through hole, and the gap eliminating elastic rod penetrates through the through hole and can rotate around the axis of the concentric step shaft in the through hole. The through hole is preferably a square hole, and the width of the through hole is wider, so that the anti-backlash elastic rod can rotate within a certain angle range. The eccentric angle can be adjusted by using a spring adjusting column to stir the anti-backlash elastic rod so as to push the eccentric sleeve to rotate.
Further, arc holes are symmetrically formed in the laser disc, and resin is filled in the arc holes. When the shock wave disc pushes the push rod to move, flexible deformation occurs at the interference position, and the requirement on the machining precision of the inner gear ring of the speed reducer is lowered.
Furthermore, the movable gear rack is provided with n movable gear needle rollers and n push rod sets, each push rod set comprises 3 push rods, and three push rods in the same push rod set are arranged along the axial direction of the movable gear needle rollers.
Furthermore, third bearings are arranged between the front inner gear ring and the movable gear rack and between the rear inner gear ring and the movable gear rack, and fourth bearings are arranged between the movable gear rack and the concentric step shaft of the eccentric shaft. The third bearing is preferably an angular contact ball bearing, and the fourth bearing is preferably a tapered roller bearing.
Furthermore, the number of the movable-tooth needle rollers is n, and the number of teeth of the front inner gear ring and the rear inner gear ring is (2 n-1). In the invention, n is a positive integer.
According to the technical scheme, the invention has the following advantages:
when the eccentric shaft rotates, the excitation disc is driven to push the push rod to move along the radial direction, the push rod pushes the movable-tooth needle rollers to roll along the tooth-shaped curve of the front inner gear ring or the rear inner gear ring under the constraint of the front inner gear ring or the rear inner gear ring, and the movable-tooth needle rollers drive the movable-tooth rack to move to realize speed reduction transmission. The anti-backlash elastic rod has elasticity by rotating the spring adjusting column, applies torque to the input stage, and drives the eccentric sleeve to rotate to eliminate the gap between the wheel teeth.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, 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 that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 isbase:Sub>A sectional view taken along the linebase:Sub>A-base:Sub>A of fig. 1 according to the present invention.
FIG. 3 is a schematic diagram of a theoretical standard trajectory curve calculation process of the front inner gear ring/the rear inner gear ring.
1. The eccentric shaft, 2, a movable rack, 3, a front inner gear ring, 4, a rear inner gear ring, 5, an eccentric sleeve, 6, a first bearing, 7, a shock wave disc, 8, a spring adjusting column, 9, an anti-backlash elastic rod, 10, a mounting plate, 11, a push rod, 12, a movable tooth needle roller, 13, a centering steel ball, 14, a fourth bearing, 15, an arc-shaped hole, 16 and a third bearing.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the present embodiment, and it is obvious that the embodiments described below are only a part of embodiments of the present invention, and not all 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 scope of protection of this patent.
Example 1
As shown in fig. 1-3, a T-shaped movable gear transmission mechanism capable of eliminating a gap comprises an eccentric shaft 1, a movable gear rack 2, a front inner gear ring 3 and a rear inner gear ring 4, wherein the front inner gear ring 3 and the rear inner gear ring 4 have the same number of teeth and tooth profiles, the front inner gear ring 3 and the rear inner gear ring 4 are coaxially connected through a spigot, and the front inner gear ring 3 and the rear inner gear ring 4 are staggered by a phase angle of one-half tooth profile;
the eccentric shaft 1 comprises an eccentric step shaft and concentric step shafts, the concentric step shafts are arranged at two ends of the eccentric step shaft, the concentric step shafts are coaxial, an eccentric sleeve 5 is sleeved on the concentric step shaft, the axis of the excircle of the eccentric sleeve 5 and the axis of the eccentric step shaft are respectively positioned at two sides of the axis of the concentric step shaft, the axis of the excircle of the eccentric sleeve 5, the axis of the eccentric step shaft and the axis of the concentric step shaft are coplanar, a first bearing 6 is sleeved on each of the eccentric sleeve 5 and the eccentric step shaft, and a shock wave disc 7 is sleeved on each first bearing 6; the eccentric shaft 1 drives the shock wave disc 7 to revolve around the eccentric crankshaft mechanism, and simultaneously, the shock wave disc 7 rotates around the rotation axis of the shock wave disc. The first bearing 6 is preferably a cylindrical roller bearing.
A spring adjusting column 8 is arranged at one end of the concentric step shaft provided with the eccentric sleeve 5, an anti-backlash elastic rod is arranged on the spring adjusting column 8, the spring adjusting column 8 is coaxial with the concentric step shaft, the axis of the anti-backlash elastic rod is vertical to the axis of the spring adjusting column 8, two grooves are arranged on the inner wall of the eccentric sleeve 5, two ends of the anti-backlash elastic rod are respectively inserted into the two grooves, a mounting plate 10 is arranged at one end of the spring adjusting column 8, and the mounting plate 10 is connected with the concentric step shaft through bolts;
a push rod 11 is connected in a radial hole of the oscillating tooth rack 2 in a sliding manner, an axial hole of the oscillating tooth rack 2 is communicated with the radial hole and is opened at one side close to the front inner gear ring/the rear inner gear ring, an oscillating tooth roller 12 is arranged in the axial hole, the oscillating tooth roller 12 can move along the radial direction of the concentric step shaft to push the front inner gear ring 3/the rear inner gear ring 4, one end of the push rod 11 is abutted against the excitation disc 7, and the other end of the push rod 11 is abutted against the oscillating tooth roller 12. When the eccentric shaft 1 rotates, the excitation disc 7 is driven to push the push rod 11 to move along the radial direction, the push rod 11 pushes the movable-tooth needle rollers 12 to roll along the tooth-shaped curve of the front inner gear ring 3 or the rear inner gear ring 4 under the constraint of the front inner gear ring 3 or the rear inner gear ring 4, and the movable-tooth needle rollers 12 drive the movable-tooth rack 2 to move to realize speed reduction transmission. The gap eliminating elastic rod has elasticity by rotating the spring adjusting column 8, applies torque to the input stage, and drives the eccentric sleeve 5 to rotate to eliminate the gap between the wheel teeth. The tooth-shaped curves of the front inner gear ring 3 and the rear inner gear ring 4 are equidistant curves of conjugate motion curves of the movable-tooth needle rollers 12. Specifically, the theoretical standard trajectory curve of the inner gear ring is as follows:
x＝(L+L 1 )*sinβ 2 -R*sin(α 2 -β 2 )
y＝(L+L 1 )*cosβ 2 +R*cos(α 2 -β 2 )
in the formula
Figure GDA0003910618680000051
L 1 ＝R b *cosα 1 -e*cosβ 1
Figure GDA0003910618680000052
β1＝Z*β2
As shown in FIG. 3, Z is the number of teeth in the ring gear, β 1 And beta 2 The angle, R, of the eccentric shaft 1 and the inner gear ring is fixed for the movable gear rack 2 b Is the excircle radius of the shock wave disc 7, L is the distance from the center of the movable teeth to the edge of the shock wave disc 7 (the sum of the radius of the movable-tooth roller pin 12 and the length of the movable push rod 11), and R is the radius of the movable-tooth roller pin 12. In actual production, the numerical values of L and R are changed (the numerical values of L and R are increased) to shape the tooth profile of the inner gear ring, so that tooth profile interference caused by machining errors can be avoided, and the production difficulty is reduced. The spigot comprises a convex spigot and a concave spigot, and a centering steel ball 13 is arranged between the outer side wall of the convex spigot and the inner side wall of the concave spigot. A second bearing is arranged between the eccentric sleeve 5 and the concentric step shaft. The second bearing is preferably a needle bearing. The concentric step shaft is provided with a radial through hole, and the gap eliminating elastic rod penetrates through the through hole and can rotate around the axis of the concentric step shaft in the through hole. The through hole is preferably a square hole, and the width of the through hole is wider, so that the anti-backlash elastic rod can rotate within a certain angle range. The eccentric angle can be adjusted by using the spring adjusting column 8 to toggle the anti-backlash elastic rod so as to push the eccentric sleeve 5 to rotate. Arc-shaped holes 15 are symmetrically formed in the laser disc 7, and resin is filled in the arc-shaped holes 15. When the laser disc 7 pushes the push rod 11 to move, flexible deformation occurs at the interference position, and the requirement on the machining precision of the inner gear ring of the speed reducer is lowered. The movable rack 2 is provided with n movable-tooth needle rollers 12 and n push rod 11 groups, each push rod 11 group comprises 3 push rods 11, and the three push rods 11 in the same push rod 11 group are arranged along the axial direction of the movable-tooth needle rollers 12. Third bearings 16 are arranged between the front inner gear ring 3 and the movable gear rack 2 and between the rear inner gear ring 4 and the movable gear rack 2, and fourth bearings 14 are arranged between the movable gear rack 2 and the concentric step shaft of the eccentric shaft 1. The third bearing 16 is preferably an angular contact ball bearing and the fourth bearing 14 is preferably a tapered roller bearing. The number of the movable-tooth needle rollers 12 is n, and the number of teeth of the front inner gear ring 3 and the rear inner gear ring 4 is (2 n-1). In the invention, n is a positive integer.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A T-shaped movable tooth transmission mechanism capable of eliminating a gap is characterized by comprising an eccentric shaft (1), a movable tooth rack (2), an eccentric sleeve (5), a front inner gear ring (3) and a rear inner gear ring (4), wherein the number of teeth and the tooth form of the front inner gear ring (3) and the tooth form of the rear inner gear ring (4) are the same, the front inner gear ring (3) and the rear inner gear ring (4) are coaxially connected through a spigot, and the front inner gear ring (3) and the rear inner gear ring (4) are staggered by a phase angle of one-half tooth form;
the eccentric shaft (1) comprises an eccentric step shaft and concentric step shafts, the concentric step shafts are arranged at two ends of the eccentric step shaft, the concentric step shafts are coaxial, an eccentric sleeve (5) is sleeved on the concentric step shaft at the front side, the axis of the excircle of the eccentric sleeve (5) and the axis of the eccentric step shaft are respectively positioned at two sides of the axis of the concentric step shaft, the axis of the excircle of the eccentric sleeve (5), the axis of the eccentric step shaft and the axis of the concentric step shaft are coplanar, a first bearing (6) is sleeved on each of the eccentric sleeve (5) and the eccentric step shaft, and a shock wave disc (7) is sleeved on each first bearing (6);
a spring adjusting column (8) is arranged at one end of the concentric step shaft provided with the eccentric sleeve (5), an anti-backlash elastic rod (9) is arranged on the spring adjusting column (8), two grooves are formed in the inner wall of the eccentric sleeve (5), two ends of the anti-backlash elastic rod (9) are respectively inserted into the two grooves, a mounting plate (10) is arranged at one end of the spring adjusting column (8), and the mounting plate (10) is connected with the concentric step shaft through a bolt;
a push rod (11) is connected in a radial hole of the movable rack (2) in a sliding manner, a movable-tooth needle roller (12) is arranged in the movable rack (2), the movable-tooth needle roller (12) can move along the radial direction of the concentric step shaft, one end of the push rod (11) abuts against the shock wave disc (7), and the other end of the push rod abuts against the movable-tooth needle roller (12);
the front side of the concentric step shaft is provided with a radial through hole, and the clearance eliminating elastic rod (9) penetrates through the through hole and can rotate around the axis of the concentric step shaft in the through hole.
2. The T-shaped movable tooth transmission mechanism capable of eliminating the clearance as recited in claim 1, characterized in that the tooth curves of the front inner gear ring (3) and the rear inner gear ring (4) are equidistant curves of conjugate motion curves of the movable tooth needle rollers (12).
3. The T-shaped movable tooth transmission mechanism capable of eliminating the clearance as claimed in claim 1, wherein the spigot comprises a male spigot and a female spigot, and a centering steel ball (13) is arranged between the outer side wall of the male spigot and the inner side wall of the female spigot.
4. The T-shaped movable tooth transmission mechanism capable of eliminating the clearance according to claim 1, characterized in that a second bearing is arranged between the eccentric sleeve (5) and the concentric step shaft.
5. The T-shaped oscillating tooth transmission mechanism capable of eliminating the clearance according to claim 1, characterized in that the shock wave plate (7) is symmetrically provided with arc-shaped holes (15), and the arc-shaped holes (15) are filled with resin.
6. The T-shaped movable tooth transmission mechanism capable of eliminating the clearance as claimed in claim 1, wherein n movable tooth needle rollers (12) and n push rod sets are arranged on the movable tooth frame (2), each push rod set comprises 3 push rods (11), and the three push rods (11) in the same push rod set are arranged along the axial direction of the movable tooth needle rollers (12).
7. The T-shaped oscillating tooth transmission mechanism capable of eliminating the clearance according to claim 1, characterized in that a third bearing (16) is arranged between the front inner gear ring (3) and the oscillating tooth rack (2) and between the rear inner gear ring (4) and the oscillating tooth rack (2), and a fourth bearing (14) is arranged between the oscillating tooth rack (2) and the eccentric shaft (1).
8. The T-shaped movable tooth transmission mechanism capable of eliminating the clearance as claimed in claim 1, wherein the number of the movable tooth needle rollers (12) is n, and the number of teeth of the front inner gear ring (3) and the rear inner gear ring (4) is (2 n-1).
CN202011566484.8A 2020-12-25 2020-12-25 T-shaped movable tooth transmission mechanism capable of eliminating gap Active CN112728015B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011566484.8A CN112728015B (en) 2020-12-25 2020-12-25 T-shaped movable tooth transmission mechanism capable of eliminating gap

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011566484.8A CN112728015B (en) 2020-12-25 2020-12-25 T-shaped movable tooth transmission mechanism capable of eliminating gap

Publications (2)

Publication Number Publication Date
CN112728015A CN112728015A (en) 2021-04-30
CN112728015B true CN112728015B (en) 2023-01-20

Family

ID=75617066

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011566484.8A Active CN112728015B (en) 2020-12-25 2020-12-25 T-shaped movable tooth transmission mechanism capable of eliminating gap

Country Status (1)

Country Link
CN (1) CN112728015B (en)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1368422A (en) * 2001-02-09 2002-09-11 吴声震 Speed reducer with micro back lash for industrial robot
JP5210818B2 (en) * 2008-03-11 2013-06-12 株式会社三共製作所 Planetary roller type rotation transmission device
JP6789689B2 (en) * 2016-02-04 2020-11-25 日本電産シンポ株式会社 Decelerator
CN110645345B (en) * 2019-10-09 2023-11-21 肖立峰 Transmission capable of eliminating transmission clearance
CN110848333B (en) * 2019-11-07 2021-06-29 燕山大学 Movable-tooth speed reducer with two transmission ratios and capable of automatically eliminating clearance
CN111664228B (en) * 2020-06-13 2021-11-26 周江 Push rod oscillating tooth speed reduction transmission device capable of eliminating gap
CN111706661A (en) * 2020-06-28 2020-09-25 周江 Movable tooth transmission device with preset internal tooth profile

Also Published As

Publication number Publication date
CN112728015A (en) 2021-04-30

Similar Documents

Publication Publication Date Title
US10865853B2 (en) Multi-crankshaft cycloidal pin wheel reducer
EP2068038B1 (en) Reduction gear
US8460146B2 (en) Roller type transmission device
CN102562956B (en) External wave type compound rolling moveable teeth speed reducer
EP0196650B1 (en) Transmitting unit
CN110966355B (en) Gear-needle dual-mode meshing small-tooth-difference planetary gear pair and precision speed reducer
TW200900605A (en) Speed reduction apparatus for off-centering swing
JP4759607B2 (en) Rotary reducer
CN112555357A (en) K-H-V type gap-adjustable small tooth difference precision transmission device
CN110259890B (en) Axial shock wave oscillating tooth speed reducer
CN115435074A (en) RV speed reducer with self-clearance-eliminating structure
CN112728015B (en) T-shaped movable tooth transmission mechanism capable of eliminating gap
US11168764B2 (en) Planetary gearbox and associated robot joint and robot
TW201305465A (en) Transmission mechanism having eccentric cam assemblies
JPS5917066A (en) Lubricative supporting device for outer pin of rotation converting mechanism
TWI548823B (en) Deceleration machine
RU2123627C1 (en) Cycloidal reduction gear
US11603908B2 (en) Speed reducer and eccentric gear of the same
CN111895058B (en) Forming design method of speed reducer
CN212928677U (en) Transmission mechanism
CN2535610Y (en) Rolling-contact type swinging adjustable-gear planetary speed-reducer
CN114370487B (en) Harmonic speed reducer and transmission device
CN110657222A (en) Planetary gear transmission structure with small tooth difference
CN218494170U (en) RV speed reducer with self-clearance-eliminating structure
CN218816957U (en) Transmission structure of roll pin key type pump shaft and rotor

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