CN113309826B - Bionic jumping gear transmission device and transmission ratio adjusting method thereof - Google Patents
Bionic jumping gear transmission device and transmission ratio adjusting method thereof Download PDFInfo
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- CN113309826B CN113309826B CN202110575143.5A CN202110575143A CN113309826B CN 113309826 B CN113309826 B CN 113309826B CN 202110575143 A CN202110575143 A CN 202110575143A CN 113309826 B CN113309826 B CN 113309826B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H1/321—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 the orbital gear being nutating
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- 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
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H57/082—Planet carriers
Abstract
The invention discloses a bionic jumping gear transmission device which comprises an input shaft, face gears M1, M2, M3, M4, cylindrical gears Z1, Z2, Z3, Z4, bearings C1, C2, C3, C4, C5, C6, a fixed frame and a planet carrier. The input shaft 1 is fixed to a face gear M2. Face gear M1 is circular in shape, and face gear M2 is fixed within the circular ring of face gear M1. Face gear M4 is circular in shape, and face gear M3 is fixed within the circular ring of face gear M4. The face gear M2 is in meshing connection with the face gear M3 through the cylindrical gear Z1 and the cylindrical gear Z2. The face gear M3 is connected with the planet carrier and is respectively connected with a fixed frame through a bearing. The face gear M1 is in meshing connection with the face gear M4 through the cylindrical gear Z3 and the cylindrical gear Z4. The device adopts face gear transmission, has no eccentric action during high-speed operation, and has stable transmission and accurate transmission angle. The transmission with a large transmission ratio range (50-1000) can be realized by selecting a proper number of face gear teeth and a difference of the number of teeth between two pairs of face gears.
Description
Technical Field
The invention relates to the field of speed reduction transmission devices, in particular to a large-transmission-ratio bionic jumping gear transmission device and a transmission ratio adjusting method thereof.
Background
At present, many researchers have studied bionic jumping devices, and in order to have strong obstacle crossing performance, the jumping devices need to have a deceleration moment-increasing device with a large transmission ratio so as to store larger energy for jumping. The existing bionic jumping transmission mostly adopts multi-stage cylindrical gear transmission, gear and worm and gear matching transmission and speed reduction motor transmission to obtain the required transmission ratio, the whole device is heavy due to the transmission mode, the jumping performance of the whole device is greatly reduced, the transmission efficiency is low, and the transmission ratio cannot meet the higher requirement. The transmission ratio of the jumping device of a general direct compression spring type micro robot needs to be more than 300.
The current large transmission ratio comprises a small-tooth-difference planet gear speed reducer, a cycloid-like speed reducer, a harmonic speed reducer, a nutation speed reducer and the like. The bionic jumping device has the advantages of small size, light weight and the like, but the bionic jumping device generally has an eccentric effect under high-speed motion, so that the bionic jumping process is greatly influenced, the transmission ratio of the reducers is generally between 50 and 300, and the transmission ratio is difficult to meet the requirement. Therefore, the bionic jumping device is not suitable for transmission of the bionic jumping device.
At present, researchers have proposed an eight-bevel-gear small-tooth-difference speed reducer which can effectively overcome the eccentric action under high-speed motion and can keep large-transmission-ratio motion (about 78), but the transmission ratio is closely related to the number of teeth of a bevel gear, the range of the transmission ratio is limited, if the transmission ratio is increased, the number of teeth of the bevel gear needs to be increased, the whole structure becomes heavy, and the eight-bevel-gear small-tooth-difference speed reducer cannot meet the requirement of the transmission ratio which is several times larger.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a bionic jumping gear transmission device which has no eccentric action during high-speed operation, does not have a flexible gear mechanism, has compact structure, light weight and high efficiency, can realize transmission (50-1000) in a large transmission ratio range and is suitable for transmission of the bionic jumping device.
The technical scheme of the invention is realized as follows: a biomimetic skip gear transmission comprising: the gear transmission mechanism comprises an input shaft, a face gear M1, a face gear M2, a face gear M3, a face gear M4, a cylindrical gear Z1, a cylindrical gear Z2, a cylindrical gear Z3, a cylindrical gear Z4, a bearing C1, a bearing C2, a bearing C3, a bearing C4, a bearing C5, a bearing C6, a fixing frame and a planet carrier;
the input shaft is fixed at the axle center of the face gear M2; the face gear M1 is in a circular ring shape, the face gear M2 is fixed in a circular ring of the face gear M1, and the face gear M1 and the face gear M2 are coaxial and fixedly connected; the face gear M4 is in a circular ring shape, the face gear M3 is fixed in the circular ring of the face gear M4, and the face gear M3 is coaxial with and fixedly connected with the face gear M4; face gear M1 is parallel to face gear M4, face gear M2 is parallel to face gear M3;
the fixing frame comprises a T-shaped frame, the T-shaped frame comprises a cross rod and a vertical rod which are fixed with each other, and the vertical rod is vertically connected to the center of the cross rod; a cylindrical gear Z1 is connected with one end of the cross bar through a bearing C1, and a cylindrical gear Z2 is connected with the other end of the cross bar through a bearing C2; the face gear M2 is in meshing connection with the face gear M3 through the cylindrical gear Z1 and the cylindrical gear Z2, and the number of teeth of the face gear M2 is different from that of the face gear M3; the face gear M3 is connected with the middle section of the vertical rod through a bearing C5, and one end of the vertical rod, which is far away from the cross rod, is also connected with the planet carrier through a bearing C6;
the planet carrier main body is positioned at the outer side of the face gear M4, and both ends of the planet carrier extend between the face gear M1 and the face gear M4 in a bending way; the cylindrical gear Z3 is connected with one end of the planet carrier through a bearing C3, and the cylindrical gear Z4 is connected with the other end of the planet carrier through a bearing C4; the face gear M1 is in meshing connection with the face gear M4 through the cylindrical gear Z3 and the cylindrical gear Z4, and the number of teeth of the face gear M1 is different from that of the face gear M4.
As a further improvement of the bionic jumping gear transmission device, the face gear M1 and the face gear M2 are in the same plane, so that the bionic jumping gear transmission device is compact in structure and stable in operation.
As a further improvement of the bionic jumping gear transmission device, the face gear M3 and the face gear M4 are in the same plane, so that the bionic jumping gear transmission device is compact in structure and stable in operation.
As a further improvement of the bionic jumping gear transmission device, the tooth number relationship of each face gear and each cylindrical gear is as follows: m is a group of 2 ＝M 3 +1，M 4 ＝M 1 -1，Z 1 ＝Z 2 ＝Z 3 ＝Z 4 And M is 1 >M 2 (ii) a Wherein M is 1 、M 2 、M 3 、M 4 Z represents the number of teeth of face gear M1, face gear M2, face gear M3 and face gear M4 1 、Z 2 、Z 3 、Z 4 The numbers of teeth of spur gear Z1, spur gear Z2, spur gear Z3, and spur gear Z4 are shown, respectively.
As a further improvement of the bionic jumping gear transmission device, the planet carrier is in a staple shape, two ends of the planet carrier are bent inwards, the tail end of the planet carrier is parallel to the face gear M1 and the face gear M4, and the cylindrical gear Z3 and the cylindrical gear Z4 which are coaxial are convenient to install.
The invention also provides a transmission ratio adjusting method applied to the bionic jumping gear transmission device, wherein power is input through the input shaft to drive the face gear M1 and the face gear M2 to rotate, and the face gear M2 passes through the cylindrical gear Z1 and the cylindrical gear Z1The cylindrical gear Z2 transmits torque to the face gear M3, the combination of the face gear M1 and the face gear M2 and the combination of the face gear M3 and the face gear M4 have a rotation speed difference due to the differential tooth action of the face gear M2 and the face gear M3, the planet carrier outputs power due to the rotation speed difference, and meanwhile, the face gear M1 and the face gear M4 also have the differential tooth action, so that the transmission ratio is further amplified due to the differential tooth action; setting the number of teeth M 2 M, and the number of teeth X M 4 -M 3 ＝M 1 -M 2 The transmission ratio is
Selecting a proper transmission ratio by selecting the numerical value of the tooth number M and the tooth number difference X; when the tooth number M is constant, the larger the tooth number difference X is, the smaller the transmission ratio is; when the difference X is constant, the larger the number M of teeth, the larger the gear ratio.
As a further improvement of the gear ratio adjusting method of the bionic jumping gear transmission device, M is 19, the tooth number difference X is 40, and the gear ratio is 52.65.
As a further improvement of the method for adjusting the gear ratio of the bionic skip gear transmission device, M is 49, the difference X of the number of teeth is 10, and the gear ratio is 561.6.
Compared with the prior art, the invention has the advantages that:
(1) the influence on the jumping process is small, the operation is stable, and the deviation is not easy to generate; the existing bionic jumping transmission device adopts multi-stage transmission, so that the requirements on manufacturing and mounting precision are high, and deviation is easy to generate in the jumping process.
(2) The face gear is adopted for transmission, so that no eccentric action exists during high-speed operation, no axial acting force exists, the contact ratio is large, the bearing capacity is high, the transmission is stable, and the transmission angle is accurate.
(3) The gear with a large transmission ratio range (50-1000) can be realized by selecting a proper number of teeth of the face gears and the difference of the number of teeth between the two pairs of face gears, and the requirements of different bionic jumps on different transmission ratios can be met.
(4) The number of parts is small, the assembly is simple, and the weight is light.
Drawings
Fig. 1 is an exploded view of the bionic hopping gear transmission of the present invention.
Fig. 2 is a schematic assembled structural view of the bionic skip gear transmission device of fig. 1.
Detailed Description
To further clarify the objects, technical solutions and advantages of the embodiments of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention, and it is to be understood that the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected 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.
Referring to fig. 1, the bionic jumping gear transmission device in fig. 1 includes: input shaft 1, face gears M1, M2, M3, M4, cylindrical gear Z1, Z2, Z3, Z4, bearings C1, C2, C3, C4, C5, C6, fixed frame 2, and carrier 3.
As shown in fig. 1 and 2, the input shaft 1 has a rod-like structure, and the input shaft 1 is fixed to the axial center of the face gear M2. The face gear M1 is in a circular ring shape, the face gear M2 is fixed in a circular ring of the face gear M1, the face gear M1 and the face gear M2 are coaxial and fixedly connected, and the face gear M1 and the face gear M2 are in the same plane.
The face gear M4 is in a circular ring shape, the face gear M3 is fixed in the circular ring of the face gear M4, and the face gear M3 is coaxial with and fixedly connected with the face gear M4; face gear M3 is coplanar with face gear M4.
Face gear M1 is parallel to face gear M4 and face gear M2 is parallel to face gear M3.
As shown in fig. 1, the fixing frame 2 is a T-shaped frame, the T-shaped frame includes a cross bar and a vertical bar fixed to each other, and the vertical bar is vertically connected to the center of the cross bar. A cylindrical gear Z1 is connected with one end of the cross bar through a bearing C1, and a cylindrical gear Z2 is connected with the other end of the cross bar through a bearing C2. The face gear M2 is in meshing connection with the face gear M3 through the cylindrical gear Z1 and the cylindrical gear Z2.
The face gear M3 through bearing C5 with the middle section of montant is connected, the montant is kept away from the one end of horizontal pole and still is connected with planet carrier 3 through bearing C6.
The planet carrier 3 is in a staple shape, and two ends of the planet carrier 3 are bent inwards again, so that the tail section of the planet carrier is parallel to the face gear M1 and the face gear M4. The main body of the planet carrier 3 is positioned at the outer side of the face gear M4, and both ends of the planet carrier 3 extend between the face gear M1 and the face gear M4 in a bending way. The cylindrical gear Z3 is connected to one end of the carrier 3 via a bearing C3, and the cylindrical gear Z4 is connected to the other end of the carrier 3 via a bearing C4. The face gear M1 is in meshing connection with the face gear M4 through the cylindrical gear Z3 and the cylindrical gear Z4.
The fixed frame 2 is a fixed T-shaped frame, and due to the fixing effect of the fixed frame 2, the cylindrical gears Z1 and Z2 only rotate around the axes thereof through the bearings C1 and C2, and can not realize revolution, namely can not rotate around the axes of the face gears.
Because the fixed frame 2 is connected with the planet carrier 3 through the bearing C6, the cylindrical gears Z3 and Z4 can rotate around the axes thereof and simultaneously revolve around the input shaft 1, and the torque generated by the revolution is output through the planet carrier 3.
The tooth number relation of the face gear and the cylindrical gear is set as follows: m 2 ＝M 3 +1，M 4 ＝M 1 -1，Z 1 ＝Z 2 ＝Z 3 ＝Z 4 Wherein M is 1 、M 2 、M 3 、M 4 Z represents the number of teeth of face gears M1, M2, M3 and M4 1 、Z 2 、Z 3 、Z 4 Respectively represent the number of teeth of cylindrical gears Z1, Z2, Z3 and Z4, and M 1 ＞M 2 。
The working principle of the invention is as follows: the input shaft 1 is used for inputting power, and at the moment, the face gears M1 and M2 are driven to rotate, the face gear M2 transmits torque to the face gear M3 through the cylindrical gears Z1 and Z2, the face gears M1 and M2 are fixedly connected, the M3 and M4 are fixedly connected, at the moment, due to the differential gearing of the M2 and M3, the combination of the M1 and M2 and the combination of the M3 and M4 have a rotational speed difference, at the moment, the M1 and M4 are in meshing transmission through the cylindrical gears Z3 and Z4, so the planet carrier outputs power due to the rotational speed difference, and meanwhile, the M1 and M4 also have differential gearing, the differential gearing can further amplify the transmission ratio, and the specific principle is explained by the following formula.
To explain the working principle of the present invention in detail, first, let N 1 The rotational speed of the face gear M1, N 2 The rotational speed of the face gear M2, N 3 The rotational speed, N, of the face gear M3 4 The rotational speed of the face gear M4, N 5 Is the rotational speed, M, of the planet carrier 3 1 、M 2 、M 3 、M 4 Respectively representing the tooth numbers of face gears M1, M2, M3 and M4, and having M 2 ＝M 3 +1，M 4 ＝M 1 +1. The above rotational speeds represent the number of revolutions of the gear wheel per unit time.
The transmission relationship between the face gear M2 and the face gear M3 can be obtained, the total number of the teeth rotated by the face gear M2 and the face gear M3 is equal, and N is equal 2 ·T·M 2 ＝N 3 ·T·M 3 T represents the time of rotation, so there is:
N 2 ·M 2 ＝﹣N 3 ·M 3 (1)
in the formula (1), the minus sign indicates that the two gears are opposite in rotation direction, and because the face gears M1 and M2 are fixedly connected and the face gears M3 and M4 are fixedly connected, the face gears M3 and M4 are fixedly connected:
N 1 ＝N 2 ，N 3 ＝N 4 (2)
then (1) can be expressed as:
N 1 ·M 2 ＝﹣N 4 ·M 3 (3)
the method is characterized by comprising the following steps:
when N is present 1 、N 4 、N 5 Not equal to 0, if one-N is applied to the whole system 5 To create a new system in which,the rotation speeds of the face gears M1, M4 and the carrier 3 are:
N 1 ′＝N 1 -N 5 ≠0，N 4 ′＝N 4 -N 5 ≠0，N 5 ′＝0 (5)
the entire system is facilitated to be the case when the planet carrier 3 is fixed, namely:
N 1 ′·M 1 ＝-N 4 ′·M 4 (6)
substituting the formulas (2), (4) and (5) into the formula (6) can further simplify the formula:
due to M 2 ＝M 3 +1，M 4 ＝M 1 -1, setting the number of teeth M 2 M, and the number of teeth X M 4 -M 3 ＝M 1 -M 2 And then:
the total gear ratio of the invention is:
the formula shows that the transmission ratio of the bionic jumping gear transmission device is related to the difference X of the tooth numbers between the two opposite gears and the tooth number M, the numerical values of M and X can be properly selected through the formula so as to select a proper transmission ratio, when the tooth number M is fixed, the larger the difference X of the tooth numbers is, the smaller the transmission ratio is, and when the difference X of the tooth numbers is fixed, the larger the tooth number M is, the larger the transmission ratio is, and the selectable range of the transmission ratio is wide.
For example, when the number of teeth M is 19, the difference X between the number of teeth is 40, and the transmission ratio is 52.65, and when the number of teeth M is 49 and the difference X between the number of teeth is 10, the transmission ratio can reach 561.6, which is difficult to achieve by the conventional reduction gear, and the jumping performance of the bionic jumping device can be greatly improved by reasonably designing the gear transmission device of the invention.
While the above is directed to some, but not all embodiments of the invention, the detailed description of the embodiments of the invention is not intended to limit the scope of the invention, which is 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 inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Claims (7)
1. A biomimetic hopping gear assembly, comprising: the gear transmission mechanism comprises an input shaft (1), a face gear M1, a face gear M2, a face gear M3, a face gear M4, a cylindrical gear Z1, a cylindrical gear Z2, a cylindrical gear Z3, a cylindrical gear Z4, a bearing C1, a bearing C2, a bearing C3, a bearing C4, a bearing C5, a bearing C6, a fixed frame (2) and a planet carrier (3);
the input shaft (1) is fixed at the axle center of the face gear M2; the face gear M1 is in a circular ring shape, the face gear M2 is fixed in the circular ring of the face gear M1, and the face gear M1 and the face gear M2 are coaxial and fixedly connected; the face gear M4 is in a circular ring shape, the face gear M3 is fixed in a circular ring of the face gear M4, and the face gear M3 is coaxial with and fixedly connected with the face gear M4; face gear M1 is parallel to face gear M4, face gear M2 is parallel to face gear M3;
the fixing frame (2) comprises a T-shaped frame, the T-shaped frame comprises a cross rod and a vertical rod which are fixed with each other, and the vertical rod is vertically connected to the center of the cross rod; a cylindrical gear Z1 is connected with one end of the cross bar through a bearing C1, and a cylindrical gear Z2 is connected with the other end of the cross bar through a bearing C2; the face gear M2 is in meshing connection with the face gear M3 through the cylindrical gear Z1 and the cylindrical gear Z2, and the number of teeth of the face gear M2 is different from that of the face gear M3; the face gear M3 is connected with the middle section of the vertical rod through a bearing C5, and one end of the vertical rod, which is far away from the cross rod, is also connected with the planet carrier (3) through a bearing C6;
the main body of the planet carrier (3) is positioned at the outer side of the face gear M4, and both ends of the planet carrier (3) extend between the face gear M1 and the face gear M4 in a bending way; the cylindrical gear Z3 is connected with one end of the planet carrier (3) through a bearing C3, and the cylindrical gear Z4 is connected with the other end of the planet carrier (3) through a bearing C4; the face gear M1 is in meshing connection with the face gear M4 through the cylindrical gear Z3 and the cylindrical gear Z4, and the number of teeth of the face gear M1 is different from that of the face gear M4;
the tooth number relation of each face gear and each cylindrical gear is as follows: m is a group of 2 =M 3 +1，M 4 =M 1 -1，Z 1 =Z 2 =Z 3 =Z 4 And M is 1 >M 2 (ii) a Wherein M is 1 、M 2 、M 3 、M 4 Z represents the number of teeth of face gear M1, face gear M2, face gear M3 and face gear M4 1 、Z 2 、Z 3 、Z 4 Respectively showing the tooth number of the cylindrical gear Z1, the cylindrical gear Z2, the cylindrical gear Z3 and the cylindrical gear Z4;
setting the number of teeth M 2 = M, difference in number of teeth X = M 4 -M 3 =M 1 -M 2 The transmission ratio is
。
2. The biomimetic jump gear assembly of claim 1, wherein face gear M1 is coplanar with face gear M2.
3. The biomimetic jump gear assembly of claim 1, wherein face gear M3 is coplanar with face gear M4.
4. A bionic jumping gear transmission according to claim 1, wherein the planet carrier (3) is in the shape of a cramp, and both ends of the planet carrier (3) are also bent inwards so that the end sections thereof are parallel to the face gear M1 and the face gear M4.
5. A gear ratio adjustment method applied to the bionic skip gear transmission device of claim 1,the method is characterized in that: the input shaft inputs power to drive the face gear M1 and the face gear M2 to rotate, the face gear M2 transmits torque to the face gear M3 through the cylindrical gear Z1 and the cylindrical gear Z2, the combination of the face gear M1 and the face gear M2 and the combination of the face gear M3 and the face gear M4 have a rotation speed difference due to the differential tooth action of the face gear M2 and the face gear M3, the planet carrier outputs power due to the rotation speed difference, meanwhile, the face gear M1 and the face gear M4 also have a differential tooth action, and the tooth difference action can further amplify the transmission ratio; setting the number of teeth M 2 = M, difference in number of teeth X = M 4 -M 3 =M 1 -M 2 Then the transmission ratio is
Selecting a proper transmission ratio by selecting the numerical value of the tooth number M and the tooth number difference X; when the tooth number M is constant, the larger the tooth number difference X is, the smaller the transmission ratio is; when the difference X is constant, the larger the number M of teeth is, the larger the transmission ratio is.
6. The method of adjusting a gear ratio of a bionic skip gear transmission according to claim 5, characterized in that: m is 19, the difference X in tooth number is 40, and the transmission ratio is 52.65.
7. The method of adjusting a gear ratio of a bionic-hopping gear transmission according to claim 5, characterized in that: m is 49, the difference X is 10, and the transmission ratio is 561.6.
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| CN102230519B (en) * | 2011-04-12 | 2013-11-27 | 河南科技大学 | Face gear-type planetary reduction gearbox |
| JP6420097B2 (en) * | 2014-08-29 | 2018-11-07 | オリエンタルモーター株式会社 | Face gear reducer |
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