CN113883233A - Planetary reducer based on flexible mechanism - Google Patents

Planetary reducer based on flexible mechanism Download PDF

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Publication number
CN113883233A
CN113883233A CN202111204594.4A CN202111204594A CN113883233A CN 113883233 A CN113883233 A CN 113883233A CN 202111204594 A CN202111204594 A CN 202111204594A CN 113883233 A CN113883233 A CN 113883233A
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China
Prior art keywords
tooth
cantilever
gear
flexible
external
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CN202111204594.4A
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CN113883233B (en
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裴旭
谢文宏
沈铖玮
王欣
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Beihang University
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Beihang University
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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
    • 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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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention discloses a planetary reducer based on a flexible mechanism, which comprises a rotation restraint part (1), an eccentric sleeve (2), a connecting shaft (3), a flexible rotation restraint connecting part (4), a first external tooth flexible gear (5), a second external tooth flexible gear (6), a deep groove ball bearing (7), a bearing seat (8) and an internal tooth gear (9). The first external-tooth flexible gear (5) and the second external-tooth flexible gear (6) are identical in structure and are installed at 90 degrees during assembly. The first outer-tooth flexible gear (5) and the second outer-tooth flexible gear (6) are hollowed in a gear tooth non-meshing area, the rigidity of the first outer-tooth flexible gear and the second outer-tooth flexible gear is reduced under the condition that the strength of gear teeth is not reduced too much, the actual contact ratio is improved under a certain condition, the overall load performance of the gears is improved, and the stress distribution of a meshing area is improved.

Description

Planetary reducer based on flexible mechanism
Technical Field
The invention relates to a planetary reducer, in particular to a planetary reducer based on a flexible mechanism.
Background
In the class of existing gear reducer transmissions, the need for a single large gear ratio can be achieved by independently employing a worm gear reduction, but it also has some disadvantages: the number of teeth which are simultaneously engaged and driven in the transmission process is less; to achieve strength requirements, a larger modulus is usually used, resulting in a larger volume; relative sliding exists at the meshing part of the worm and gear, and compared with other types of gear transmission, the friction loss is larger, so that the efficiency is not high. In contrast, the planetary gear speed reducer is an advanced transmission form, and has the advantages of large transmission ratio, high rigidity, high precision, compact structure and the like under the same volume. In actual production practice, the planetary gear transmission is generally considered to have a wider application scene and is also concerned by more and more researchers.
A gear difference gear transmission mechanism belongs to one of small gear difference internal gear transmissions, and is in the form of a planetary gear transmission. The gear has the advantages of large single-stage transmission ratio, strong gear tooth bearing capacity, small number of parts and the like, and is applied to a plurality of working occasions, such as a precise rotary table, a robot joint, a high-power speed reducer and the like.
Disclosure of Invention
In the planetary reducer with the flexible mechanism, which is designed by the invention, in the transmission of the internally meshed one-tooth-difference gear, because the reference circle diameters of the inner and outer teeth are close, the clearance of the tooth surface near the meshing point is very small. Under the action of a certain load, the gear corner caused by elastic deformation of the gear teeth at the position of the meshing point in the multi-tooth elastic meshing effect is larger than the original gap of the adjacent gear surface. At this time, the number of working gear teeth is increased, and the transmission capacity of the gear is improved. The invention relates to a speed reducer with a one-tooth difference transmission mechanism mode.
The invention discloses a planetary reducer based on a flexible mechanism, which comprises a rotation restraint piece (1), an eccentric sleeve (2), a connecting shaft (3), a flexible rotation restraint connecting piece (4), a first external tooth flexible gear (5), a second external tooth flexible gear (6), a deep groove ball bearing (7), a bearing seat (8) and an internal tooth gear (9). The first external-tooth flexible gear (5) and the second external-tooth flexible gear (6) are identical in structure and are installed at 90 degrees during assembly.
CA fins (3B) of the connecting shaft (3) are connected with DA fan-shaped panels (4C) on the flexible rotation restriction connecting pieces (4).
A CB fin (3C) of the connecting shaft (3) and a DB fan-shaped panel (4B) on the flexible rotation restriction connecting piece (4);
an AA cylindrical connecting table (1D1) of an AA cantilever (1D) of the rotation restraint piece (1) is connected with a DC cylindrical connecting table (4F1) of a DB cantilever (4F) of the flexible rotation restraint connecting piece (4);
an AB cylinder connecting table (1D2) of an AA cantilever (1D) of the rotation restriction piece (1) is connected with a DA cylinder connecting table (4E1) of a DA cantilever (4E) of the flexible rotation restriction connecting piece (4);
an AC cylinder connecting table (1E1) of an AB cantilever (1E) of the rotation restricting piece (1) is connected with a DD cylinder connecting table (4F2) of a DB cantilever (4F) of the flexible rotation restricting connecting piece (4);
the AD cylindrical connecting table (1E2) of the AB cantilever (1E) of the rotation restraint part (1) is connected with the DB cylindrical connecting table (4E2) of the DA cantilever (4E) of the flexible rotation restraint connecting part (4);
an AA cylindrical boss (1B1) on an AA fin (1B) of the rotation restraint piece (1) is connected with an EB sector panel (5D) of the first external tooth flexible gear (5);
an AB cylindrical boss (1C1) on an AB fin (1C) of the rotation restraint piece (1) is connected with an EA fan-shaped panel (5C) of the first external tooth flexible gear (5) through a screw;
an EA cylinder connecting table (5E1) at one end of an EA cantilever (5E) of the first external-tooth flexible gear (5) is connected with an FD cylinder connecting table (6F2) at the other end of an FB cantilever (6F) of the second external-tooth flexible gear (6);
an EB cylindrical connecting table (5E2) at the other end of an EA cantilever (5E) of the first external-tooth flexible gear (5) is connected with an FB cylindrical connecting table (6E2) at the other end of an FA cantilever (6E) of the second external-tooth flexible gear (6);
an EC cylinder connecting table (5F1) at one end of an EB cantilever (5F) of the first external-tooth flexible gear (5) is connected with an FC cylinder connecting table (6F1) at one end of an FB cantilever (6F) of the second external-tooth flexible gear (6);
an ED cylindrical connecting table (5F2) at the other end of the EB cantilever (5F) of the first external-tooth flexible gear (5) is connected with an FA cylindrical connecting table (6E1) at one end of an FA cantilever (6E) of the second external-tooth flexible gear (6).
In the invention, the first external tooth flexible gear (5) is an integrally formed structural part; the middle part of the first external tooth flexible gear (5) is provided with an E perforated disc (5B), and the E perforated disc (5B) is provided with an EA central through hole (5B 1); an E external tooth circular ring (5A) arranged outside the first external tooth flexible gear (5); an EA sector panel (5C) and an EB sector panel (5D) are arranged between the E perforated disc (5B) and the inner ring surface of the E outer tooth ring (5A);
an EA reed (5E3) and an EC reed (5F3) are arranged between the EA fan-shaped panel (5C) and the E perforated disc (5B); the other end of the EA reed (5E3) is jointed with one end of the EA cantilever (5E); the other end of the EB reed (5F3) is jointed with one end of the EB cantilever (5F);
an EB reed (5E4) and an ED reed (5F4) are arranged between the EB fan-shaped panel (5D) and the E perforated disc (5B); the other end of the EB reed (5E4) is jointed with the other end of the EA cantilever (5E); the other end of the ED reed (5F4) is jointed with the other end of the EB cantilever (5F);
one end of the EA cantilever (5E) is an EA cylindrical connecting table (5E1), and the other end of the EA cantilever (5E) is an EB cylindrical connecting table (5E 2);
one end of the EB cantilever (5F) is an EC cylindrical connecting platform (5F1), and the other end of the EB cantilever (5F) is an ED cylindrical connecting platform (5F 2).
The planetary reducer with the flexible mechanism has the advantages that:
firstly, the planetary reducer of the flexible mechanism of the invention applies the tooth form stress deformation of the small tooth difference transmission of one tooth difference, analyzes the equivalent clearance between the adjacent non-working tooth surfaces of the working meshing surface, obtains the change relation along with different gear parameters, and thus designs the optimized flexible internal tooth gear.
The flexible internal gear adopts the hollowing treatment in the non-meshing area of the gear teeth, reduces the rigidity of the gear teeth under the condition of not reducing the strength of the gear teeth too much, and realizes the improvement of the actual contact ratio under certain conditions, thereby improving the integral load performance of the gear and improving the stress distribution of the meshing area.
And the planetary reducer of the flexible mechanism adopts a double-motion flexible internal gear, so that the influence of the compression deformation of a single gear is overcome.
The planetary reducer of the flexible mechanism is designed to flexibly change involute gear teeth, so that the rigidity of the gear teeth is reduced and the movement precision is improved under the condition that the strength of the gear is not reduced too much.
Drawings
Fig. 1 is a structural view of a planetary reducer based on a flexible mechanism of the present invention.
Fig. 1A is an exploded view of a planetary reducer based on a flexible mechanism according to the present invention.
Fig. 1B is a perspective view of the planetary reducer based on the flexible mechanism of the present invention.
FIG. 1C is another perspective view of the planetary reducer based on the flexible mechanism according to the present invention.
FIG. 1D is a cross-sectional view of the planetary reducer based on a flexible mechanism according to the present invention.
Fig. 2 is a structural view of the eccentric sleeve (2) of the present invention.
Fig. 2A is another view structural view of the eccentric sleeve (2) of the present invention.
Fig. 2B is a view showing a structure of still another view of the eccentric sleeve (2) of the present invention.
Fig. 3 is a structural view of the connecting shaft (3) of the present invention.
Fig. 4 is a block diagram of the flexible rotation restricting link (4) of the present invention.
Fig. 4A is another perspective view of the flexible rotation restricting link (4) of the present invention.
Fig. 4B is a view showing still another perspective of the flexible rotation restricting coupling (4) of the present invention.
Fig. 5 is an assembly structural view of the first external-tooth flexible gear (5) and the second external-tooth flexible gear (6) of the present invention.
Fig. 5A is another perspective assembly view of the first external-tooth flexible gear (5) and the second external-tooth flexible gear (6) of the present invention.
Fig. 5B is a structural view of the first external-teeth flexible gear (5) of the present invention.
Fig. 5C is another perspective view structural view of the first external-teeth flexible gear (5) of the present invention.
Fig. 6 is a structural view of the second externally toothed compliant gear (6) of the present invention.
Fig. 6A is a view showing another perspective structure of the second externally toothed compliant gear (6) of the present invention.
Fig. 7 is a structural view of the rotation restraint member (1) of the present invention.
Fig. 7A is another perspective view of the rotation restraint member (1) of the present invention.
Fig. 8 is an assembly structure of the flexible rotation restricting connecting member (4), the deep groove ball bearing (7) and the bearing housing (8) of the present invention.
Fig. 9 is a front view showing an assembled structure of the rotation restricting member (1), the eccentric sleeve (2), the connecting shaft (3) and the flexible rotation restricting connecting member (4) of the present invention.
Fig. 9A is a perspective view of an assembly structure of the rotation restricting member (1), the eccentric sleeve (2), the connecting shaft (3) and the flexible rotation restricting connecting member (4) of the present invention.
Fig. 9B is another perspective view of the assembly structure of the rotation restricting member (1), the eccentric sleeve (2), the connecting shaft (3) and the flexible rotation restricting connecting member (4) of the present invention.
FIG. 10A is a graphical illustration of the present invention profile parameters for a compliant gear tooth.
FIG. 10B is a tooth profile of a gear tooth engagement pair according to the present invention after flexing.
FIG. 11A is a cloud of equivalent stresses under 20 N.m load for a flexible 120/121 tooth engagement pair according to the present invention.
FIG. 11B is a graph of contact stress distribution under 20N m load for a flexible 120/121 tooth engagement pair in accordance with the present invention.
FIG. 12A is a cloud of equivalent stresses under a load of 20 N.m for a flexible 150/151 tooth engagement pair according to the invention.
FIG. 12B is a graph of contact stress distribution under 20N m load for a flexible 150/151 tooth engagement pair in accordance with the present invention.
1. Rotation restraint member 1A. inner ring 1A1.AA center via
AA fin 1B1.AA cylindrical boss 1C.AB fin
1C1.AB column boss AA cantilever 1D1.AA cylinder connecting table
1D2.AB cylinder connecting table 1D3.AA reed 1D4.AB reed
1E.AB cantilever 1E1.AC cylinder connecting table 1E2.AD cylinder connecting table
1E3.AC reed 1E4.AD reed 2. Eccentric sleeve
Hollow shaft section of 2A. BA 2B.BB hollow shaft section 2C.BC hollow shaft section
BA center through hole 2E. eccentric baffle BA Via hole
BA eccentric Panel 2H.BB eccentric panel 3. Connecting shaft
3A.CA cylindrical shaft section 3B.CA fin 3B1.CA shrink section
3C.CB fin 3C1.CB shrinkage section 3D.CA disc
3E.CB cylindrical shaft section 4. Flexible rotation restraint connecting piece 4A. ring
4B. disc with holes 4B1.DA Central Via 4C.DA sector panel
4D.DB sector panel 4E.DA cantilever 4E1.DA cylinder connecting table
4E2.DB cylinder connecting table 4E3.DA reed DB reed of 4E4.DB
DB cantilever 4F1.DC cylinder connecting table 4F2.DD cylinder connecting table
4F3.DC reed DD reed of 4F4 5. First external tooth flexible gear
5A.E external tooth ring 5B.E perforated disc 5B1.EA center via
5C.EA sector panel EB sector panel 5E.EA cantilever
5E1.EA cylinder connecting table EB (Electron Beam) cylindrical connecting table 5E3.EA reed
EB reed of 5E4 EB cantilever 5F1.EC cylinder connecting table
5F2.ED cylinder connecting table 5F3.EC reed 5F4.ED reed
6. Second external tooth flexible gear 6A.F external tooth ring 6 B.F. disc with holes
6B1.FA center via 6C.FA sector panel 6D.FB sector Panel
FA cantilever 6E1.FA cylinder connecting table 6E2.FB cylindrical connecting table
6E3.FA reed 6E4.FB spring leaf FB cantilever
6F1.FC cylindrical connecting table 6F2.FD Cylinder connecting table FC reed of 6F3
FD Reed 6F4 7. Deep groove ball bearing 8. Bearing seat
9. Internal gear 9A. internal rack 9B. central through hole
9C. countersunk cavity 9D. inner panel 9E. outer panel
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
According to the basic principle of the involute planet small tooth difference speed reducer, on one hand, the geometrical size of the non-meshing surface part of an internal gear is optimized, and on the other hand, the gear tooth root part is corrected, so that the rigidity of the gear tooth root part is properly lowered, and the actual meshing contact ratio is increased.
Referring to fig. 1, 1A, 1B, 1C and 1D, the planetary reducer based on the flexible mechanism of the present invention includes a rotation restricting member 1, an eccentric sleeve 2, a connecting shaft 3, a flexible rotation restricting connecting member 4, a first external tooth flexible gear 5, a second external tooth flexible gear 6, a deep groove ball bearing 7, a bearing seat 8 and an internal tooth gear 9. The first external-tooth flexible gear 5 and the second external-tooth flexible gear 6 have the same structure and are installed at 90 degrees during assembly, namely the first external-tooth flexible gear 5 and the second external-tooth flexible gear 6 are installed in a relatively vertical assembly mode. The invention is a transmission mechanism combining 2 external gears and one internal gear, namely, a first external flexible gear 5 and a second external flexible gear 6 are hollowed in a gear tooth non-meshing area, the rigidity of the gear is reduced under the condition of not reducing the strength of the gear tooth too much, and the actual contact ratio is improved under a certain condition, so that the integral load performance of the gear is improved, and the stress distribution of the meshing area is improved. The invention relates to a small tooth difference transmission speed reducer with a flexible mechanism, which utilizes the flexible mechanism as a rotation restraint mechanism of the small tooth difference speed reducer so as to realize the speed reduction function. The flexible mechanism is adopted, so that the motion precision of the transmission speed reducer with small tooth difference is higher.
In the present invention, the BC hollow shaft segment 2C on the eccentric sleeve 2 is used for connection with an external drive, which may be a motor. The reducer of the invention is powered by a driver.
In the present invention, the cylindrical shaft section 3A of the connecting shaft 3 is used to output the decelerated driving force to the actuator.
The invention designs a small tooth difference transmission mechanism with an external gear input and external gear output structure, which inputs by an eccentric shaft 2 and outputs by a rotation restraint part 1. The external gear (the first external flexible gear 5 and the second external flexible gear 6) is in translational input by virtue of the eccentric shaft 2, rotates by being meshed with the internal gear 9, and is combined with the connecting shaft 3 by virtue of the flexible rotation constraint connecting piece 4 to realize rotation output.
The difference between the invention and the traditional speed reducer is as follows: the traditional small tooth difference transmission mechanism, particularly the rotation restraint mechanism, is complex in structure and high in assembly precision requirement. Moreover, because a rigid mechanism is adopted, a movement gap influencing the performance of the mechanism exists in the rotation restriction mechanism. These factors increase the manufacturing difficulty of the small tooth difference transmission mechanism and increase the manufacturing cost, and limit the application range of the small tooth difference transmission to a certain extent. The invention adopts the flexible mechanism, and no gap exists during movement, so that the movement of the flexible mechanism is more accurate compared with a rigid system in the movement form of the flexible mechanism. The integrated machining characteristics can simplify the structure of mechanical products and reduce the number and types of parts owned by the mechanism, so that the assembly quantity of the whole system is reduced, and the manufacturing efficiency of the mechanism is improved. The introduction of flexible mechanisms can solve some of the difficulties currently faced by small tooth difference transmission mechanisms.
Rotation restraint member 1
Referring to fig. 1, 1B, 1D, 7, 9A, and 9B, the rotation restraint member 1 is an integrally formed structural member. The rotation restraint member 1 is provided with an inner ring 1A, AA fin 1B, AB fin 1C, AA cantilever 1D, AB cantilever 1E; inner ring 1A, AA fin 1B and AB fin 1C are designed coaxially upwards, and two sides of inner ring 1A are AA fin 1B and AB fin 1C. The middle part of the rotation restraint piece 1 is provided with an AA central through hole 1A1, and a BA hollow shaft section 2A of the eccentric sleeve 2 is arranged in the AA central through hole 1A1.
An AA reed 1D3 and a DC reed 1E3 are arranged between the AA fin 1B and the inner ring 1A; the other end of AA reed 1D3 is connected with one end of AA cantilever 1D; the other end of DC reed 1E3 is engaged with one end of AB suspension arm 1E. An AA cylindrical boss 1B1 is arranged on the end face of the other end of the AA fin 1B. The AA cylindrical boss 1B1 is fixed to the EB sector-shaped face plate 5D of the first external-tooth flexible gear 5 by a screw.
An AB reed 1D4 and an AD reed 1E4 are arranged between the AB fin 1C and the inner ring 1A; the other end of the AB reed 1D4 is jointed with the other end of the AA cantilever 1D; the other end of AD reed 1E4 is engaged with the other end of AB cantilever 1E. An AB cylindrical boss 1C1 is arranged on the end face of the other end of the AB fin 1C. The AB cylindrical boss 1C1 is fixed to the EA sector-shaped panel 5C of the first external-tooth flexible gear 5 by screws.
One end of the AA cantilever 1D is provided with an AA cylindrical connecting table 1D1, and the AA cylindrical connecting table 1D1 is fixed with a DC cylindrical connecting table 4F1 of the DB cantilever 4F of the flexible rotation constraint connecting piece 4 through screws; the other end of the AA cantilever 1D is an AB cylinder connecting table 1D2, and the AB cylinder connecting table 1D2 is fixed with a DA cylinder connecting table 4E1 of the DA cantilever 4E of the flexible rotation constraint connecting piece 4 through screws.
One end of the AB cantilever 1E is provided with an AC cylindrical connecting table 1E1, and the AC cylindrical connecting table 1E1 is fixed with a DD cylindrical connecting table 4F2 of the DB cantilever 4F of the flexible rotation constraint connecting piece 4 through screws; the other end of the AB cantilever 1E is an AD cylindrical connection table 1E2, and the AD cylindrical connection table 1E2 is fixed with a DB cylindrical connection table 4E2 of the DA cantilever 4E of the flexible rotation constraint connecting piece 4 through screws.
Eccentric bushing 2
Referring to fig. 1, 1D, 2A, 2B, 9A, and 9B, the eccentric sleeve 2 is an integrally formed structural member. The eccentric sleeve 2 is provided with a BA hollow shaft section 2A, BB hollow shaft section 2B and a BC hollow shaft section 2C, the joint of the BA hollow shaft section 2A and one end of the BB hollow shaft section 2B is a BA eccentric panel 2G, and the joint of the BC hollow shaft section 2C and the other end of the BB hollow shaft section 2B is a BB eccentric panel 2H; the middle part of eccentric cover 2 is BA center through-hole 2C, is equipped with eccentric baffle 2D in BA center through-hole 2C, is equipped with BA through-hole 2E on the eccentric baffle 2D. In the invention, the relative position installation of the eccentric sleeve 2 and the first external-tooth flexible gear 5 is realized by that a pin passes through a BA through hole 2E on the eccentric baffle 2D and then is tightly pressed on the inner circular surface of an EA central through hole 5B1 of an E hole disc 5B of the first external-tooth flexible gear 5.
The BA hollow shaft section 2A is sleeved with an E external tooth circular ring 5A of the first external tooth flexible gear 5.
And an F external tooth circular ring 6A of the second external tooth flexible gear 6 is sleeved on the BB hollow shaft section 2B.
The BC hollow shaft section 2C is used for connection with an external drive.
Connecting shaft 3
Referring to fig. 1, 1B, 1D, 3, 9A, and 9B, the connecting shaft 3 is an integrally formed structural member. A CA cylindrical shaft section 3A, CA disc 3D and a CB cylindrical shaft section 3E are arranged in the axial direction of the connecting shaft 3, and CA fins 3B and CB fins 3C are arranged on the tangential direction of the connecting shaft 3.A CA contraction section 3B1 is arranged between the CA fin 3B and the CA disc 3D; a CB constriction section 3C1 is between the CB fin 3C and the CA disc 3D.
The CA fin 3B is fixedly connected with the DA fan-shaped panel 4C on the flexible rotation restriction connecting piece 4 through screws.
The CB fin 3C is fixedly connected to the DB fan-shaped panel 4B on the flexible rotation restricting connecting member 4 by screws.
In the present invention, the connecting shaft 3 is used for connecting with an external actuator, and the driving force is output to the actuator through the connecting shaft 3.
Flexible rotation restriction connecting piece 4
Referring to fig. 1, 1B, 1D, 4A, 4B, 8, 9A, 9B, the flexible rotation-restricting connecting member 4 is an integrally formed structural member. The middle part of the flexible rotation restriction connecting piece 4 is provided with a perforated disc 4B, and the perforated disc 4B is provided with a DA central through hole 4B 1; a circular ring 4A is arranged outside the flexible rotation restriction connecting piece 4; a DA fan-shaped panel 4C, DB fan-shaped panel 4D is arranged between the perforated disc 4B and the inner ring surface of the ring 4A.
The DA fan panel 4C is connected to the CA fin 3B of the connecting shaft 3.
The DB fan-shaped panel 4D is connected to the CB fin 3C of the connecting shaft 3.
A DA reed 4E3 and a DC reed 4F3 are arranged between the DA fan-shaped panel 4C and the perforated disc 4B; the other end of the DA reed 4E3 is jointed with one end of the DA cantilever 4E; the other end of DB reed 4F3 engages one end of DB cantilever 4F.
A DB reed 4E4 and a DD reed 4F4 are arranged between the DB fan-shaped panel 4D and the perforated disc 4B; the other end of the DB reed 4E4 is jointed with the other end of the DA cantilever 4E; the other end of DD reed 4F4 is engaged with the other end of DB cantilever 4F.
One end of the DA cantilever 4E is a DA cylindrical land 4E1, and the other end of the DA cantilever 4E is a DB cylindrical land 4E2.
One end of the DB suspension arm 4F is a DC cylinder connection stage 4F1, and the other end of the DB suspension arm 4F is a DD cylinder connection stage 4F2.
One end of an AA cantilever 1D of the rotation restraint piece 1 is provided with an AA cylindrical connecting table 1D1, and the AA cylindrical connecting table 1D1 is fixed with a DC cylindrical connecting table 4F1 of a DB cantilever 4F of the flexible rotation restraint connecting piece 4 through screws; the other end of the AA cantilever 1D is an AB cylinder connecting table 1D2, and the AB cylinder connecting table 1D2 is fixed with a DA cylinder connecting table 4E1 of the DA cantilever 4E of the flexible rotation constraint connecting piece 4 through screws.
One end of the AB cantilever 1E of the rotation restraint member 1 is provided with an AC cylindrical connection table 1E1, and the AC cylindrical connection table 1E1 is fixed with the DD cylindrical connection table 4F2 of the DB cantilever 4F of the flexible rotation restraint connecting member 4 through screws; the other end of the AB cantilever 1E is an AD cylindrical connection table 1E2, and the AD cylindrical connection table 1E2 is fixed with a DB cylindrical connection table 4E2 of the DA cantilever 4E of the flexible rotation constraint connecting piece 4 through screws.
First external-tooth flexible gear 5
Referring to fig. 1, 1D, 5A, 5B, and 5C, the first external-tooth flexible gear 5 is an integrally molded structural member. The middle part of the first external tooth flexible gear 5 is provided with an E perforated disc 5B, and the E perforated disc 5B is provided with an EA central through hole 5B 1; an E external tooth ring 5A provided outside the first external tooth flexible gear 5; an EA sector panel 5C, EB sector panel 5D is arranged between the E perforated disc 5B and the inner ring surface of the E outer tooth ring 5A.
The EA sector panel 5C is connected to the AB fin 1C of the rotation restraint 1.
The EB sector plate 5D is connected to the AA fin 1B of the rotation restraint member 1.
An EA reed 5E3 and an EC reed 5F3 are arranged between the EA fan-shaped panel 5C and the E disc with holes 5B; the other end of EA reed 5E3 is joined to one end of EA cantilever 5E; the other end of EB reed 5F3 is joined to one end of EB cantilever 5F.
An EB reed 5E4 and an ED reed 5F4 are arranged between the EB fan-shaped panel 5D and the E disc with holes 5B; the other end of the EB reed 5E4 is jointed with the other end of the EA cantilever 5E; the other end of ED reed 5F4 is engaged with the other end of EB cantilever 5F.
One end of the EA cantilever 5E is an EA cylinder connection stage 5E1, and the other end of the EA cantilever 5E is an EB cylinder connection stage 5E2.
One end of the EB cantilever 5F is an EC cylindrical land 5F1, and the other end of the EB cantilever 5F is an ED cylindrical land 5F2.
The AA cylindrical boss 1B1 on the AA fin 1B of the rotation restraint member 1 is fixed to the EB sector-shaped panel 5D of the first external-tooth flexible gear 5 by a screw.
The AB cylindrical boss 1C1 on the AB fin 1C of the rotation restraint member 1 is fixed to the EA sector-shaped panel 5C of the first external-tooth flexible gear 5 by a screw.
According to the invention, the flexibility of the external gear is realized through the structural design of the reed and the cantilever, so that the motion precision of the small tooth difference transmission speed reducer is improved.
Second external tooth flexible gear 6
Referring to fig. 1, 1D, 5A, 6 and 6A, the second externally toothed flexible gear 6 is an integrally formed structural member. The middle part of the second external-tooth flexible gear 6 is provided with an F perforated disc 6B, and the F perforated disc 6B is provided with an FA central through hole 6B 1; a circular ring 6A is arranged outside the second external-tooth flexible gear 6; an FA fan-shaped panel 6C, FB fan-shaped panel 6D is arranged between the disk 6B with the hole F and the inner ring surface of the ring 6A.
An FA reed 6E3 and an FC reed 6F3 are arranged between the FA fan-shaped panel 6C and the F perforated disc 6B; the other end of the FA reed 6E3 is engaged with one end of the FA cantilever 6E; the other end of FB reed 6F3 engages one end of FB cantilever 6F.
An FB reed 6E4 and an FD reed 6F4 are arranged between the FB fan-shaped panel 6D and the F perforated disc 6B; the other end of FB reed 6E4 is engaged with the other end of FA cantilever 6E; the other end of FD reed 6F4 is engaged with the other end of FB cantilever 6F.
One end of the FA cantilever 6E is an FA cylinder connection stage 6E1, and the other end of the FA cantilever 6E is an FB cylinder connection stage 6E2.
One end of the FB cantilever 6F is an FC cylinder connection stage 6F1, and the other end of the FB cantilever 6F is an FD cylinder connection stage 6F2.
The EA cylinder connection stage 5E1 at one end of the EA cantilever 5E of the first external-tooth flexible gear 5 is fixed with the FD cylinder connection stage 6F2 at the other end of the FB cantilever 6F of the second external-tooth flexible gear 6 by a screw.
The EB cylinder attaching base 5E2 at the other end of the EA cantilever 5E of the first external-tooth flexible gear 5 is fixed to the FB cylinder attaching base 6E2 at the other end of the FA cantilever 6E of the second external-tooth flexible gear 6 by screws.
The EC cylinder connection stage 5F1 at the end of the EB cantilever 5F of the first external-tooth flexible gear 5 is fixed by a screw to the FC cylinder connection stage 6F1 at the end of the FB cantilever 6F of the second external-tooth flexible gear 6.
The ED cylindrical connection table 5F2 at the other end of the EB cantilever 5F of the first external-tooth flexible gear 5 is fixed by a screw to the FA cylindrical connection table 6E1 at the one end of the FA cantilever 6E of the second external-tooth flexible gear 6.
Bearing seat 8
Referring to fig. 1, 1A, 1B, 1C, 1D, and 8, a deep groove ball bearing 7 is installed in the bearing housing 8. The inner ring of the deep groove ball bearing 7 is sleeved on the circular ring 4A of the flexible rotation constraint connecting piece 4.
The bearing block 8 is fixed to the housing of the internal gear 9 by screws.
Internal gear 9
Referring to fig. 1, 1A, 1B, 1C, and 1D, a countersunk cavity 9C is formed between an outer panel 9E and an inner panel 9D of the internal gear 9; a central through hole 9B is arranged on the outer panel 9E; the inner panel 9D is provided with an inner rack 9A.
The invention relates to a performance analysis of a planetary reducer of a flexible mechanism driven by a differential gear
The engagement between the first and second external-tooth flexible gears 5 and 6 and the internal-tooth gear 9 of the present invention is a one-tooth-difference-mode transmission structure. May have 120 and 121 teeth or 150 and 151 teeth.
In the present invention, the first external-tooth flexible gear 5 and the second external-tooth flexible gear 6 are flexible tooth structures in which spring pieces are fitted with external teeth. In order to reduce the adverse effect generated along with the increase of the number of teeth and ensure a larger contact ratio to transmit torque, the invention adopts a method of modifying the shape of a non-meshing surface to increase the deflection of the gear teeth and achieve the effect of reducing local stress under the condition of ensuring the strength. Referring to FIGS. 10A and 10B, the pitch circle and the root circle are separated by a distance L0The distance between the tooth root and the fixed plane is L, and the loading force is FtThe cross-sectional height of the tooth root is hLThe height of the section of the pitch circle is h0The gear tooth size coefficient under different modulus is
Figure BDA0003306375340000111
In a pair of ring gears, the thickness of the tooth root of the external gear is smaller than that of the internal gear, which is determined by the properties of the involute gear itself, and it is important to match a pair of ring gears for flexibility. For the meshing relation of the soft tooth surfaces, the safety margin of the bending stress of the tooth root is often higher, and the tooth root correction coefficient S is designed during the flexibilitysApplication of SsTo hLFurther modifications are made while reducing the probability of interference between adjacent tooth profiles. The tooth profile parameters designed by the invention are respectively Hm＝1，hL＝2.044953，Ss＝0.8。
Referring to fig. 11A and 11B, stress conditions of the gear teeth after being flexible are shown, and 120/121 gear meshing pairs have a small-range multi-tooth elastic meshing effect. The meshing area is enlarged and the number of teeth that bear the load becomes large. The simulation results are listed in table 1 for comparison:
TABLE 1120/121 tooth mesh sub-load-stress contrast
Figure BDA0003306375340000112
By post-processing the simulation result, the actual contact ratio and the stress change caused by different engagement positions in the engagement process can be obtained. Because of the alternate transmission state of different gear teeth meshing in the meshing process, the stress of the gear teeth is changed periodically in the whole transmission process.
150/151 inner meshing pairs are optimized. The tooth profile parameters designed by the invention are respectively Hm＝1，hL＝2.044953，Ss0.8. And (4) importing the optimized model into finite element software for speed division, drawing grids and the like, and applying the same load. From the simulation results, it was found that although the presence of the multi-tooth meshing phenomenon results in an increase in the number of teeth that simultaneously bear the load, the maximum contact stress is increased due to abnormal meshing. As shown in fig. 12A and 12B. The simulation results are listed for comparison in table 2:
TABLE 2150/151 tooth mesh sub-load-stress contrast
Figure BDA0003306375340000121
By analyzing the finite element simulation result, the contact stress is not obviously changed and the equivalent stress is slightly increased for the flexible gear under the light load of 5 N.m although the actually observed contact ratio is increased; when the load of 20 N.m is heavily loaded, the contact stress is reduced, the stress value correspondence and the time variation range are also reduced, the bearing capacity of the speed reducer can be increased to a certain extent, and the service life of the gear teeth can be prolonged.

Claims (5)

1. The utility model provides a planetary reducer based on flexible mechanism which characterized in that: the planetary reducer of the flexible mechanism is of a one-tooth difference gear transmission structure;
the planetary reducer of the flexible mechanism comprises a rotation restraint piece (1), an eccentric sleeve (2), a connecting shaft (3), a flexible rotation restraint connecting piece (4), a first outer tooth flexible gear (5), a second outer tooth flexible gear (6), a deep groove ball bearing (7), a bearing seat (8) and an inner tooth gear (9); the first external tooth flexible gear (5) and the second external tooth flexible gear (6) have the same structure and are installed at 90 degrees during assembly;
the CA fins (3B) of the connecting shaft (3) are connected with the DA fan-shaped panel (4C) on the flexible rotation restriction connecting piece (4);
a CB fin (3C) of the connecting shaft (3) and a DB fan-shaped panel (4B) on the flexible rotation restriction connecting piece (4);
an AA cylindrical connecting table (1D1) of an AA cantilever (1D) of the rotation restraint part (1) is connected with a DC cylindrical connecting table (4F1) of a DB cantilever (4F) of the flexible rotation restraint connecting part (4);
an AB cylinder connecting table (1D2) of an AA cantilever (1D) of the rotation restraint part (1) is connected with a DA cylinder connecting table (4E1) of a DA cantilever (4E) of the flexible rotation restraint connecting part (4);
an AC cylinder connecting table (1E1) of an AB cantilever (1E) of the rotation restricting piece (1) is connected with a DD cylinder connecting table (4F2) of a DB cantilever (4F) of the flexible rotation restricting connecting piece (4);
the AD cylindrical connecting table (1E2) of the AB cantilever (1E) of the rotation restraint part (1) is connected with the DB cylindrical connecting table (4E2) of the DA cantilever (4E) of the flexible rotation restraint connecting part (4);
an AA cylindrical boss (1B1) on an AA fin (1B) of the rotation restraint piece (1) is connected with an EB sector panel (5D) of the first external tooth flexible gear (5);
an AB cylindrical boss (1C1) on an AB fin (1C) of the rotation restraint part (1) is connected with an EA fan-shaped panel (5C) of the first external tooth flexible gear (5) through a screw;
an EA cylinder connecting table (5E1) at one end of an EA cantilever (5E) of the first external-tooth flexible gear (5) is connected with an FD cylinder connecting table (6F2) at the other end of an FB cantilever (6F) of the second external-tooth flexible gear (6);
an EB cylindrical connecting table (5E2) at the other end of an EA cantilever (5E) of the first external-tooth flexible gear (5) is connected with an FB cylindrical connecting table (6E2) at the other end of an FA cantilever (6E) of the second external-tooth flexible gear (6);
an EC cylindrical connecting table (5F1) at one end of an EB cantilever (5F) of the first external-tooth flexible gear (5) is connected with an FC cylindrical connecting table (6F1) at one end of an FB cantilever (6F) of the second external-tooth flexible gear (6);
an ED cylindrical connecting table (5F2) at the other end of the EB cantilever (5F) of the first external-tooth flexible gear (5) is connected with an FA cylindrical connecting table (6E1) at one end of an FA cantilever (6E) of the second external-tooth flexible gear (6).
2. The planetary reducer based on flexible mechanism according to claim 1, characterized in that: the first external tooth flexible gear (5) is an integrally formed structural part; the middle part of the first external tooth flexible gear (5) is provided with an E perforated disc (5B), and the E perforated disc (5B) is provided with an EA central through hole (5B 1); an E external tooth circular ring (5A) arranged outside the first external tooth flexible gear (5); an EA sector panel (5C) and an EB sector panel (5D) are arranged between the E perforated disc (5B) and the inner ring surface of the E outer tooth ring (5A);
an EA reed (5E3) and an EC reed (5F3) are arranged between the EA fan-shaped panel (5C) and the E perforated disc (5B); the other end of the EA reed (5E3) is jointed with one end of the EA cantilever (5E); the other end of the EB reed (5F3) is jointed with one end of the EB cantilever (5F);
an EB reed (5E4) and an ED reed (5F4) are arranged between the EB fan-shaped panel (5D) and the E perforated disc (5B); the other end of the EB reed (5E4) is jointed with the other end of the EA cantilever (5E); the other end of the ED reed (5F4) is jointed with the other end of the EB cantilever (5F);
one end of the EA cantilever (5E) is an EA cylindrical connecting table (5E1), and the other end of the EA cantilever (5E) is an EB cylindrical connecting table (5E 2);
one end of the EB cantilever (5F) is an EC cylindrical connecting platform (5F1), and the other end of the EB cantilever (5F) is an ED cylindrical connecting platform (5F 2).
3. The planetary reducer based on flexible mechanism according to claim 1, characterized in that: the tooth profile parameters are provided with gear tooth size coefficients H under different modulusmCross-sectional height h of tooth rootLAnd root modification factor Ss。
4.A planetary reducer based on flexible mechanism according to claim 1 or 3, characterized in that: tooth profile parameters are respectively Hm＝1，hL＝2.044953，Ss＝0.8。
5. The planetary reducer based on flexible mechanism according to claim 1, characterized in that: the first outer-tooth flexible gear (5) and the second outer-tooth flexible gear (6) are hollowed in a gear tooth non-meshing area, the rigidity of the first outer-tooth flexible gear and the second outer-tooth flexible gear is reduced under the condition that the strength of gear teeth is not reduced too much, the actual contact ratio is improved under a certain condition, the overall load performance of the gears is improved, and the stress distribution of a meshing area is improved.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB423538A (en) * 1933-12-02 1935-02-04 Wright Aeronautical Corp Improvements in or relating to power transmission mechanism
US20060035739A1 (en) * 2004-08-12 2006-02-16 Merritt Armstrong Osborn Compound gearing system and method with chain and belt engagement structures
WO2011001802A1 (en) * 2009-06-30 2011-01-06 株式会社ジェイテクト Planetary gear mechanism
CN104455225A (en) * 2014-11-25 2015-03-25 北京航空航天大学 Small tooth difference driver based on flexible mechanisms
CN104575623A (en) * 2014-12-30 2015-04-29 北京航空航天大学 Two-degree-of-freedom parallel connection rotating platform based on flexible rolling contact theory
RU2016135469A (en) * 2016-08-31 2018-03-12 Валентин Алексеевич Абрамов DEVICE FOR OBTAINING ROTARY MOTION ABRAMOV VA
CN110725858A (en) * 2019-10-21 2020-01-24 北京航空航天大学 Segmented open type flexible segment radial protection bearing for magnetic bearing

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB423538A (en) * 1933-12-02 1935-02-04 Wright Aeronautical Corp Improvements in or relating to power transmission mechanism
US20060035739A1 (en) * 2004-08-12 2006-02-16 Merritt Armstrong Osborn Compound gearing system and method with chain and belt engagement structures
WO2011001802A1 (en) * 2009-06-30 2011-01-06 株式会社ジェイテクト Planetary gear mechanism
CN104455225A (en) * 2014-11-25 2015-03-25 北京航空航天大学 Small tooth difference driver based on flexible mechanisms
CN104575623A (en) * 2014-12-30 2015-04-29 北京航空航天大学 Two-degree-of-freedom parallel connection rotating platform based on flexible rolling contact theory
RU2016135469A (en) * 2016-08-31 2018-03-12 Валентин Алексеевич Абрамов DEVICE FOR OBTAINING ROTARY MOTION ABRAMOV VA
CN110725858A (en) * 2019-10-21 2020-01-24 北京航空航天大学 Segmented open type flexible segment radial protection bearing for magnetic bearing

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