CN113883233B - Planetary reducer based on flexible mechanism - Google Patents

Planetary reducer based on flexible mechanism Download PDF

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Publication number
CN113883233B
CN113883233B CN202111204594.4A CN202111204594A CN113883233B CN 113883233 B CN113883233 B CN 113883233B CN 202111204594 A CN202111204594 A CN 202111204594A CN 113883233 B CN113883233 B CN 113883233B
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cantilever
gear
flexible
external tooth
tooth
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CN113883233A (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 constraint part (1), an eccentric sleeve (2), a connecting shaft (3), a flexible rotation constraint 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). Wherein, 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 first external tooth flexible gear (5) and the second external tooth flexible gear (6) are hollowed in a non-meshing area of the gear teeth, the rigidity of the first external tooth flexible gear is reduced under the condition that the strength of the gear teeth is not reduced too much, and the actual coincidence degree is improved under a certain condition, so that the overall load performance of the gear is improved, and the stress distribution of the meshing area is improved.

Description

Planetary reducer based on flexible mechanism
Technical Field
The present invention relates to a planetary reducer, and more particularly, to a planetary reducer based on a flexible mechanism.
Background
In the existing gear reducer transmission device, the single-stage large transmission ratio requirement can be realized by adopting a worm gear reducer independently, but the worm gear reducer has some disadvantages: the number of teeth of the simultaneous meshing transmission is small in the transmission process; to meet strength requirements, a larger modulus is typically used, resulting in a larger volume; the meshing position of the worm gear and the worm has relative sliding, and compared with other types of gear transmission, the friction loss is larger, so that the efficiency is low. In contrast, the planetary gear speed reducer, which is an advanced transmission form, has the advantages of large transmission ratio, high rigidity, high precision, compact structure and the like under the same volume. In actual production practice, planetary gear transmissions are generally considered to have a wider application range, and are also receiving attention from more and more researchers.
A tooth difference gear transmission mechanism belongs to one kind of small tooth difference internal engaged gear transmission, and is in the form of 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 turntable, a robot joint, a high-power speed reducer and the like.
Disclosure of Invention
In the planetary reducer of the flexible mechanism designed by the invention, in internal-meshing one-tooth differential gear transmission, the clearance of tooth surfaces near meshing points is small because the pitch circle diameters of the internal and external teeth are similar. Under a certain load, the gear rotation angle caused by the elastic deformation of the gear teeth at the meshing point position in the multi-tooth elastic meshing effect is larger than the original clearance of the nearby tooth surfaces. 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 tooth difference transmission mechanism mode.
The invention discloses a planetary reducer based on a flexible mechanism, which comprises a rotation constraint piece (1), an eccentric sleeve (2), a connecting shaft (3), a flexible rotation constraint 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). Wherein, 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.
CA fins (3B) of the connecting shaft (3) are connected with DA sector panels (4C) on the flexible rotation constraint connecting piece (4).
A CB fin (3C) of the connecting shaft (3) and a DB sector panel (4B) on the flexible rotation constraint connecting piece (4);
the AA cylindrical connection table (1D 1) of the AA cantilever (1D) of the rotation restraint (1) is connected with the DC cylindrical connection table (4F 1) of the DB cantilever (4F) of the flexible rotation restraint connector (4);
an AB cylinder connecting table (1D 2) of an AA cantilever (1D) of the rotation constraint piece (1) is connected with a DA cylinder connecting table (4E 1) of a DA cantilever (4E) of the flexible rotation constraint connecting piece (4);
an AC cylindrical connection table (1E 1) of an AB cantilever (1E) of the rotation constraint element (1) is connected with a DD cylindrical connection table (4F 2) of a DB cantilever (4F) of the flexible rotation constraint connection element (4);
an AD cylindrical connection table (1E 2) of an AB cantilever (1E) of the rotation constraint element (1) is connected with a DB cylindrical connection table (4E 2) of a DA cantilever (4E) of the flexible rotation constraint connection element (4);
AA cylindrical bosses (1B 1) on AA fins (1B) of the rotation restraint (1) are connected with EB sector plates (5D) of the first external tooth flexible gear (5);
AB cylindrical bosses (1C 1) on AB fins (1C) of the rotation constraint piece (1) are connected with EA sector panels (5C) of the first external tooth flexible gear (5) through screws;
an EA cylindrical connecting table (5E 1) at one end of an EA cantilever (5E) of the first external tooth flexible gear (5) is connected with an FD cylindrical connecting table (6F 2) at the other end of an FB cantilever (6F) of the second external tooth flexible gear (6);
an EB cylinder connecting table (5E 2) at the other end of an EA cantilever (5E) of the first external tooth flexible gear (5) is connected with an FB cylinder connecting table (6E 2) at the other end of an FA cantilever (6E) of the second external tooth flexible gear (6);
an EC cylinder connection table (5F 1) at one end of an EB cantilever (5F) of the first external tooth flexible gear (5) is connected with an FC cylinder connection table (6F 1) at one end of an FB cantilever (6F) of the second external tooth flexible gear (6);
an ED cylinder connection table (5F 2) at the other end of the EB cantilever (5F) of the first external tooth flexible gear (5) is connected with an FA cylinder connection table (6E 1) at one end of the 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 member; an E perforated disc (5B) is arranged in the middle of the first external tooth flexible gear (5), and an EA central through hole (5B 1) is arranged on the E perforated disc (5B); an E-externally toothed ring (5A) arranged outside the first externally toothed flexible gear (5); an EA sector panel (5C) and an EB sector panel (5D) are arranged between the E perforated circular disc (5B) and the inner ring surface of the E external tooth circular ring (5A);
an EA reed (5E 3) and an EC reed (5F 3) are arranged between the EA fan-shaped panel (5C) and the E perforated circular disc (5B); the other end of the EA reed (5E 3) is connected with one end of the EA cantilever (5E); the other end of the EB reed (5F 3) is connected with one end of the EB cantilever (5F);
an EB reed (5E 4) and an ED reed (5F 4) are arranged between the EB fan-shaped panel (5D) and the E perforated circular disc (5B); the other end of the EB reed (5E 4) is connected with the other end of the EA cantilever (5E); the other end of the ED reed (5F 4) is connected with the other end of the EB cantilever (5F);
one end of the EA cantilever (5E) is an EA cylindrical connecting table (5E 1), 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 cylinder connecting table (5F 1), and the other end of the EB cantilever (5F) is an ED cylinder connecting table (5F 2).
The planetary reducer of the flexible mechanism has the advantages that:
(1) the planetary reducer of the flexible mechanism applies the tooth-shaped stress deformation of a small tooth difference transmission of one tooth difference, analyzes the equivalent clearance between the adjacent non-working tooth surfaces of the working meshing surface, and obtains the change relation along with different gear parameters, thereby designing the optimized flexible internal tooth gear.
(2) The flexible internal tooth gear is hollowed in a non-meshing area of the gear teeth, the rigidity of the flexible internal tooth gear is reduced under the condition that the strength of the gear teeth is not reduced too much, and the actual contact ratio is improved under a certain condition, so that the overall load performance of the gear is improved, and the stress distribution of the meshing area is improved.
(3) The planetary reducer of the flexible mechanism adopts the flexible internal gear with double motions, and overcomes the influence of the pressed deformation of a single gear tooth.
(4) The planetary reducer of the flexible mechanism is designed for flexibly forming involute gear teeth, and reduces the rigidity of the gear teeth and improves the movement precision under the condition of not excessively reducing the strength of a gear.
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 the planetary reducer based on the flexible mechanism of 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 flexible mechanism-based planetary reducer of the present invention.
Fig. 1D is a cross-sectional view of the flexible mechanism-based planetary reducer of the present invention.
Fig. 2 is a structural view of the eccentric sleeve (2) of the present invention.
Fig. 2A is another view of the eccentric sleeve (2) of the present invention.
Fig. 2B is a view 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 connection (4) of the present invention.
Fig. 4A is another view of the structure of the flexible rotation restricting connection (4) of the present invention.
Fig. 4B is a view of still another view of the flexible rotation-restricting coupling (4) of the present invention.
Fig. 5 is an assembly structure diagram of the first external-tooth flexible gear (5) and the second external-tooth flexible gear (6) of the present invention.
Fig. 5A is another view of the assembled structure 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-tooth flexible gear (5) of the present invention.
Fig. 5C is another view angle block diagram of the first external-tooth flexible gear (5) of the present invention.
Fig. 6 is a structural view of a second external tooth flexible gear (6) of the present invention.
Fig. 6A is another view of the structure of the second external tooth flexible gear (6) of the present invention.
Fig. 7 is a structural view of the rotation restricting member (1) of the present invention.
Fig. 7A is another view of the structure of the rotation restricting member (1) of the present invention.
Fig. 8 is an assembly structure of the flexible rotation restricting coupling member (4), the deep groove ball bearing (7) and the bearing housing (8) of the present invention.
Fig. 9 is a front 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. 9A is a perspective view of the 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. 9B is another perspective view of the 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. 10A is a schematic diagram of the modified tooth profile parameters of a compliant gear tooth in accordance with the present invention.
Fig. 10B is a tooth profile view of the tooth meshing pair after the present invention has been flexed.
FIG. 11A is a cloud chart of equivalent stress at 20 N.m load of a 120/121 tooth meshing pair after the flexibility of the invention.
FIG. 11B is a graph showing the contact stress distribution at 20 N.m load for a 120/121 tooth set after the present invention has been compliant.
FIG. 12A is a cloud chart of equivalent stress at 20 N.m load for a 150/151 tooth set after the present invention has been compliant.
FIG. 12B is a graph showing the contact stress distribution at 20 N.m load for a 150/151 tooth set after the present invention has been compliant.
1. Rotation restraint 1A. Inner circular ring Aa central through hole
1B.AA Fin 1B1 AA cylindrical boss 1C.AB fin
1C1 AB cylindrical boss 1D.AA cantilever 1D1.AA cylindrical connection table
1D2.AB cylinder connection table 1D3.AA reed 1D4.AB reed
1E.AB cantilever 1E1.AC cylindrical connection table 1E2.AD cylinder connection platform
1E3.AC Reed 1E4.AD reed 2. Eccentric sleeve
Hollow shaft section of 2A.BA Hollow shaft section of 2B.BB 2C.BC hollow shaft section
2D. BA center through hole 2E eccentric baffle 2F.BA Via
2G.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 shrink section 3D.CA disk
3E.CB cylindrical shaft section 4. Flexible rotation constraint connector 4A. Ring
4B. Round disc with holes 4B1 DA center through hole 4C.DA sector panel
4D. DB sector panel 4E.DA cantilever 4E1.DA cylinder connection table
4E2.DB cylinder connection table 4E3.DA reed 4E4.DB reed
4F.DB cantilever 4F1.DC cylinder connecting table 4F2.DD cylinder connection table
4F3.DC reed 4F4.DD reed 5. First external tooth flexible gear
5A.E external tooth ring 5 B.E. perforated circular disk 5B1.EA center through hole
5C.EA sector panel 5D.EB fan-shaped panel 5E.EA cantilever
5E1.EA cylindrical connecting table 5E2.EB cylinder connecting table 5E3.EA reed
5E4.EB reed 5F.EB cantilever 5F1.EC cylinder connection table
5F2.ED cylinder connection table 5F3.EC reed 5F4.ED reed
6. Second external tooth flexible gear 6A.F external tooth ring 6 B.F. perforated circular disc
Fa center through hole 6C.FA sector panel 6D.FB sector panel
6E.FA cantilever 6E1.FA cylindrical connecting table 6E2.FB cylinder connection table
6E3.FA reed 6E4.FB reed 6F. FB cantilever
6F1.FC cylinder connection table 6F2.FD cylindrical connection stand 6F3.FC reed
6F4.FD reed 7. Deep groove ball bearing 8. Bearing pedestal
9. Internal tooth gear 9A. Internal tooth strip 9B center 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 planetary small-tooth-difference speed reducer, the geometrical size of the non-meshing surface part of the internal gear is optimized, and the tooth root part of the gear is corrected to properly lower the rigidity of the gear, so that the actual meshing contact ratio is increased.
Referring to fig. 1, 1A, 1B, 1C and 1D, the planetary reducer based on a flexible mechanism of the present invention includes a rotation restraint member 1, an eccentric sleeve 2, a connection shaft 3, a flexible rotation restraint connection 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 assembled and installed vertically relatively. The invention relates to a transmission mechanism combining 2 external tooth gears and one internal tooth gear, namely a first external tooth flexible gear 5 and a second external tooth flexible gear 6 are hollowed in a non-meshing area of gear teeth, so that the rigidity of the gear teeth is reduced under the condition that the strength of the gear teeth is not reduced too much, and the actual contact ratio is improved under a certain condition, thereby improving the overall load performance of the gear and improving the stress distribution of the meshing area. The invention relates to a small-tooth-difference transmission speed reducer with a flexible mechanism, which uses the flexible mechanism as a rotation constraint mechanism of the small-tooth-difference speed reducer so as to realize the speed reduction function. The motion precision of the transmission speed reducer with small tooth difference is higher due to the adoption of the flexible mechanism.
In the present invention, the BC hollow shaft section 2C on the eccentric sleeve 2 is used for connection with an external drive, which may be an electric motor. The reducer of the present 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 driving force after deceleration to the actuator.
The invention designs a small tooth difference transmission mechanism with an external gear input and external gear output configuration, which is input by virtue of an eccentric shaft 2 and output by virtue of a rotation constraint member 1. The external gear (the first external flexible gear 5 and the second external flexible gear 6) performs translational input by means of the eccentric shaft 2, generates rotation by meshing with the internal gear 9, and realizes rotation output by combining the flexible rotation constraint connecting piece 4 and the connecting shaft 3.
The invention is different from the traditional speed reducer: the traditional transmission mechanism with less tooth difference, in particular to the rotation constraint mechanism, has complex structure and high assembly precision requirement. Moreover, because a rigid mechanism is adopted, a movement gap which influences the performance of the mechanism exists in the rotation constraint mechanism. These factors increase the manufacturing difficulty of the transmission mechanism with small teeth difference and simultaneously increase the manufacturing cost, and limit the application range of the transmission mechanism with small teeth difference to a certain extent. Because the invention adopts the flexible mechanism, no gap exists during movement, and the movement of the flexible mechanism is more accurate compared with a rigid system under the movement mode of the flexible mechanism. The integrated processing characteristic can simplify the structure of the mechanical product, reduce the number and types of parts owned by the mechanism, thereby reducing the assembly quantity of the whole system and improving the manufacturing efficiency of the mechanism. The introduction of a flexible mechanism can solve some of the difficulties currently faced by small tooth difference drive mechanisms.
Rotation restraint 1
Referring to fig. 1, 1B, 1D, 7, 9A, and 9B, the rotational restraint 1 is an integrally formed structural member. The rotation constraint piece 1 is provided with an inner ring 1A, AA fin 1B, AB fin 1C, AA cantilever 1D, AB cantilever 1E; the fins 1B and the AB fins 1C of the inner ring 1A, AA are designed to be in the coaxial direction, and the AA fins 1B and the AB fins 1C are arranged on two sides of the inner ring 1A. The middle part of the rotation restraint member 1 is 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 the AA reed 1D3 is connected with one end of the AA cantilever 1D; the other end of DC reed 1E3 is engaged with one end of AB cantilever 1E. An AA cylindrical boss 1B1 is arranged on the end face of the other end of the AA fin 1B. The AA cylinder boss 1B1 is fixed with the EB sector plate 5D of the first external tooth flexible gear 5 through screws.
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 connected with the other end of the AA cantilever 1D; the other end of the AD reed 1E4 is engaged with the other end of the 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 cylinder boss 1C1 is fixed with an EA sector plate 5C of the first external tooth flexible gear 5 through a screw.
One end of the AA cantilever 1D is 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 connector 4 through a screw; 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 a DA cantilever 4E of the flexible rotation constraint connector 4 through screws.
One end of the AB cantilever 1E is an AC cylindrical connecting table 1E1, and the AC cylindrical connecting table 1E1 is fixed with a DD cylindrical connecting table 4F2 of a DB cantilever 4F of the flexible rotation constraint connector 4 through a screw; the other end of the AB cantilever 1E is an AD cylindrical connecting table 1E2, and the AD cylindrical connecting table 1E2 is fixed with a DB cylindrical connecting table 4E2 of a DA cantilever 4E of the flexible rotation constraint connector 4 through a screw.
Eccentric sleeve 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 pin passes through the BA through hole 2E on the eccentric baffle plate 2D and then is tightly propped against the inner circular surface of the EA center through hole 5B1 of the E-shaped perforated disc 5B of the first external tooth flexible gear 5, so that the relative position installation of the eccentric sleeve 2 and the first external tooth flexible gear 5 is realized.
An E external tooth circular ring 5A of the first external tooth flexible gear 5 is sleeved on the BA hollow shaft section 2A.
The BB hollow shaft section 2B is sleeved with an F external tooth circular ring 6A of a second external tooth flexible gear 6.
The BC hollow shaft segment 2C is used for connection to an external drive.
Connecting shaft 3
Referring to fig. 1, 1B, 1D, 3, 9A, and 9B, the connecting shaft 3 is an integrally formed structure. The connecting shaft 3 is axially provided with a CA cylindrical shaft section 3A, CA disc 3D and a CB cylindrical shaft section 3E, and the connecting shaft 3 is tangentially provided with a CA fin 3B and a CB fin 3C. A CA tightening segment 3B1 is arranged between the CA fin 3B and the CA disc 3D; a CB shrink section 3C1 is arranged between the CB fin 3C and the CA disc 3D.
The CA fin 3B is fixedly connected with the DA sector panel 4C on the flexible rotation constraint connector 4 through a screw.
The CB fins 3C are fixedly connected with the DB sector panel 4B on the flexible rotation constraint connector 4 through 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-restricting connection 4
Referring to fig. 1, 1B, 1D, 4A, 4B, 8, 9A, and 9B, the flexible rotation-restricting connection 4 is an integrally formed structure. The middle part of the flexible rotation constraint connecting piece 4 is provided with a circular disk 4B with holes, and the circular disk 4B with holes is provided with a DA central through hole 4B1; a circular ring 4A arranged outside the flexible rotation constraint connecting piece 4; a DA sector panel 4C, DB sector panel 4D is arranged between the perforated circular disk 4B and the inner annular surface of the circular ring 4A.
DA sector plate 4C is connected to CA fin 3B of connecting shaft 3.
The DB sector plate 4D is connected to the CB fin 3C of the connection shaft 3.
A DA reed 4E3 and a DC reed 4F3 are arranged between the DA fan-shaped panel 4C and the perforated circular disc 4B; the other end of the DA reed 4E3 is engaged with one end of the DA cantilever 4E; the other end of the DB reed 4F3 is engaged with one end of the DB cantilever 4F.
A DB reed 4E4 and a DD reed 4F4 are arranged between the DB sector panel 4D and the perforated circular disc 4B; the other end of the DB reed 4E4 is engaged with the other end of the DA cantilever 4E; the other end of the DD reed 4F4 is engaged with the other end of the DB cantilever 4F.
One end of the DA cantilever 4E is a DA cylindrical connection table 4E1, and the other end of the DA cantilever 4E is a DB cylindrical connection table 4E2.
One end of the DB cantilever 4F is a DC cylinder connecting table 4F1, and the other end of the DB cantilever 4F is a DD cylinder connecting table 4F2.
One end of the AA cantilever 1D of the rotation restraint 1 is 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 restraint connector 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 a DA cantilever 4E of the flexible rotation constraint connector 4 through screws.
One end of the AB cantilever 1E of the rotation restraint member 1 is 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 restraint connector 4 through a screw; the other end of the AB cantilever 1E is an AD cylindrical connecting table 1E2, and the AD cylindrical connecting table 1E2 is fixed with a DB cylindrical connecting table 4E2 of a DA cantilever 4E of the flexible rotation constraint connector 4 through a screw.
First external tooth flexible gear 5
Referring to fig. 1, 1D, 5A, 5B, and 5C, the first externally toothed flexible gear 5 is an integrally formed structure. An E perforated circular disc 5B is arranged in the middle of the first external tooth flexible gear 5, and an EA central through hole 5B1 is arranged on the E perforated circular disc 5B; an E-external-tooth ring 5A arranged outside the first external-tooth flexible gear 5; an EA sector panel 5C, EB sector panel 5D is arranged between the E perforated circular disk 5B and the inner annular surface of the E outer tooth circular ring 5A.
The EA sector plate 5C is connected to the AB fin 1C of the rotation restriction member 1.
EB sector panel 5D is connected to AA fin 1B of rotation restraint 1.
An EA reed 5E3 and an EC reed 5F3 are arranged between the EA fan-shaped panel 5C and the E perforated circular disk 5B; the other end of the EA reed 5E3 is engaged with one end of the EA cantilever 5E; the other end of the EB reed 5F3 is engaged 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 circular disc 5B; the other end of the EB reed 5E4 is engaged 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 cylinder connection stage 5F1, and the other end of the EB cantilever 5F is an ED cylinder connection stage 5F2.
AA cylindrical boss 1B1 on AA fin 1B of rotation restraint 1 is fixed with EB sector plate 5D of first external tooth flexible gear 5 by means of screw.
The AB cylindrical boss 1C1 on the AB fin 1C of the rotation restraint member 1 is fixed with the EA sector plate 5C of the first external tooth flexible gear 5 through 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 transmission speed reducer with small tooth difference is improved.
Second external tooth flexible gear 6
Referring to fig. 1, 1D, 5A, 6 and 6A, the second external tooth flexible gear 6 is an integrally formed structure. An F perforated circular disc 6B is arranged in the middle of the second external tooth flexible gear 6, and an FA central through hole 6B1 is arranged on the F perforated circular disc 6B; a circular ring 6A arranged outside the second external tooth flexible gear 6; FA sector panel 6C, FB sector panel 6D is arranged between the F perforated circular disk 6B and the inner annular surface of the circular ring 6A.
FA reed 6E3 and FC reed 6F3 are arranged between FA sector panel 6C and F perforated circular disk 6B; the other end of the FA reed 6E3 is engaged with one end of the FA cantilever 6E; the other end of FB spring 6F3 is engaged with 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 circular disc 6B; the other end of the FB reed 6E4 is engaged with the other end of the 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 a FA cylindrical connection stage 6E1, and the other end of the FA cantilever 6E is a FB cylindrical 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.
An EA cylinder connection stage 5E1 at one end of an EA cantilever 5E of the first external tooth flexible gear 5 is fixed with an FD cylinder connection stage 6F2 at the other end of an FB cantilever 6F of the second external tooth flexible gear 6 by a screw.
The EB cylinder connection stage 5E2 at the other end of the EA cantilever 5E of the first external tooth flexible gear 5 is fixed with the FB cylinder connection stage 6E2 at the other end of the FA cantilever 6E of the second external tooth flexible gear 6 by a screw.
The EC cylinder connection table 5F1 at one end of the EB cantilever 5F of the first external-tooth flexible gear 5 is fixed with the FC cylinder connection table 6F1 at one end of the FB cantilever 6F of the second external-tooth flexible gear 6 by a screw.
The ED cylinder connection stage 5F2 at the other end of the EB cantilever 5F of the first external-tooth flexible gear 5 is fixed with the FA cylinder connection stage 6E1 at one end of the FA cantilever 6E of the second external-tooth flexible gear 6 by a screw.
Bearing pedestal 8
Referring to fig. 1, 1A, 1B, 1C, 1D, and 8, a deep groove ball bearing 7 is mounted 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 seat 8 is fixed with the shell of the internal gear 9 through screws.
Internal gear 9
Referring to fig. 1, 1A, 1B, 1C, and 1D, a countersunk cavity 9C is provided between the outer panel 9E and the inner panel 9D of the internal gear 9; the outer panel 9E is provided with a central through hole 9B; the inner panel 9D is provided with an inner rack 9A.
Performance analysis of planetary reducer of flexible mechanism of one-tooth differential gear transmission of the invention
The meshing between the first external tooth flexible gear 5 and the second external tooth flexible gear 6 and the internal tooth gear 9 of the present invention is a transmission structure of a tooth difference mode. The number of teeth can be 120 and 121, or 150 and 151.
In the present invention, the first external tooth flexible gear 5 and the second external tooth flexible gear 6 are flexible tooth structures of reed-matched external teeth. In order to reduce the adverse effect generated by the increase of the number of teeth and ensure a larger overlap ratio to transmit torque, the invention adopts a method of shaping on a non-meshing surface to lead the gear teeth to beThe deflection is increased, and the effect of reducing local stress is achieved under the condition of ensuring the strength. Referring to FIGS. 10A and 10B, the pitch to root distance is L 0 The distance from the tooth root to the fixed plane is L, and the loading force is F t The cross-sectional height of the tooth root is h L The section height of the pitch circle is h 0 The gear tooth size coefficient under different modulus is
Figure BDA0003306375340000111
For a pair of ring gears, the outer gear has a smaller tooth root thickness than the inner gear, which is determined by the nature of the involute gear itself, and the mating of the pair of ring gears is important in the case of flexibility. For the soft tooth surface engagement relationship, the safety margin of the root bending stress is often high, and the root correction coefficient S is designed during the flexible process s Application S s For h L Further corrections are made while reducing the probability of adjacent profiles interfering. The tooth profile parameters designed by the invention are respectively H m ＝1，h L ＝2.044953，S s ＝0.8。
Referring to fig. 11A and 11B, the gear teeth are stressed after being flexible, and the 120/121 gear meshing pair has a small-range multi-gear elastic meshing effect. The meshing area is enlarged and the number of teeth to carry the load is increased. The simulation results are shown in table 1 for comparison:
TABLE 1 120/121 tooth engagement sub-load-stress contrast
Figure BDA0003306375340000112
By post-processing the simulation result, the actual contact ratio in the engagement process and the stress change caused by different engagement positions can be obtained. Because of the alternating transmission states of different gear tooth engagements during the engagement process, the stress of the gear tooth engagements presents periodic changes during the whole transmission process.
The 150/151 tooth inner engagement pair is optimized. The tooth profile parameters designed by the invention are H respectively m ＝1，h L ＝2.044953，S s =0.8. And (3) importing the optimized model into finite element software for quick division, drawing grids and the like, and applying the same load. From the simulation results, it was found that although the occurrence of the multi-tooth meshing phenomenon resulted in a large number of teeth simultaneously carrying the load, the maximum contact stress was increased due to abnormal meshing. As shown in fig. 12A and 12B. The simulation results are shown in table 2 for comparison:
TABLE 2 150/151 tooth engagement sub-load-stress contrast
Figure BDA0003306375340000121
As can be seen from the analysis of the finite element simulation results, for the gear after the flexibility, the contact stress has no obvious change and the equivalent stress slightly increases although the actually observed overlap ratio increases under the light load of 5 n.m; when the load of 20 N.m is heavy, the contact stress is reduced, the change amplitude of the stress value corresponding to time is also reduced, the bearing capacity of the speed reducer can be increased to a certain extent, and the service life of gear teeth is prolonged.

Claims (5)

1. Planetary reducer based on flexible mechanism, its characterized in that: the planetary reducer of the flexible mechanism is a tooth difference gear transmission structure;
the planetary reducer of the flexible mechanism comprises a rotation constraint piece (1), an eccentric sleeve (2), a connecting shaft (3), a flexible rotation constraint 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) have the same structure and are installed at 90 degrees during assembly;
CA fins (3B) of the connecting shaft (3) are connected with DA sector panels (4C) on the flexible rotation constraint connecting piece (4);
a CB fin (3C) of the connecting shaft (3) and a DB sector panel (4B) on the flexible rotation constraint connecting piece (4);
the AA cylindrical connection table (1D 1) of the AA cantilever (1D) of the rotation restraint (1) is connected with the DC cylindrical connection table (4F 1) of the DB cantilever (4F) of the flexible rotation restraint connector (4);
an AB cylinder connecting table (1D 2) of an AA cantilever (1D) of the rotation constraint piece (1) is connected with a DA cylinder connecting table (4E 1) of a DA cantilever (4E) of the flexible rotation constraint connecting piece (4);
an AC cylindrical connection table (1E 1) of an AB cantilever (1E) of the rotation constraint element (1) is connected with a DD cylindrical connection table (4F 2) of a DB cantilever (4F) of the flexible rotation constraint connection element (4);
an AD cylindrical connection table (1E 2) of an AB cantilever (1E) of the rotation constraint element (1) is connected with a DB cylindrical connection table (4E 2) of a DA cantilever (4E) of the flexible rotation constraint connection element (4);
AA cylindrical bosses (1B 1) on AA fins (1B) of the rotation restraint (1) are connected with EB sector plates (5D) of the first external tooth flexible gear (5);
AB cylindrical bosses (1C 1) on AB fins (1C) of the rotation constraint piece (1) are connected with EA sector panels (5C) of the first external tooth flexible gear (5) through screws;
an EA cylindrical connection table (5E 1) at one end of an EA cantilever (5E) of the first external tooth flexible gear (5) is connected with an FD cylindrical connection table (6F 2) at the other end of an FB cantilever (6F) of the second external tooth flexible gear (6);
an EB cylinder connecting table (5E 2) at the other end of an EA cantilever (5E) of the first external tooth flexible gear (5) is connected with an FB cylinder connecting table (6E 2) at the other end of an FA cantilever (6E) of the second external tooth flexible gear (6);
an EC cylinder connection table (5F 1) at one end of an EB cantilever (5F) of the first external tooth flexible gear (5) is connected with an FC cylinder connection table (6F 1) at one end of an FB cantilever (6F) of the second external tooth flexible gear (6);
an ED cylinder connection table (5F 2) at the other end of the EB cantilever (5F) of the first external tooth flexible gear (5) is connected with an FA cylinder connection table (6E 1) at one end of the FA cantilever (6E) of the second external tooth flexible gear (6).
2. The flexible mechanism-based planetary reducer of claim 1, wherein: the first external tooth flexible gear (5) is an integrally formed structural member; an E perforated disc (5B) is arranged in the middle of the first external tooth flexible gear (5), and an EA central through hole (5B 1) is arranged on the E perforated disc (5B); an E-externally toothed ring (5A) arranged outside the first externally toothed flexible gear (5); an EA sector panel (5C) and an EB sector panel (5D) are arranged between the E perforated circular disc (5B) and the inner ring surface of the E external tooth circular ring (5A);
an EA reed (5E 3) and an EC reed (5F 3) are arranged between the EA fan-shaped panel (5C) and the E perforated circular disc (5B); the other end of the EA reed (5E 3) is connected with one end of the EA cantilever (5E); the other end of the EB reed (5F 3) is connected with one end of the EB cantilever (5F);
an EB reed (5E 4) and an ED reed (5F 4) are arranged between the EB fan-shaped panel (5D) and the E perforated circular disc (5B); the other end of the EB reed (5E 4) is connected with the other end of the EA cantilever (5E); the other end of the ED reed (5F 4) is connected with the other end of the EB cantilever (5F);
one end of the EA cantilever (5E) is an EA cylindrical connecting table (5E 1), 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 cylinder connecting table (5F 1), and the other end of the EB cantilever (5F) is an ED cylinder connecting table (5F 2).
3. The flexible mechanism-based planetary reducer of claim 1, wherein: the tooth form parameters are provided with the gear tooth size coefficients H under different moduli m Cross-sectional height h of tooth root L And root correction coefficient S s 。
4.A flexible mechanism-based planetary reducer according to claim 1 or 3, characterized in that: the tooth profile parameters are H respectively m ＝1，h L ＝2.044953，S s ＝0.8。
5. The flexible mechanism-based planetary reducer of claim 1, wherein: the first external tooth flexible gear (5) and the second external tooth flexible gear (6) are hollowed in a non-meshing area of the gear teeth, the rigidity of the first external tooth flexible gear is reduced under the condition that the strength of the gear teeth is not reduced too much, and the actual coincidence degree is improved under a certain condition, so that the overall load performance of the gear is improved, and the stress distribution of the meshing area is improved.
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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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US7438663B2 (en) * 2004-08-12 2008-10-21 Merritt Armstrong Osborn Compound gearing system and method with chain and belt engagement structures

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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
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
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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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