CN113883233B - Planetary reducer based on flexible mechanism - Google Patents

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, more particularly, a planetary reducer based on a flexible mechanism.

Background technique

Among the existing types of gear reducer transmission devices, the independent use of worm gear reducers can meet the needs of single-stage large transmission ratios, but it also has some disadvantages: the number of teeth meshing with the transmission at the same time during the transmission process is small; in order to achieve strength Requirements, usually a larger modulus is used, resulting in a larger volume; there is relative sliding at the meshing point of the worm gear, and compared with other types of gear transmission, the friction loss is greater and the efficiency is not high. In contrast, the planetary gear reduction device, as an advanced transmission form, has the advantages of large transmission ratio, high rigidity, high precision, and compact structure under the same volume. In actual production practice, planetary gear transmissions are generally considered to have wider application scenarios, and have also attracted more and more researchers' attention.

The one-tooth-difference gear transmission mechanism belongs to a kind of internal meshing gear transmission with few tooth differences, and its form is planetary gear transmission. It has the advantages of large single-stage transmission ratio, strong gear bearing capacity, and fewer parts. It is used in many workplaces, such as precision turntables, robot joints, and high-power reducers.

Contents of the invention

In the planetary reducer with flexible mechanism designed by the present invention, in the transmission of the one-tooth difference gear with internal meshing, since the pitch circle diameters of the inner and outer teeth are similar, the gap between the tooth surfaces near the meshing point is very small. Under a certain load, the gear rotation angle caused by the elastic deformation of the teeth at the meshing point in the multi-tooth elastic meshing effect will be greater than the original clearance of the nearby tooth surfaces. At this time, the number of working gear teeth increases, and the transmission capacity of the gear is improved. The invention is a speed reducer in a gear difference transmission mechanism mode.

The planetary reducer based on the flexible mechanism of the present invention includes a rotation constraint (1), an eccentric sleeve (2), a connecting shaft (3), a flexible rotation constraint connection (4), and a first external tooth flexible gear (5) , the second external tooth flexible gear (6), deep groove ball bearing (7), bearing seat (8) and internal tooth gear (9). Wherein, the structure of the first external tooth flexible gear (5) and the second external tooth flexible gear (6) is the same, and they 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 constraint connector (4).

The CB fin (3C) connecting the shaft (3) and the DB fan-shaped panel (4B) on the flexible rotation constraint connector (4);

The AA cylinder connection platform (1D1) of the AA cantilever (1D) of the rotation constraint (1) is connected with the DC cylinder connection platform (4F1) of the DB cantilever (4F) of the flexible rotation constraint connector (4);

The AB cylinder connection platform (1D2) of the AA cantilever (1D) of the rotation constraint (1) is connected with the DA cylinder connection platform (4E1) of the DA cantilever (4E) of the flexible rotation constraint connector (4);

The AC cylinder connection platform (1E1) of the AB cantilever (1E) of the rotation constraint (1) is connected with the DD cylinder connection platform (4F2) of the DB cantilever (4F) of the flexible rotation constraint connector (4);

The AD cylinder connection platform (1E2) of the AB cantilever (1E) of the rotation constraint (1) is connected with the DB cylinder connection platform (4E2) of the DA cantilever (4E) of the flexible rotation constraint connector (4);

The AA cylindrical boss (1B1) on the AA fin (1B) of the rotation constraint (1) is connected with the EB sector panel (5D) of the first external tooth flexible gear (5);

The AB cylinder boss (1C1) on the AB fin (1C) of the rotation constraint (1) is connected with the EA sector panel (5C) of the first external tooth flexible gear (5) through screws;

The EA cylindrical connecting platform (5E1) at one end of the EA cantilever (5E) of the first externally toothed flexible gear (5) and the FD cylindrical connecting platform (6F2) at the other end of the FB cantilever (6F) of the second externally toothed flexible gear (6) connect;

The EB cylindrical connecting platform (5E2) at the other end of the EA cantilever (5E) of the first external tooth flexible gear (5) and the FB cylindrical connecting platform (6E2) at the other end of the FA cantilever (6E) of the second external tooth flexible gear (6) )connect;

The EC cylindrical connecting platform (5F1) at one end of the EB cantilever (5F) of the first externally toothed flexible gear (5) is connected to the FC cylindrical connecting platform (6F1) at the end of the FB cantilever (6F) of the second externally toothed flexible gear (6) ;

The ED cylindrical connecting platform (5F2) at the other end of the EB cantilever (5F) of the first externally toothed flexible gear (5) and the FA cylindrical connecting platform (6E1) at one end of the FA cantilever (6E) of the second externally toothed flexible gear (6) connect.

In the present invention, the first externally toothed flexible gear (5) is an integrally formed structural member; the middle part of the first externally toothed flexible gear (5) is provided with an E holed disk (5B), and the E holed disk (5B) EA center through hole (5B1) is provided on the top; E external tooth ring (5A) is provided on the outside of the first external tooth flexible gear (5); E disc with holes (5B) and E external tooth ring (5A ) is provided with EA fan-shaped panels (5C) and EB fan-shaped panels (5D) between the inner ring surfaces;

EA reed (5E3) and EC reed (5F3) are arranged between the EA fan-shaped panel (5C) and the E disc with holes (5B); the other end of the EA reed (5E3) and one end of the EA cantilever (5E) Engagement; 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 disc with holes (5B); the other end of the EB reed (5E4) and the other end of the EA cantilever (5E) One end is engaged; the other end of the ED reed (5F4) is engaged with the other end of the EB cantilever (5F);

One end of the EA cantilever (5E) is the EA cylinder connection platform (5E1), and the other end of the EA cantilever (5E) is the EB cylinder connection platform (5E2);

One end of the EB cantilever (5F) is the EC cylinder connection platform (5F1), and the other end of the EB cantilever (5F) is the ED cylinder connection platform (5F2).

The advantages of the planetary reducer of the flexible mechanism of the present invention are:

①The planetary reducer of the flexible mechanism of the present invention is applied to the tooth shape deformation of the small tooth difference transmission with one tooth difference, and the equivalent gap between the adjacent non-working tooth surfaces of the working meshing surface is analyzed, and the variation with different gear parameters is obtained. relationship, and thus an optimized flexible internal gear is designed.

②The flexible internal gear of the present invention is hollowed out in the non-meshing area of the gear teeth, and its stiffness is reduced without reducing the strength of the gear teeth too much, so as to improve the actual coincidence degree under certain conditions, thereby increasing the overall load of the gear Performance, improved stress distribution in the meshing area.

③ The planetary reducer of the flexible mechanism of the present invention adopts a double-motion flexible internal tooth gear, which overcomes the influence of the compression deformation of a single tooth.

④The planetary reducer of the flexible mechanism of the present invention is a flexible design for the involute gear teeth, which can reduce the stiffness of the gear teeth and improve the motion accuracy without reducing the strength of the gear too much.

Description of drawings

Fig. 1 is a structural diagram 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 planetary reducer based on the flexible mechanism of the present invention.

Fig. 1D is a cross-sectional view of the planetary reducer based on the flexible mechanism of the present invention.

Fig. 2 is a structural diagram of the eccentric sleeve (2) of the present invention.

Fig. 2A is another structural view of the eccentric sleeve (2) of the present invention.

Fig. 2B is another structural view of the eccentric sleeve (2) of the present invention.

Fig. 3 is a structural diagram of the connecting shaft (3) of the present invention.

Fig. 4 is a structural diagram of the flexible rotation constraining connector (4) of the present invention.

Fig. 4A is another structural view of the flexible rotation constraining connector (4) of the present invention.

Fig. 4B is another structural view of the flexible rotation constraining connector (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 perspective assembly structure diagram 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 diagram of the first external tooth flexible gear (5) of the present invention.

Fig. 5C is another structural view of the first external tooth flexible gear (5) of the present invention.

Fig. 6 is a structural diagram of the second external tooth flexible gear (6) of the present invention.

Fig. 6A is another structural view of the second external tooth flexible gear (6) of the present invention.

Fig. 7 is a structural diagram of the rotation constraint (1) of the present invention.

Fig. 7A is another structural view of the rotation constraint (1) of the present invention.

Fig. 8 is the assembly structure of the flexible rotation constraining connector (4), deep groove ball bearing (7) and bearing seat (8) of the present invention.

Fig. 9 is a front view of the assembly structure of the rotation restraint part (1), the eccentric sleeve (2), the connecting shaft (3) and the flexible rotation restraint connector (4) of the present invention.

Fig. 9A is a perspective view of the assembly structure of the rotation restriction member (1), the eccentric sleeve (2), the connecting shaft (3) and the flexible rotation restriction connector (4) of the present invention.

Fig. 9B is another perspective view of the assembly structure of the rotation constraint (1), the eccentric sleeve (2), the connecting shaft (3) and the flexible rotation constraint connector (4) of the present invention.

Fig. 10A is a schematic diagram of modified tooth profile parameters of flexible gear teeth according to the present invention.

Fig. 10B is a tooth profile diagram of the flexible tooth meshing pair of the present invention.

Fig. 11A is the equivalent stress cloud diagram of the 120/121 tooth meshing pair under a load of 20N·m after the flexibility of the present invention.

Fig. 11B is a diagram of the contact stress distribution of the 120/121 tooth meshing pair under a load of 20N·m after the flexibility of the present invention.

Fig. 12A is the equivalent stress cloud diagram of the 150/151 tooth meshing pair under a load of 20N·m after the flexibility of the present invention.

Fig. 12B is a diagram of the contact stress distribution of the 150/151 tooth meshing pair under a load of 20N·m after the flexibility of the present invention.

1. Rotation constraints 1A. Inner ring 1A1.AA Center through hole 1B.AA Fins 1B1.AA cylindrical boss 1C.AB fin 1C1.AB cylindrical boss 1D.AA cantilever 1D1.AA cylindrical connection table 1D2.AB cylindrical connection table 1D3.AA reed 1D4.AB reed 1E.AB cantilever 1E1.AC cylindrical connection table 1E2.AD cylindrical connection table 1E3.AC reed 1E4.AD reed 2. Eccentric sleeve 2A.BA hollow shaft section 2B.BB hollow shaft section 2C.BC hollow shaft section 2D.BA center through hole 2E. Eccentric baffle 2F.BA through hole 2G.BA eccentric panel 2H.BB Eccentric panel 3. Connection shaft 3A.CA cylindrical shaft section 3B.CA Fins 3B1.CA tightening section 3C.CB Fins 3C1.CB shrinking section 3D.CA Disc 3E.CB cylindrical shaft section 4. Flexible rotation restraint connector 4A. Ring 4B. Perforated disk 4B1.DA center through hole 4C.DA fan-shaped panel 4D.DB Sector Panel 4E.DA cantilever 4E1.DA cylindrical connection table 4E2.DB cylindrical connection table 4E3.DA reed 4E4.DB reed 4F.DB cantilever 4F1.DC cylindrical connection table 4F2.DD cylindrical connection table 4F3.DC reed 4F4.DD reed 5. The first external tooth flexible gear 5A.E external gear ring 5B.E Perforated Disc 5B1.EA center through hole 5C.EA fan-shaped panel 5D.EB fan-shaped panel 5E.EA cantilever 5E1.EA cylindrical connection table 5E2.EB cylindrical connection table 5E3.EA reed 5E4.EB reed 5F.EB cantilever 5F1.EC cylindrical connection table 5F2.ED cylindrical connection table 5F3.EC reed 5F4.ED reed 6. Second external tooth flexible gear 6A.F external gear ring 6B.F Perforated Disc 6B1.FA center through hole 6C.FA fan-shaped panel 6D.FB fan-shaped panel 6E.FA cantilever 6E1.FA cylindrical connection table 6E2.FB cylindrical connection table 6E3.FA reed 6E4.FB reed 6F.FB cantilever 6F1.FC Cylindrical Connection Table 6F2.FD cylindrical connection table 6F3.FC reed 6F4.FD reed 7. Deep groove ball bearings 8. Bearing seat 9. Internal gear 9A. Internal rack 9B. Center through hole 9C. Countersunk cavity 9D. Inner panel 9E. Outer panel

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings.

The speed reducer of the present invention is based on the basic principle of an involute planetary gear with less tooth difference. On the one hand, the geometric dimension of the non-meshing surface part of the internal gear is optimized, and on the other hand, the tooth root part of the gear is corrected to make its stiffness appropriately lower. , to increase the actual engagement degree.

Referring to Fig. 1, Fig. 1A, Fig. 1B, Fig. 1C, and Fig. 1D, a planetary reducer based on a flexible mechanism of the present invention includes a rotation constraint 1, an eccentric sleeve 2, a connecting shaft 3, and a flexible rotation constraint connection Part 4, the first flexible gear with external teeth 5, the second flexible gear with external teeth 6, deep groove ball bearing 7, bearing housing 8 and internal 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, that is, the first external tooth flexible gear 5 and the second external tooth flexible gear 6 are assembled and installed relatively vertically. The present invention is a transmission mechanism combining two externally toothed gears with one internally toothed gear, that is, the first externally toothed flexible gear 5 and the second externally toothed flexible gear 6 are hollowed out in the non-meshing area of the teeth. In the case of reducing the strength of the gear teeth, reduce its stiffness to achieve an increase in the actual coincidence under certain conditions, thereby improving the overall load performance of the gear and improving the stress distribution in the meshing area. The invention is a transmission reducer with a small tooth difference with a flexible mechanism, which uses the flexible mechanism as a rotation constraint mechanism of the reducer with a small tooth difference to realize the function of deceleration. Due to the flexible mechanism, the movement precision of the transmission reducer with less tooth difference is higher.

In the present invention, the BC hollow shaft section 2C on the eccentric sleeve 2 is used to connect with an external driver, which may be a motor. Power is provided to the speed reducer of the present invention through 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 present invention designs a small-tooth-difference transmission mechanism with an external gear input and external gear output configuration, which relies on the eccentric shaft 2 for input and the rotation restraint 1 for output. The externally toothed gears (the first externally toothed flexible gear 5 and the second externally toothed flexible gear 6 ) rely on the eccentric shaft 2 for translational input, and generate rotation through meshing with the internally toothed gear 9, and constrain the connecting piece 4 and the connecting shaft through flexible rotation The combination of 3 realizes the rotation output.

The difference between the present invention and the traditional reducer is that the structure of the traditional less tooth difference transmission mechanism, especially the rotation constraint mechanism is relatively complicated, and the assembly precision is required to be high. Moreover, because the rigid mechanism is adopted, there is a movement gap in the rotation restraint mechanism that affects the performance of the mechanism. These factors not only increase the manufacturing difficulty of the small tooth difference transmission mechanism, but also increase the manufacturing cost, which limits the application range of the small tooth difference transmission to a certain extent. Since the present invention adopts a flexible mechanism, there is no gap during movement, so in the movement form of the flexible mechanism, its movement is more precise than that of a rigid system. The characteristics of integrated processing can simplify the structure of mechanical products, reduce the number and types of parts owned by the mechanism, thereby reducing the assembly amount of the entire system and improving the manufacturing efficiency of the mechanism. Therefore, the introduction of the flexible mechanism can solve some difficulties currently faced by the transmission mechanism with small tooth difference.

Rotation constraints 1

Referring to FIG. 1 , FIG. 1B , FIG. 1D , FIG. 7 , FIG. 9 , FIG. 9A , and FIG. 9B , the rotation constraint member 1 is an integrally formed structural member. An inner ring 1A, an AA fin 1B, an AB fin 1C, an AA cantilever 1D, and an AB cantilever 1E are arranged on the rotation constraint 1; the inner ring 1A, the AA fin 1B and the AB fin 1C are designed on the same axis, And the two sides of the inner ring 1A are AA fins 1B and AB fins 1C. The middle part of the rotation constraint 1 is the AA central through hole 1A1, and the BA hollow shaft section 2A of the eccentric sleeve 2 is placed in the AA central through hole 1A1.

AA reed 1D3 and DC reed 1E3 are arranged between AA fin 1B and inner ring 1A; the other end of AA reed 1D3 is joined to one end of AA cantilever 1D; the other end of DC reed 1E3 is connected to AB cantilever 1E One end is joined. AA cylindrical boss 1B1 is provided on the end surface of the other end of AA fin 1B. The AA cylindrical boss 1B1 is fixed to the EB fan-shaped panel 5D of the first external tooth flexible gear 5 by screws.

AB reed 1D4 and AD reed 1E4 are arranged between AB fin 1C and inner ring 1A; the other end of AB reed 1D4 is joined to the other end of AA cantilever 1D; the other end of AD reed 1E4 is connected to AB cantilever 1E the other end of the joint. AB cylindrical boss 1C1 is provided on the end surface of the other end of AB fin 1C. The AB cylinder boss 1C1 is fixed to the EA sector panel 5C of the first external tooth flexible gear 5 by screws.

One end of the AA cantilever 1D is the AA cylinder connection platform 1D1, and the AA cylinder connection platform 1D1 is fixed by screws and the DC cylinder connection platform 4F1 of the DB cantilever 4F of the flexible rotation restraint connector 4; the other end of the AA cantilever 1D is the AB cylinder connection platform 1D2 , the AB cylinder connection platform 1D2 is fixed with the DA cylinder connection platform 4E1 of the DA cantilever 4E of the flexible rotation constraint connector 4 by screws.

One end of the AB cantilever 1E is the AC cylinder connection platform 1E1, and the AC cylinder connection platform 1E1 is fixed by screws and the DD cylinder connection platform 4F2 of the DB cantilever 4F of the flexible rotation constraint connector 4; the other end of the AB cantilever 1E is the AD cylinder connection platform 1E2 , the AD cylindrical connection table 1E2 is fixed to the DB cylindrical connection table 4E2 of the DA cantilever 4E of the flexible rotation constraint connector 4 by screws.

Eccentric set 2

Referring to Fig. 1, Fig. 1D, Fig. 2, Fig. 2A, Fig. 2B, Fig. 9, Fig. 9A, Fig. 9B, the eccentric sleeve 2 is an integrally formed structural part. The eccentric sleeve 2 is provided with BA hollow shaft section 2A, BB hollow shaft section 2B and BC hollow shaft section 2C, the junction of BA hollow shaft section 2A and BB hollow shaft section 2B is BA eccentric panel 2G, BC hollow shaft section 2C The junction with the other end of the BB hollow shaft section 2B is the BB eccentric panel 2H; the middle part of the eccentric sleeve 2 is the BA center through hole 2C, and an eccentric baffle 2D is arranged in the BA center through hole 2C, and the eccentric baffle 2D is provided with BA via 2E. In the present invention, after the pin passes through the BA through hole 2E on the eccentric baffle 2D, it is tightened on the inner circular surface of the EA center through hole 5B1 of the E holed disc 5B of the first externally toothed flexible gear 5 to realize The relative positions of the eccentric sleeve 2 and the first external tooth flexible gear 5 are installed.

The E external tooth ring 5A of the first external tooth flexible gear 5 is sleeved on the BA hollow shaft section 2A.

The F external tooth 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 to an external drive.

Connection axis 3

Referring to FIG. 1 , FIG. 1B , FIG. 1D , FIG. 3 , FIG. 9 , FIG. 9A , and FIG. 9B , the connecting shaft 3 is an integrally formed structural member. A CA cylindrical shaft section 3A, a CA disc 3D and a CB cylindrical shaft section 3E are provided in the axial direction of the connecting shaft 3 , and CA fins 3B and CB fins 3C are provided in the tangential direction of the connecting shaft 3 . Between the CA fin 3B and the CA disc 3D is a CA tightening section 3B1 ; between the CB fin 3C and the CA disc 3D is a CB tightening section 3C1 .

The CA fins 3B are fixedly connected to the DA fan-shaped panels 4C on the flexible rotation constraining connector 4 through screws.

The CB fin 3C is fixedly connected to the DB fan-shaped 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 constraint connector 4

Referring to Fig. 1, Fig. 1B, Fig. 1D, Fig. 4, Fig. 4A, Fig. 4B, Fig. 8, Fig. 9, Fig. 9A, and Fig. 9B, the flexible rotation constraining connector 4 is an integral structural member. The middle part of the flexible rotation restraint connector 4 is provided with a disc 4B with a hole, and the disc 4B with a hole is provided with a DA center through hole 4B1; the outer part of the flexible rotation restraint connector 4 is provided with a ring 4A; the disc 4B with a hole A DA fan-shaped panel 4C and a DB fan-shaped panel 4D are provided between the inner ring surface of the ring 4A.

The DA fan-shaped 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 joined to one end of the DA cantilever 4E; the other end of the DB reed 4F3 is connected to the DB cantilever 4F one end of the joint.

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 joined to the other end of the DA cantilever 4E; the other end of the DD reed 4F4 is connected to the DB cantilever The other end of 4F is engaged.

One end of the DA cantilever 4E is a DA cylindrical connecting platform 4E1, and the other end of the DA cantilever 4E is a DB cylindrical connecting platform 4E2.

One end of the DB cantilever 4F is a DC cylindrical connecting table 4F1, and the other end of the DB cantilever 4F is a DD cylindrical connecting table 4F2.

One end of the AA cantilever 1D of the rotation restraint 1 is the AA cylinder connection platform 1D1, and the AA cylinder connection platform 1D1 is fixed with the DC cylinder connection platform 4F1 of the DB cantilever 4F of the flexible rotation constraint connector 4 through screws; the other end of the AA cantilever 1D is The AB cylinder connection platform 1D2 and the AB cylinder connection platform 1D2 are fixed with the DA cylinder connection platform 4E1 of the DA cantilever 4E of the flexible rotation restraint connector 4 through screws.

One end of the AB cantilever 1E of the rotation restraint 1 is the AC cylinder connection platform 1E1, and the AC cylinder connection platform 1E1 is fixed with the DD cylinder connection platform 4F2 of the DB cantilever 4F of the flexible rotation constraint connector 4 through screws; the other end of the AB cantilever 1E is The AD cylinder connection platform 1E2 is fixed by screws to the DB cylinder connection platform 4E2 of the DA cantilever 4E of the flexible rotation restraint connector 4 .

First external tooth flexible gear 5

Referring to Fig. 1 , Fig. 1D , Fig. 5 , Fig. 5A, Fig. 5B, and Fig. 5C, the first external tooth flexible gear 5 is an integrally formed structural member. The middle part of the first externally toothed 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 5B1; the outside of the first externally toothed flexible gear 5 is provided with an E externally toothed ring 5A; E There are EA fan-shaped panels 5C and EB fan-shaped panels 5D between the inner ring surface of the E ring with holes 5B and the E outer tooth ring 5A.

The EA sector panel 5C is connected to the AB fin 1C of the rotation constraint 1 .

The EB sector panel 5D is connected to the AA fin 1B of the rotation constraint 1 .

EA reed 5E3 and EC reed 5F3 are arranged between the EA fan-shaped panel 5C and the E holed disk 5B; the other end of the EA reed 5E3 is joined to one end of the EA cantilever 5E; the other end of the EB reed 5F3 is connected to the EB cantilever One end of 5F is joined.

EB reed 5E4 and ED reed 5F4 are arranged between EB fan-shaped panel 5D and E holed disk 5B; the other end of EB reed 5E4 is joined with the other end of EA cantilever 5E; the other end of ED reed 5F4 is connected with EB The other end of the cantilever 5F is joined.

One end of the EA cantilever 5E is an EA cylinder connection platform 5E1, and the other end of the EA cantilever 5E is an EB cylinder connection platform 5E2.

One end of the EB cantilever 5F is an EC cylinder connection platform 5F1, and the other end of the EB cantilever 5F is an ED cylinder connection platform 5F2.

The AA cylindrical boss 1B1 on the AA fin 1B of the rotation constraint 1 is fixed to the EB sector panel 5D of the first external tooth flexible gear 5 through screws.

The AB cylindrical boss 1C1 on the AB fin 1C of the rotation constraint 1 is fixed to the EA sector panel 5C of the first external tooth flexible gear 5 by screws.

In the present invention, the flexibility of the external tooth gear is realized through the structural design of the reed and the cantilever, thereby improving the motion accuracy of the transmission reducer with small tooth difference.

Second external tooth flexible gear 6

Referring to Fig. 1 , Fig. 1D , Fig. 5 , Fig. 5A, Fig. 6 and Fig. 6A, the second external tooth 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 holed disc 6B, and the F perforated disc 6B is provided with a FA central through hole 6B1; the outside of the second external tooth flexible gear 6 is provided with an annulus 6A; F An FA fan-shaped panel 6C and a FB fan-shaped panel 6D are arranged between the disc with holes 6B and the inner ring surface of the ring 6A.

There are FA reed 6E3 and FC reed 6F3 between the FA fan-shaped panel 6C and the F holed disc 6B; the other end of the FA reed 6E3 is connected to one end of the FA cantilever 6E; the other end of the FB reed 6F3 is connected to the FB cantilever 6F is joined at one end.

FB reed 6E4 and FD reed 6F4 are arranged between FB fan-shaped panel 6D and F holed disc 6B; the other end of FB reed 6E4 is joined with the other end of FA cantilever 6E; the other end of FD reed 6F4 is connected with FB The other end of the cantilever 6F is engaged.

One end of the FA cantilever 6E is an FA cylindrical connecting platform 6E1, and the other end of the FA cantilever 6E is an FB cylindrical connecting platform 6E2.

One end of the FB cantilever 6F is an FC cylindrical connecting platform 6F1, and the other end of the FB cantilever 6F is an FD cylindrical connecting platform 6F2.

The EA cylindrical connecting platform 5E1 at one end of the EA cantilever 5E of the first externally toothed flexible gear 5 is fixed to the FD cylindrical connecting platform 6F2 at the other end of the FB cantilever 6F of the second externally toothed flexible gear 6 .

The EB cylindrical connecting platform 5E2 at the other end of the EA cantilever 5E of the first externally toothed flexible gear 5 is fixed to the FB cylindrical connecting platform 6E2 at the other end of the FA cantilever 6E of the second externally toothed flexible gear 6 .

The EC cylindrical connecting platform 5F1 at one end of the EB cantilever 5F of the first externally toothed flexible gear 5 is fixed to the FC cylindrical connecting platform 6F1 at one end of the FB cantilever 6F of the second externally toothed flexible gear 6 .

The ED cylindrical connecting platform 5F2 at the other end of the EB cantilever 5F of the first externally toothed flexible gear 5 is fixed to the FA cylindrical connecting platform 6E1 at one end of the FA cantilever 6E of the second externally toothed flexible gear 6 .

Bearing housing 8

Referring to Fig. 1, Fig. 1A, Fig. 1B, Fig. 1C, Fig. 1D, and Fig. 8, a deep groove ball bearing 7 is installed in the bearing seat 8. The inner ring of the deep groove ball bearing 7 is sleeved on the circular ring 4A of the flexible rotation restraint connector 4 .

The housing of the bearing seat 8 and the internally toothed gear 9 is fixed by screws.

Internal gear 9

Referring to Fig. 1, Fig. 1A, Fig. 1B, Fig. 1C, and Fig. 1D, there is a countersunk cavity 9C between the outer panel 9E and the inner panel 9D of the inner gear 9; the outer panel 9E is provided with a central through hole 9B; An internal rack 9A is provided on the panel 9D.

Performance analysis of planetary reducer with flexible mechanism of tooth difference gear transmission in the present invention

The meshing between the first externally toothed flexible gear 5 and the second externally toothed flexible gear 6 and the internally toothed gear 9 of the present invention is a transmission structure of a tooth difference mode. It can be 120 and 121 teeth, or 150 and 151 teeth.

对于一对内啮合齿轮来说，外齿轮相比内齿轮齿根厚度要小一些，这是由于渐开线齿轮本身的性质决定的，在进行柔性化时，一对啮合齿轮的搭配很重要。对于软齿面啮合关系来说，齿根弯曲应力的安全裕度往往较高，在进行柔性化时，设计了齿根修正系数S_s，应用S_s对h_L进行进一步修正，同时降低相邻齿廓发生干涉的概率。则本发明设计的齿形参数分别为H_m＝1，h_L＝2.044953，S_s＝0.8。In the present invention, the first flexible gear with external teeth 5 and the second flexible gear with external teeth 6 are flexible tooth structures in which reeds cooperate with external teeth. In order to reduce the adverse effects caused by the increase of the number of teeth and ensure a large degree of overlap to transmit torque, the present invention adopts the method of modifying the non-meshing surface to increase the deflection of the gear teeth. Under the condition of ensuring the strength, the The effect of reducing local stress. See Fig. 10A and Fig. 10B. In the figure, the distance from pitch circle to dedendum circle is L ₀ , the distance from dedendum to fixed plane is L, the loading force is F _t , the section height of dedendum is h _L , and the pitch circle’s The section height is h ₀ , and the gear tooth size coefficient under different modulus is

For a pair of internal gears, the root thickness of the external gear is smaller than that of the internal gear, which is determined by the nature of the involute gear itself. When performing flexibility, the matching of a pair of meshing gears is very important. For the soft tooth surface meshing relationship, the safety margin of the bending stress of the dedendum is often high. When performing flexibility, the dedendum correction coefficient S _s is designed, and S _s is used to further correct h _L , and at the same time reduce the adjacent Probability of tooth profile interference. Then the tooth profile parameters designed by the present invention are H _m =1, h _L =2.044953, S _s =0.8.

Referring to Fig. 11A and Fig. 11B, it shows the stress of the gear teeth after flexibility, and the 120/121 tooth meshing pair has a small-scale multi-tooth elastic meshing effect. The meshing area is enlarged, and more teeth carry the load. The simulation results are listed in Table 1 for comparison:

Table 1 120/121 tooth mesh pair load-stress comparison

Through the post-processing of the simulation results, the actual degree of overlap in the meshing process and the stress changes caused by different meshing positions can be obtained. Due to the alternate transmission state of different gear meshes in the meshing process, the stress presents periodic changes in the whole transmission process.

Optimize the 150/151 tooth internal meshing pair. The tooth profile parameters designed by the present invention are respectively H _m =1, h _L =2.044953, S _s =0.8. Import the optimized model into the finite element software for analysis, grid drawing, etc., and apply the same load. From the simulation results, it can be found that although the multi-tooth meshing phenomenon leads to more teeth bearing load at the same time, the maximum contact stress increases due to abnormal meshing. As shown in Figure 12A and Figure 12B. The simulation results are listed in Table 2 for comparison:

Table 2 150/151 tooth mesh pair load-stress comparison

After analyzing the results of the finite element simulation above, it can be seen that for the flexible gear, under a light load of 5N·m, although the actually observed coincidence degree increases, the contact stress does not change significantly, and the equivalent stress remains the same. Slightly increased; when the load is heavy 20N·m, the contact stress decreases, and the variation range of the stress value and time also decreases, which can increase the bearing capacity of the reducer to a certain extent and prolong the life of the gear teeth.

Claims (5)

1. A planetary reducer based on a flexible mechanism, characterized in that: the planetary reducer of the flexible mechanism is a tooth difference gear transmission structure; The planetary reducer of the flexible mechanism includes a rotation constraint (1), an eccentric sleeve (2), a connecting shaft (3), a flexible rotation constraint connection (4), a first externally toothed flexible gear (5), a second Two external tooth flexible gears (6), deep groove ball bearings (7), bearing housings (8) and internal tooth gears (9); among them, 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 fin (3B) of the connecting shaft (3) is connected with the DA fan-shaped panel (4C) on the flexible rotation constraint connector (4); The CB fin (3C) connecting the shaft (3) and the DB fan-shaped panel (4B) on the flexible rotation constraint connector (4); The AA cylinder connecting platform (1D 1) of the AA cantilever (1D) of the rotation constraint (1) is connected with the DC cylinder connection platform (4F 1) of the DB cantilever (4F) of the flexible rotation constraint connector (4); The AB cylinder connection platform (1D2) of the AA cantilever (1D) of the rotation constraint (1) is connected with the DA cylinder connection platform (4E1) of the DA cantilever (4E) of the flexible rotation constraint connector (4); The AC cylinder connection platform (1E1) of the AB cantilever (1E) of the rotation constraint (1) is connected with the DD cylinder connection platform (4F2) of the DB cantilever (4F) of the flexible rotation constraint connector (4); The AD cylinder connection platform (1E2) of the AB cantilever (1E) of the rotation constraint (1) is connected with the DB cylinder connection platform (4E2) of the DA cantilever (4E) of the flexible rotation constraint connector (4); The AA cylindrical boss (1B1) on the AA fin (1B) of the rotation constraint (1) is connected with the EB sector panel (5D) of the first external tooth flexible gear (5); The AB cylinder boss (1C1) on the AB fin (1C) of the rotation constraint (1) is connected with the EA sector panel (5C) of the first external tooth flexible gear (5) by screws; The EA cylindrical connecting platform (5E1) at one end of the EA cantilever (5E) of the first externally toothed flexible gear (5) and the FD cylindrical connecting platform (6F2) at the other end of the FB cantilever (6F) of the second externally toothed flexible gear (6) )connect; The EB cylindrical connecting platform (5E2) at the other end of the EA cantilever (5E) of the first external tooth flexible gear (5) and the FB cylindrical connecting platform (6E2) at the other end of the FA cantilever (6E) of the second external tooth flexible gear (6) )connect; The EC cylinder connection platform (5F1) at one end of the EB cantilever (5F) of the first external tooth flexible gear (5) and the FC cylinder connection platform (6F1) at the end of the FB cantilever (6F) of the second external tooth flexible gear (6) connect; The ED cylindrical connecting platform (5F2) at the other end of the EB cantilever (5F) of the first externally toothed flexible gear (5) and the FA cylindrical connecting platform (6E1) at one end of the FA cantilever (6E) of the second externally toothed flexible gear (6) connect. 2. The planetary reducer based on a flexible mechanism according to claim 1, characterized in that: the first externally toothed flexible gear (5) is an integrally formed structural member; the middle part of the first externally toothed flexible gear (5) is provided with an E The disc with holes (5B), the E disc with holes (5B) is provided with EA center through hole (5B 1); the outside of the first external tooth flexible gear (5) is provided with the E external tooth annulus (5A) ; An EA fan-shaped panel (5C) and an EB fan-shaped panel (5D) are arranged between the inner ring surface of the E holed disc (5B) and the E outer tooth ring (5A); EA reed (5E3) and EC reed (5F3) are arranged between the EA fan-shaped panel (5C) and the E disc with holes (5B); the other end of the EA reed (5E3) and one end of the EA cantilever (5E) Engagement; 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 disc with holes (5B); the other end of the EB reed (5E4) and the other end of the EA cantilever (5E) One end is engaged; the other end of the ED reed (5F4) is engaged with the other end of the EB cantilever (5F); One end of the EA cantilever (5E) is the EA cylinder connection platform (5E1), and the other end of the EA cantilever (5E) is the EB cylinder connection platform (5E2); One end of the EB cantilever (5F) is the EC cylinder connection platform (5F1), and the other end of the EB cantilever (5F) is the ED cylinder connection platform (5F2). 3. The planetary reducer based on flexible mechanism according to claim 1, characterized in that: tooth shape parameters are set with different modulus tooth size coefficient H _m , dedendum section height h _L and dedendum correction coefficient S _s . 4. The flexible mechanism-based planetary reducer according to claim 1 or 3, characterized in that: the tooth shape parameters are H _m =1, h _L =2.044953, S _s =0.8. 5. The planetary reducer based on a flexible mechanism according to claim 1, characterized in that: the first external tooth flexible gear (5) and the second external tooth flexible gear (6) are hollowed out in the non-meshing area of the teeth In the case of not reducing the strength of the gear teeth too much, reduce its stiffness, and achieve an increase in the actual coincidence under certain conditions, thereby improving the overall load performance of the gear and improving the stress distribution in the meshing area.

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