CN117189846A - Friction rolling speed reducer - Google Patents
Friction rolling speed reducer Download PDFInfo
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- CN117189846A CN117189846A CN202310191956.3A CN202310191956A CN117189846A CN 117189846 A CN117189846 A CN 117189846A CN 202310191956 A CN202310191956 A CN 202310191956A CN 117189846 A CN117189846 A CN 117189846A
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- 239000003638 chemical reducing agent Substances 0.000 title claims description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 60
- 230000005489 elastic deformation Effects 0.000 claims abstract description 9
- 230000000694 effects Effects 0.000 claims abstract description 8
- 230000009467 reduction Effects 0.000 claims abstract description 6
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- 230000007246 mechanism Effects 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 2
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- 230000003068 static effect Effects 0.000 abstract description 5
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- 238000010586 diagram Methods 0.000 description 4
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Abstract
The utility model provides a friction rolling reduction gear, contains friction pulley, flexbile gear and tensioning ware, the flexbile gear sets up in the friction pulley is inside, the tensioning ware sets up in the flexbile gear is inside, friction pulley axis, flexbile gear axis and tensioning ware rotation axle coincidence, the tensioning ware produces by the outside expansion deformation of tensioning ware transmission shaft axle center, the flexbile gear produces elastic deformation under the tensioning ware expands the effect outward and contacts with the friction pulley and produce pressure and provide static friction for flexbile gear along friction pulley inner wall roll, thereby the tensioning ware rotates under drive arrangement's drive and drives flexbile gear, thereby the flexbile gear takes place continuous elastic deformation under tensioning ware and friction pulley inboard static friction effect and takes place relative rotation with the tensioning ware, thereby the angular velocity change that forms with radius certain proportion because of flexbile gear and friction pulley radius inequality reaches the deceleration effect. Because no tooth transmission exists, the instantaneous transmission ratio is constant and has no vibration, the transmission precision and the stability are greatly improved, meanwhile, the radius of the friction wheel and the flexible wheel is not influenced by the size of the meshing teeth, a very large transmission ratio selection range can be provided, and meanwhile, the manufacturing difficulty and the manufacturing cost are greatly reduced.
Description
Technical Field
The application relates to the technical field of speed reducers, in particular to a friction rolling speed reducer.
Background
The traditional harmonic reducer is a transmission device which uses a pure elliptic wave generator to enable a flexible gear to generate controllable elastic deformation waves to realize motion and power transmission, and has the advantages of small volume, large torque, high positioning precision, small vibration, shock resistance and the like, so that the traditional harmonic reducer is widely applied to the fields of chip equipment, robots, manipulators, numerical control equipment, automation equipment, aerospace and the like.
The prior art harmonic reducer generally adopts a traditional elliptic wave generator and gear meshing transmission, which also makes the design and manufacture of the transmission device complex and difficult, the manufactured finished product makes the harmonic reducer difficult to achieve the expected manufacturing precision, the transmission ratio is limited by the tooth size, vibration exists in the transmission, the starting moment is large, the instantaneous transmission ratio is not constant, and therefore, a reducer with small starting moment, constant instantaneous transmission ratio, no vibration, high precision, ultra-large selectable transmission range and economical manufacturing cost is needed.
Disclosure of Invention
In order to solve the technical problems, the application provides a friction rolling speed reducer.
The technical scheme adopted by the application for solving the technical problems is as follows: the friction rolling speed reducer comprises a friction wheel, a flexible wheel and a tensioner, wherein the flexible wheel is arranged in the friction wheel, the tensioner is arranged in the flexible wheel, and a center shaft of the friction wheel, a center shaft of the flexible wheel and a rotation axis of the tensioner are overlapped; the tensioner generates expansion deformation outwards from the axis of a transmission shaft of the tensioner, the flexible wheel generates elastic deformation under the expansion effect of the tensioner and contacts with the friction wheel to generate pressure, the tensioner rotates under the drive of the driving device to drive the flexible wheel to rotate, the flexible wheel continuously elastically deforms under the static friction force effect of the inner sides of the tensioner and the friction wheel to roll on the inner sides of the friction wheel and rotate relative to the tensioner, and the change of the angular velocity in a specific proportion with the radius is formed due to the unequal radius of the flexible wheel and the friction wheel, so that the speed reduction effect is achieved.
The speed reducer speed reduction ratio calculating method comprises the following steps:
the axle center of the tensioner is used as a reference system, and the rolling arc length of the flexible gear in unit time
The expression is:
wherein dα 1 The rotation radian of the tensioner relative to the friction wheel in unit time is r 3 Dl is the radius of the inner side of the friction wheel 3 To rotate the radian dl of the friction wheel in unit time by taking the axle center of the tensioner as a reference system 2 In order to rotate the radian of the flexible wheel in unit time by taking the axle center of the tensioner as a reference system,
taking the axle center of the tensioner as a reference system, the unit time rolling arc length dl2 flexible wheel rotating radian
The expression is:
wherein dα 22 For the unit time flexible wheel rotating radian r by taking the axle center of the tensioner as a reference system 2 In order that the flexible wheel does not generate elastic deformation radius,
the friction wheel is used as a reference system, and the rolling radian of the flexible wheel relative to the friction wheel in unit time
The expression is:
wherein dα2 is the radian of the flexible wheel rotating in unit time relative to the friction wheel,
with friction wheel as reference system, transmission ratio
The expression is:
wherein omega 1 Tensioner rotational angular velocity, ω, per unit time relative to friction wheel 2 The rotational angular velocity of the flexible wheel is the unit time relative to the friction wheel.
Further limited, the tensioner comprises a tensioner transmission shaft, the tensioner transmission shaft is provided with four on-axis supporting block mounting grooves which are symmetrically distributed on two sides of the tensioner transmission shaft according to two groups in the axial direction, each on-axis supporting block mounting groove is provided with a supporting block, the supporting blocks can rotate around a pin shaft in the on-axis supporting block mounting grooves, the other end, connected with the on-axis supporting block mounting groove, of each supporting block is provided with a bearing block, the bearing blocks can rotate around a connecting shaft between the supporting blocks and the bearing blocks, the bearing blocks are provided with rolling bearings and pressing block mounting sleeves, and the tensioner transmission shaft, the supporting blocks, the bearing blocks and the bearings form two parallelogram link mechanisms which are symmetrical to the transmission shaft of the tensioner.
Further limited, the tensioner transmission shaft is also provided with a compression block mounting groove, a compression block is arranged in the compression block mounting groove, grooves are formed in two ends of the compression block, the grooves are connected with the compression block mounting sleeve, and a bolt hole is formed in the middle of the compression tensioning block.
Further limited, the tensioner drive shaft still is equipped with the tensioning bolt hole, is equipped with the tensioning bolt in the tensioning bolt hole, is equipped with the tensioning bolt with the bolt hole connection of compact heap.
Further defined, the tensioner drive shaft is provided with a tensioner drive shaft fixed bearing, the tensioner drive shaft is connected with the tensioner drive shaft fixed bearing inner ring, and the tensioner drive shaft is provided with a flexible gear drive shaft, and the flexible gear drive shaft is connected with the tensioner drive shaft fixed bearing outer ring.
Further defined, the flexible gear is fixedly connected with the flexible gear transmission shaft through a bolt connection mode, a riveting mode and the like. Further limited, the flexible gear transmission shaft is provided with a flexible gear transmission shaft fixed bearing, the flexible gear transmission shaft is connected with an inner ring of the flexible gear transmission shaft fixed bearing, and the friction gear is connected with an outer ring of the flexible gear transmission shaft fixed bearing.
And further limiting that an end cover is arranged between the friction wheel and the tensioner transmission shaft, the end cover is connected with the friction wheel through bolts, an end cover fixed bearing is arranged on the end cover, the end cover is connected with an end cover fixed bearing outer ring, and the tensioner transmission shaft is connected with an end cover fixed bearing inner ring.
The beneficial effects are that:
according to the application, as the friction wheel and the flexible wheel have no meshing teeth, the flexible wheel stably rolls on the inner side of the friction wheel, the instantaneous transmission ratio is constant and has no vibration, the transmission precision and stability are greatly improved, meanwhile, the radius of the friction wheel and the flexible wheel is not influenced by the size of the meshing teeth, a very large transmission ratio selection range can be provided, the relative mass of the input end is reduced by the structure of the tensioner, so that the starting moment is reduced, and the manufacturing difficulty and the manufacturing cost are greatly reduced compared with those of the meshing teeth by using a smooth contact surface of the friction wheel.
The present application will be described in further detail with reference to the drawings of the embodiments and the specific embodiments. In the present document, when referring to an angle, the angle values are all angle values under the radian system.
Drawings
FIG. 1 is a schematic diagram of the structure of the present application.
Fig. 2 is a schematic B-B diagram of fig. 1.
Fig. 3 is a schematic view of the tensioner of the present application.
Fig. 4 is a schematic diagram of a tensioner drive shaft.
Fig. 5 is a schematic diagram of a tensioner structure.
Fig. 6 is an isometric view of the impactor configuration.
Detailed Description
As shown in fig. 1-6, the friction rolling speed reducer comprises a friction wheel 2, a flexible wheel 7 and a tensioner, wherein the flexible wheel 7 is arranged inside the friction wheel 2, the tensioner is arranged inside the flexible wheel 7, and a center shaft of the friction wheel 2, a center shaft of the flexible wheel 7 and a rotation axis of the tensioner are overlapped.
The tensioner generates expansion deformation outwards from the axis of the transmission shaft 401 of the tensioner, and the flexible wheel 7 generates elastic deformation under the expansion action of the tensioner and contacts with the friction wheel 2 to generate pressure so as to provide static friction force for the flexible wheel 7 to roll along the inner wall of the friction wheel 2.
In this embodiment, as shown in fig. 1, the working process of the friction rolling reducer is as follows: the friction wheel 2 is fixed, the tensioner rotates under the drive of the drive device to drive the flexible wheel 7 to rotate, the flexible wheel 7 continuously elastically deforms under the action of static friction force on the inner sides of the tensioner and the friction wheel 2 to roll on the inner sides of the friction wheel 2 and rotate relative to the tensioner, the friction wheel 2 rotates by taking the rotating shaft of the tensioner as a reference system to drive the flexible wheel 7 to rotate at the same linear speed, and the change of the angular speed which is in a specific proportion with the radius is formed due to the unequal radius of the flexible wheel 7 and the friction wheel 2, so that the speed reduction effect is achieved.
The speed reducer speed reduction ratio calculating method comprises the following steps:
the axle center of the tensioner is used as a reference system, and the rolling arc length of the flexible gear in unit time
The expression is:
wherein dα 1 The rotation radian of the tensioner relative to the friction wheel in unit time is r 3 Is the inner half of the friction wheelDiameter dl 3 To rotate the radian dl of the friction wheel in unit time by taking the axle center of the tensioner as a reference system 2 In order to rotate the radian of the flexible wheel in unit time by taking the axle center of the tensioner as a reference system,
taking the axle center of the tensioner as a reference system, the unit time rolling arc length dl2 flexible wheel rotating radian
The expression is:
wherein dα 22 For the unit time flexible wheel rotating radian r by taking the axle center of the tensioner as a reference system 2 In order that the flexible wheel does not generate elastic deformation radius,
the friction wheel is used as a reference system, and the rolling radian of the flexible wheel relative to the friction wheel in unit time
The expression is:
wherein dα2 is the radian of the flexible wheel rotating in unit time relative to the friction wheel,
with friction wheel as reference system, transmission ratio
The expression is:
wherein omega 1 Tensioner rotational angular velocity, ω, per unit time relative to friction wheel 2 The rotational angular velocity of the flexible wheel is the unit time relative to the friction wheel.
The on-shaft support block mounting grooves 421 and 422 are symmetrically distributed on both sides of the tensioner transmission shaft in a group of two in the axial direction,
the on-shaft support block mounting groove 420 is connected with one end of the support block 409 through a pin, the support block 409 can rotate in the on-shaft support block mounting groove 420 around a pin shaft center, the other end of the support block 409 is connected with the pressure bearing block 411 through a pin, and the pressure bearing block 411 can rotate around the pin shaft center of the connection between the support block 409 and the pressure bearing block 411; the on-shaft support block mounting groove 419 is connected with one end of the support block 410 through a pin, the support block 410 can rotate in the on-shaft support block mounting groove 419 around the pin shaft center, the other end of the support block 410 is connected with the pressure bearing block 413 through a pin, and the pressure bearing block 413 can rotate around the pin shaft center where the support block 410 and the pressure bearing block 413 are connected; a bearing 412 is arranged between the pressure bearing block 411 and the pressure bearing block 413, a compression block mounting sleeve 414 is arranged on the side, opposite to the bearing 412, of the pressure bearing block 413, and the pressure bearing block 411, the bearing 412 and the pressure bearing block 413 are connected with the compression block mounting sleeve 414 through bolts; the on-shaft supporting block mounting groove 422 is connected with one end of the supporting block 408 through a pin, the supporting block 408 can rotate in the on-shaft supporting block mounting groove 422 around the pin shaft center, the other end of the supporting block 408 is connected with the pressure-bearing block 406 through a pin, and the pressure-bearing block 406 can rotate around the pin shaft center of the connection pin between the supporting block 408 and the pressure-bearing block 406; the on-shaft supporting block mounting groove 421 is connected with one end of the supporting block 407 through a pin, the supporting block 407 can rotate in the on-shaft supporting block mounting groove 421 around the pin shaft center, the other end of the supporting block 407 is connected with the pressure-bearing block 404 through a pin, and the pressure-bearing block 404 can rotate around the pin shaft center where the supporting block 407 and the pressure-bearing block 404 are connected; a bearing 405 is arranged between the pressure-bearing block 406 and the pressure-bearing block 404, a pressure-bearing block mounting sleeve 403 is arranged on the opposite side of the pressure-bearing block 404 to the bearing 405, and the pressure-bearing block 406, the bearing 405, the pressure-bearing block 404 and the pressure-bearing block mounting sleeve 403 are connected through bolts; tensioner drive shaft 401, support block 408, bearing block 406, bearing 405, bearing block 404, support block 407, and compression block mounting sleeve 403 comprise a parallelogram four-bar linkage; the tensioner drive shaft 401, support block 409, bearing block 411, bearing 412, bearing block 413, support block 410, and compression block mounting sleeve 403 form another parallelogram four bar linkage; the two parallelogram linkages are symmetrical about the axis of tensioner drive shaft 401, giving the flexspline symmetrical deformation, pressure and rotational angular velocity.
The tensioner transmission shaft 401 is further provided with a compression block mounting groove 418, a compression block 416 is arranged in the compression block mounting groove, grooves 41601 and 41602 are formed in two ends of the compression block 416, the grooves 41602 are connected with the compression block mounting sleeve 403, the mounting sleeve 403 can slide in the grooves 41602, the grooves 41601 are connected with the compression block mounting sleeve 414, the mounting sleeve 414 can slide in the grooves 41601, the two mounting sleeves can slide in the two grooves of the compression block 416 respectively when the tensioner expands and deforms, and bolt holes 41603 are formed in the middle of the compression and tension block 416.
The tensioner transmission shaft 401 is further provided with a tightening bolt hole 423, a tightening bolt 417 is arranged in the tightening bolt hole, the tightening bolt 417 is connected with a bolt hole 41603 of the compression block, and the tightening bolt 417 is rotated to drive the compression block 416 to act on the four-bar mechanism to generate expansion deformation outwards from the axis of the tensioner transmission shaft 401 to squeeze the flexible gear 7, so that the flexible gear 7 is elastically deformed and is contacted with the friction gear 2 to generate pressure.
The tensioner is provided with a tensioner transmission shaft fixed bearing 6, a tensioner transmission shaft 401 is connected with the inner ring of the tensioner transmission shaft fixed bearing 6, a flexible gear transmission shaft 3 is arranged, and the flexible gear transmission shaft 3 is connected with the outer ring of the tensioner transmission shaft fixed bearing 6.
The flexible gear 7 is a thin-wall hollow cup and is fixedly connected with the flexible gear transmission shaft 3 through bolt connection, riveting and other modes.
The flexible gear transmission shaft 3 is provided with a flexible gear transmission shaft fixed bearing 5, the flexible gear transmission shaft 3 is connected with the inner ring of the flexible gear transmission shaft fixed bearing 5, and the friction wheel 2 is connected with the outer ring of the flexible gear transmission shaft fixed bearing 5.
An end cover 1 is arranged between the friction wheel 2 and the tensioner transmission shaft 401, the end cover 1 is connected with the friction wheel 2 through bolts, the end cover 1 is provided with an end cover fixed bearing 8, the end cover 1 is connected with the outer ring of the end cover fixed bearing 8, and the tensioner transmission shaft 401 is connected with the inner ring of the end cover fixed bearing 8.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "inner", "outer", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, or indirectly connected via an intermediate medium, or may be in communication with the interior of two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The apparatus includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. The friction rolling speed reducer is characterized by comprising a friction wheel, a flexible wheel and a tensioner, wherein the flexible wheel is arranged in the friction wheel, the tensioner is arranged in the flexible wheel, a center shaft of the friction wheel, a center shaft of the flexible wheel and a rotation axis of the tensioner are overlapped, the tensioner generates expansion deformation outwards from the axis of the rotation axis, and the flexible wheel generates elastic deformation under the expansion effect of the tensioner to be contacted with the friction wheel to generate pressure; the speed reducer speed reduction ratio calculating method comprises the following steps:
a. the axle center of the tensioner is used as a reference system, and the rolling arc length of the flexible gear in unit time
The expression is:
wherein dα 1 Tensioner rotation per unit time relative to friction wheel arc, r 3 Dl is the radius of the inner side of the friction wheel 3 To rotate the radian dl of the friction wheel in unit time by taking the axle center of the tensioner as a reference system 2 In order to rotate the radian of the flexible wheel in unit time by taking the axle center of the tensioner as a reference system,
b. taking the axle center of the tensioner as a reference system, the unit time rolling arc length dl2 flexible wheel rotating radian
The expression is:
wherein dα 22 For the unit time flexible wheel rotating radian r by taking the axle center of the tensioner as a reference system 2 In order that the flexible wheel does not generate elastic deformation radius,
c. the friction wheel is used as a reference system, and the rolling radian of the flexible wheel relative to the friction wheel in unit time
The expression is:
wherein dα 2 For the unit time flexible wheel rotation radian relative to the friction wheel,
with friction wheel as reference system, transmission ratio
The expression is:
wherein omega 1 Tensioner rotational angular velocity, ω, per unit time relative to friction wheel 2 The angle is rotated for a unit time relative to the friction wheel.
2. The speed reducer of claim 1, wherein the tensioner comprises a tensioner drive shaft, the tensioner drive shaft is provided with four on-axis supporting block mounting grooves which are symmetrically distributed on two sides of a tensioner drive shaft according to two groups in the axial direction, each on-axis supporting block mounting groove is provided with a supporting block, the supporting blocks are connected with the on-axis supporting block mounting grooves through pins, the supporting blocks can rotate around pin axes in the on-axis supporting block mounting grooves, the other ends of the supporting blocks connected with the on-axis supporting block mounting grooves are provided with bearing blocks, the bearing blocks are connected with the on-axis supporting block mounting grooves through pins, the bearing blocks can rotate around the connecting pin axes between the supporting blocks and the bearing blocks, and the bearing blocks are provided with rolling bearings and pressing block mounting sleeves, and the tensioner drive shaft, the supporting blocks, the bearing blocks and the bearings form two parallelogram connecting rod mechanisms which are symmetrical to the tensioner drive axes.
3. The speed reducer of claim 2, wherein the tensioner drive shaft is further provided with a compression block mounting groove, a compression block is arranged in the compression block mounting groove, grooves are formed in two ends of the compression block, the grooves are connected with the compression block mounting sleeve, and a bolt hole is formed in the middle of the compression and tension block.
4. A reducer according to claim 3, wherein the tensioner drive shaft is further provided with a tightening bolt hole in which a tightening bolt is provided, the tightening bolt being connected to the bolt hole of the compression block.
5. A decelerator according to claim 4 wherein the tensioner drive shaft is provided with a tensioner drive shaft fixed bearing, the tensioner drive shaft being connected to the tensioner drive shaft fixed bearing inner race, a flexspline drive shaft being connected to the tensioner drive shaft fixed bearing outer race.
6. The speed reducer of claim 5, wherein the flexible gear is fixedly connected with the flexible gear transmission shaft by means of bolting, riveting, etc.
7. The speed reducer of claim 5, wherein the flexible gear transmission shaft is provided with a flexible gear transmission shaft fixed bearing, the flexible gear transmission shaft is connected with an inner ring of the flexible gear transmission shaft fixed bearing, and the friction gear is connected with an outer ring of the flexible gear transmission shaft fixed bearing.
8. A decelerator according to claim 7 wherein an end cap is provided between the friction wheel and the tensioner drive shaft, the end cap is bolted to the friction wheel, the end cap is provided with an end cap retaining bearing, the end cap is connected to an end cap retaining bearing outer race, and the tensioner drive shaft is connected to an end cap retaining bearing inner race.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310191956.3A CN117189846A (en) | 2023-03-02 | 2023-03-02 | Friction rolling speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310191956.3A CN117189846A (en) | 2023-03-02 | 2023-03-02 | Friction rolling speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117189846A true CN117189846A (en) | 2023-12-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310191956.3A Pending CN117189846A (en) | 2023-03-02 | 2023-03-02 | Friction rolling speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117189846A (en) |
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- 2023-03-02 CN CN202310191956.3A patent/CN117189846A/en active Pending
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