CN1598354A - Moving gear transmission device of space steel ball - Google Patents
Moving gear transmission device of space steel ball Download PDFInfo
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- CN1598354A CN1598354A CN 200410046702 CN200410046702A CN1598354A CN 1598354 A CN1598354 A CN 1598354A CN 200410046702 CN200410046702 CN 200410046702 CN 200410046702 A CN200410046702 A CN 200410046702A CN 1598354 A CN1598354 A CN 1598354A
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- raceway
- force transmiting
- steel ball
- transmiting disk
- oscillating tooth
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Abstract
The invention discloses a space friction ball oscillating tooth driving device. Its transmission force pan connected to input shaft is contacted to oscillating tooth carrier connected to output shaft in form of convex-concave surface. The transmission force pan equipped on the output shaft by bearing is contacted to the oscillating tooth carrier also in form of convex-concave surface. End cover equipped on the input shaft by bearing is fixed on the transmission force pan of output shaft. Oscillating tooth is equipped in the oscillating tooth space of the oscillating tooth carrier; it's also equipped in race inter-junction of the two transmission force pan. The race of the two transmission force pan is ascertained by two parametric equations. The invention realizes that traditional plane and cylinder face friction ball oscillating tooth drive in one space, the driving of the two directions are cooperated. It has the character that single self-balance, self locking, auto-compensation error, and zero clearance driving.
Description
Technical field
The present invention relates to a kind of mechanical transmission, relate in particular to a kind of space steel ball moving teeth transmission device.
Background technique
In mechanical transmission fields, various gear transmissions have obtained using widely because of its mature theory and technology, but continuous development along with the human being's production practice, particularly information and aerospace science is with rapid changepl. never-ending changes and improvements, and gear transmission is difficult to satisfy the requirements at the higher level that some field proposes driving mechanism: big bearing capacity, small volume, large speed ratio, highi degree of accuracy, high reliability etc.
For this reason, the seventies in last century, the scientist of the former Soviet Union developed sinusoidal ball oscillating tooth retarder and the European has proposed the transmission of spiral steel ball moving teeth, but because these two kinds device designs and make all very difficultly fail to obtain to promote (referring to " coal science and technology " 2003 6 monthly magazines).
Develop and next end face engagement cycloidal ball oscillating tooth Gear Planet Transmission in the cycloid roller oscillating tooth gear Gear Planet Transmission that radially meshes of the development eighties by U.S. AET company, since the nineties, all obtain extensive studies (referring in December, 2000 University On The Mountain Of Swallows's Doctor of engineering paper " Research for Cycloid Steel Ball Planetary Transmission ") at home and abroad, and in robot, servo-operated mechanism, in the driving mechanism of frequent working in reciprocating mode such as precision optical machinery such as lathe and limousine good application prospects is arranged, but the self-equilibrium characteristic of this mechanism is relatively poor, because cycloid equation complexity is not easy to design and structure optimization equally.
The Chinese patent 01108707.2 that University Of Chongqing obtains discloses a kind of space cam-moving gear driver, real is a variation of the end face engagement of the two Sine Oscillating Tooth Gear Reducer in cylndrical surface, this device solves the unmanageable problems of two Sine Oscillating Tooth Gear Reducer, but the oscillating tooth number that participates in transmission in theory reduces half, and steel ball rolling channel is deep mixed, influence the stationarity of transmission, also limited the flexibility of design.
In a word, the application and the research of steel ball moving teeth transmission at present, but mainly be the basic area that concentrates on plane and these two final planarization process of cylndrical surface Oscillating Tooth Gear Reducer, steel ball or layout perhaps are arranged on the cylndrical surface in the plane, and pluses and minuses are respectively arranged; And the three dimensional space Oscillating Tooth Gear Reducer of non-flattening does not also obtain breakthrough in theory.Simultaneously, because steel ball moving teeth transmission theory form is various, except that two sines and the transmission of spiral steel ball moving teeth, mathematical model is all very complicated, has had a strong impact on it and has applied.
Summary of the invention
Purpose of the present invention is to provide a kind of by the theoretical comprehensive plane of supporting of new Oscillating Tooth Gear Reducer and the advantage separately of cylndrical surface steel ball moving teeth transmission, realizes the space steel ball moving teeth transmission device that transmission meshes on the turning surface of space.
The technological scheme of transmission device of the present invention is: connect the force transmiting disk and the movable teeth rack that is connected output shaft of input shaft, contact with male and female face, by force transmiting disk and the movable teeth rack of Bearing Installation on output shaft, also contact with male and female face.By the end cap of Bearing Installation on input shaft, be fixed as one with force transmiting disk on the output shaft.Steel ball moving teeth is installed in the oscillating tooth groove of movable teeth rack, and places the raceway intersection on two force transmiting disks.Raceway curve on two force transmiting disks can be determined by following two parametric equations:
A：
B：
A is the raceway curvilinear equation that is installed in the force transmiting disk on the output shaft, and B is the raceway curvilinear equation that is installed in the force transmiting disk on the input shaft, wherein, and Z
GFor being installed in the number of teeth of force transmiting disk raceway on the output shaft, n is that the number of teeth of force transmiting disk raceway on the input shaft claims the tooth difference again, and α, β are parameter separately, and ρ, γ are [1 ,+1] interval interior continuous monotonic increasing function or subtraction function.
The present invention realizes traditional plane and cylndrical surface steel ball moving teeth transmission in the transmission of same space, transmission co-ordination on the both direction, realized 100% oscillating tooth participation transmission in theory, when possessing two all advantages of Sine Oscillating Tooth Gear Reducer in cylndrical surface, solved unmanageable problem, can significantly reduce the bearing load of single oscillating tooth, carrying and impact resistance are big, and transmission rigidity is strong, the reliability height; Because steel ball is to be arranged on the single-revolution face, existing end face meshing characteristics has the cylndrical surface meshing characteristics again on the structure, so this device can possess functions such as self-locking, error auto compensatng and zero clearance transmission simultaneously; The raceway curve can be led continuously, and groove depth is constant, and transmission is more steady; Work as Z
GWith n all greater than 1 o'clock, the raceway curve is centrosymmetric, so possess single self balancing advantage.Two raceway curvilinear function forms of the present invention simple consistent (but abbreviation is one) are convenient to optimization, the standardization and universal of product.
Description of drawings
Fig. 1 is an assembling schematic representation of the present invention;
Fig. 2 is the embodiment's of frustum face a plan view for force transmiting disk among the present invention;
Fig. 3 is the right elevation of force transmiting disk 1 among Fig. 2.
Among the figure: 1, force transmiting disk, 2, output shaft, 3, movable teeth rack, 4, force transmiting disk, 5, packing ring, 6, end cap, 7, bearing, 8, thrust-bearing, 9, input shaft, 10, raceway, 11, steel ball moving teeth, 12, the oscillating tooth cover, 13, oscillating tooth groove, 14, bearing, 15, raceway, 16, the raceway curve, 17 raceway curves.
Embodiment
Introduce the present invention in detail below in conjunction with drawings and Examples.
With reference to Fig. 1, Fig. 2.The convex surface force transmiting disk 4 that is connected as a single entity with input shaft 9 is truncated cone, is provided with raceway 10 on its conical surface, and the recessed end face and its conical surface that connect the movable teeth rack 3 of output shaft 2 match.On the conical surface on the movable teeth rack 3, be provided with radially oscillating tooth groove 13, oscillating tooth cover 12 is housed in the oscillating tooth groove, settle steel ball moving teeth 11 in the oscillating tooth cover.The convex surface that is installed in concave surface force transmiting disk 1 and movable teeth rack 3 on the output shaft 2 by bearing 14 matches, and the inner conical surface of concave surface force transmiting disk 1 is provided with raceway 15.End cap 6 is installed on the input shaft 9 by bearing 7, between end cap 6 and the force transmiting disk 4 thrust-bearing 8 is installed.One packing ring 5 is arranged between concave surface force transmiting disk 1 and the end cap 6, and to regulate the back lash, force transmiting disk 1, packing ring 5, end cap 6 fasten as one.
In addition, the end face of above-mentioned force transmiting disk 4, force transmiting disk 1, movable teeth rack 3 also can be designed to the playing surface of the table or other surface of revolution, and each end face coincide each other.
With reference to Fig. 3.Be placed in the steel ball moving teeth 11 in the oscillating tooth groove 13, be in the intersection of raceway 10 and raceway 15.When steel ball moving teeth 11 rolled along raceway, the movement locus of its centre of sphere was the raceway curve, was determined by following two parametric equations:
If A is the raceway curvilinear equation that is installed on the force transmiting disk of output shaft, B is the raceway curvilinear equation that is installed on the force transmiting disk of input shaft, and its fundamental parameter equations is respectively:
A：
B：
Wherein, Z
G, nGet positive integer, Z
GFor being installed on the number of teeth of the raceway 15 on the force transmiting disk 1 on the output shaft 2, n is the number of teeth of the raceway 10 on the force transmiting disk 4 that is installed on the input shaft 9, claims the tooth difference again, and the oscillating tooth groove number on the movable teeth rack 3 equates with the quantity of steel ball moving teeth 11, for oscillating tooth is counted Z
H=Z
G± n.α, β are parameter separately, and ρ, γ are [1 ,+1] interval interior continuous monotonic increasing function or subtraction function.Corresponding to Oscillating Tooth Gear Reducer, velocity ratio
Work as Z
H=Z
GDuring+n, realize the forward transmission, work as Z
H=Z
GDuring-n, realize reverse transmission.
When this active-tooth transmission work, two force transmiting disks rotate each other, Dui Ying raceway and raceway curve are also made relative rotary motion with it, this makes the position of intersecting point of raceway curve with constant speed ratio swing offset, because the centre of sphere of steel ball moving teeth overlaps with intersection point all the time, make steel ball moving teeth also along with doing rotatablely moving of constant speed ratio, and then promote movable teeth rack 3 and output shaft 2 rotations, realize the constant speed ratio transmission of whole device.
Force transmiting disk is the frustum face in the foregoing description, and the equation A of its raceway curve 16, the equation B of raceway curve 17 are respectively:
A：
B：
Wherein α, β are the angle parameter, and R is a Base radius, and e is a pulsating quantity, and Ω is the semi-cone angle of conical surface.When Ω is 90 °, be the plane Oscillating Tooth Gear Reducer.
When force transmiting disk was the playing surface of the table, raceway curvilinear equation A, B were respectively:
A：
B：
Wherein α, β are the angle parameter, and R is a Base radius, and e is the angle pulsating quantity, and Ω is the orientation angle of curve on sphere.
Claims (4)
1, a kind of space steel ball moving teeth transmission device, on input shaft, be connected with force transmiting disk and end cap, be connected with movable teeth rack and force transmiting disk at output shaft, it is characterized in that: the movable teeth rack (3) that the force transmiting disk (4) that input shaft (9) connects is connected with output shaft (2), contact with male and female face, also contact with movable teeth rack (3) with male and female face by the force transmiting disk (1) of Bearing Installation on output shaft (2); By the end cap (6) of Bearing Installation on input shaft, be fixed as one with force transmiting disk (1) on the output shaft; Be contained in the steel ball moving teeth (11) on the movable teeth rack (3), place the intersection of raceway (15) and raceway (10) on two force transmiting disks; The above-mentioned steel ball moving teeth that moves along raceway (11), the movement locus of its centre of sphere are the raceway curve, and curve is determined by following two parametric equations:
If A is the raceway curvilinear equation on the force transmiting disk (1) that is installed on output shaft (2), B is the raceway curvilinear equation on the force transmiting disk (4) that is installed in input shaft (9), and its fundamental parameter equations is respectively:
Wherein, Z
GBe the number of teeth of raceway (15), n is the number of teeth of raceway (10), and α, β are parameter separately, and ρ, γ are [1 ,+1] interval interior continuous monotonic increasing function or subtraction function.
2, by the described space of claim 1 steel ball moving teeth transmission device, it is characterized in that: the force transmiting disk (4) that is connected as a single entity with described input shaft (9) is a truncated cone, its conical surface is provided with raceway (10), the movable teeth rack (3) that steel ball moving teeth (11) are housed matches with its conical surface, force transmiting disk (1) matches with movable teeth rack (3), and the inner conical surface of force transmiting disk (1) is provided with raceway (15); The equation B of the equation A of its raceway curve (16), raceway curve (17) is respectively:
Wherein α, β are the angle parameter, and R is a Base radius, and e is a pulsating quantity, and Ω is the semi-cone angle of conical surface.
3, by the described space of claim 1 steel ball moving teeth transmission device, it is characterized in that: the convex surface of the force transmiting disk (4) that is connected as a single entity with described input shaft (9) is the playing surface of the table, on its sphere, be provided with raceway (10), the movable teeth rack (3) that steel ball moving teeth (11) are housed matches with its sphere, force transmiting disk (1) matches with movable teeth rack (3), and the inner ball surface of force transmiting disk (1) is provided with raceway (15); The equation B of the equation A of its raceway curve (16), raceway curve (17) is respectively:
Wherein α, β are the angle parameter, and R is a Base radius, and e is the angle pulsating quantity, and Ω is the orientation angle of curve on sphere.
4, by claim 1 or 2 or 3 described space steel ball moving teeth transmission devices, it is characterized in that: the oscillating tooth groove (13) evenly being furnished with described (3) one weeks of movable teeth rack radially, oscillating tooth cover (12) is housed in the oscillating tooth groove, settle steel ball moving teeth (11) in the oscillating tooth cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410046702 CN1598354A (en) | 2004-08-27 | 2004-08-27 | Moving gear transmission device of space steel ball |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410046702 CN1598354A (en) | 2004-08-27 | 2004-08-27 | Moving gear transmission device of space steel ball |
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|---|---|
| CN1598354A true CN1598354A (en) | 2005-03-23 |
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|---|---|---|---|
| CN 200410046702 Pending CN1598354A (en) | 2004-08-27 | 2004-08-27 | Moving gear transmission device of space steel ball |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101936140A (en) * | 2010-08-07 | 2011-01-05 | 湖南恒至凿岩科技有限公司 | Drilling machine advancing mechanism for profile connection of eccentric wheel push rod roller oscillating tooth inner gear profile |
| CN105114586A (en) * | 2015-09-28 | 2015-12-02 | 北京工业大学 | Movable tooth cam mechanism for achieving output through swing disc |
| CN105114541A (en) * | 2015-08-14 | 2015-12-02 | 曲志强 | Sphere oscillating tooth transmission device |
| CN107939942A (en) * | 2018-01-10 | 2018-04-20 | 长江大学 | A kind of coaxial-type circular cone sine steel ball reducer |
| CN109798329A (en) * | 2019-01-26 | 2019-05-24 | 天津大学 | A kind of axial direction shock wave type high robot joint speed reducer |
| CN111188876A (en) * | 2020-01-06 | 2020-05-22 | 河南烛龙高科技术有限公司 | Centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer |
| CN113339462A (en) * | 2021-05-28 | 2021-09-03 | 燕山大学 | String fixed tooth speed reducer with multiple tooth difference and large contact ratio |
-
2004
- 2004-08-27 CN CN 200410046702 patent/CN1598354A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101936140A (en) * | 2010-08-07 | 2011-01-05 | 湖南恒至凿岩科技有限公司 | Drilling machine advancing mechanism for profile connection of eccentric wheel push rod roller oscillating tooth inner gear profile |
| CN101936140B (en) * | 2010-08-07 | 2012-08-22 | 湖南恒至凿岩科技有限公司 | Drilling machine advancing mechanism for profile connection of eccentric wheel push rod roller oscillating tooth inner gear profile |
| CN105114541A (en) * | 2015-08-14 | 2015-12-02 | 曲志强 | Sphere oscillating tooth transmission device |
| CN105114541B (en) * | 2015-08-14 | 2018-07-13 | 北京龙微智能科技股份有限公司 | A kind of sphere active-tooth transmission |
| CN105114586A (en) * | 2015-09-28 | 2015-12-02 | 北京工业大学 | Movable tooth cam mechanism for achieving output through swing disc |
| CN105114586B (en) * | 2015-09-28 | 2018-02-09 | 北京工业大学 | A kind of oscillating tooth cam mechanism exported by wobble-plate |
| CN107939942A (en) * | 2018-01-10 | 2018-04-20 | 长江大学 | A kind of coaxial-type circular cone sine steel ball reducer |
| CN107939942B (en) * | 2018-01-10 | 2024-09-20 | 长江大学 | Coaxial conical sine steel ball speed reducer |
| CN109798329A (en) * | 2019-01-26 | 2019-05-24 | 天津大学 | A kind of axial direction shock wave type high robot joint speed reducer |
| CN111188876A (en) * | 2020-01-06 | 2020-05-22 | 河南烛龙高科技术有限公司 | Centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer |
| CN113339462A (en) * | 2021-05-28 | 2021-09-03 | 燕山大学 | String fixed tooth speed reducer with multiple tooth difference and large contact ratio |
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