CN202883889U - Spatial alternating axis gear mechanism - Google Patents

Spatial alternating axis gear mechanism Download PDF

Info

Publication number
CN202883889U
CN202883889U CN 201220592270 CN201220592270U CN202883889U CN 202883889 U CN202883889 U CN 202883889U CN 201220592270 CN201220592270 CN 201220592270 CN 201220592270 U CN201220592270 U CN 201220592270U CN 202883889 U CN202883889 U CN 202883889U
Authority
CN
China
Prior art keywords
driving wheel
follower
axle
driven
coordinates
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN 201220592270
Other languages
Chinese (zh)
Inventor
陈扬枝
吕月玲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
South China University of Technology SCUT
Original Assignee
South China University of Technology SCUT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by South China University of Technology SCUT filed Critical South China University of Technology SCUT
Priority to CN 201220592270 priority Critical patent/CN202883889U/en
Application granted granted Critical
Publication of CN202883889U publication Critical patent/CN202883889U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Landscapes

  • Transmission Devices (AREA)

Abstract

The utility model relates to a spatial alternating axis gear mechanism which comprises a driving wheel, a driven wheel, driving hook levers and driven hook levers. The driving hook levers are uniformly arranged on the periphery of the cylindrical top surface of the end of the driving wheel, the driven hook levers are uniformly arranged on the periphery of the cylindrical side surface of the end of the driven wheel, the driving wheel and the driven wheel form a pair of transmission pairs, the alternating angle between the axis of the driving wheel and the axis of the driven wheel is an optional value ranging from 0 degree to 180 degrees, and stable transmission of the spatial alternating axis gear mechanism is realized by point contact meshing of driving contact lines and driven contact lines on the driving hook levers and the driven hook levers. High transmission-ratio transmission similar to that of a worm wheel and worm mechanism can be realized, and two wheel axes are positioned on different planes. The mechanism has the advantages of simple structure, small spatial size, wide application range, easiness in machining and the like, and is particularly applicable to alternating axis transmission of small machinery.

Description

A kind of spatial intersecting shaftgear mechanism
Technical field
It is mechanical transmission and MEMS that the utility model relates to technical field, specifically a kind of spatial intersecting shaft space curve engagement driving gear mechanism.
Background technique
Improving constantly of the fast development of science and technology and social life level impels milli machine to obtain increasing demand.And in the MEMS, little driving mechanism is indispensable constituent element, and its behavior characteristics has decisive influence to the overall performance of micro mechanical system, therefore, just becomes particularly important for the research of little driving mechanism.Although the research for the milli machine transmission has very large progress now, but be not a lot of aspect the alternating axis transmission.So the research of the milli machine drive method that applies to alternating axis and mechanism is become the key subject in mechanical transmission and MEMS field.
At present, the traditional mechanical transmission type that applies to alternating axis has: the transmission of semidecussation band, the angle band transmission that guide wheel is arranged, the transmission of spiral friction wheel, Hypoid Gear Drives, alternating axis cylindrical helical gear drive, worm drive, multi-stage gear are the driving mechanisms such as transmission, Cam intermittent motion.Yet still there are various deficiencys in these transmissions, and such as the limitation of mechanism self: band transmission and friction wheel transmission can not guarantee accurately velocity ratio owing to slide, and it is very little to relax the ability of impacting, and friction pair material is steel and when unlubricated, noise is larger; And also there is certain application restric-tion in these driving mechanisms, can only be used for the transmission of vertical interlaced between centers such as Worm Wheel System.
In micromechanics, if traditional mechanical transmission mechanism is directly dwindled, apply in little transmission, structural characteristics and the mechanical characteristic of these driving mechanisms all change, produce microeffect and multiple physical field coupling effect, thereby the transmission of micromechanics is exerted an influence; Simultaneously, although the develop rapidly through more than ten years, obtained very much progress in manufacturing process such as fine electric spark processing, photoetching eletroforming, beam processing and special precision processing both at home and abroad, produced such as driving mechanisms such as little gear, little worm screw, little bearing, little connecting rods, but the processing technique of these mechanisms still needs further to improve; And, still not enough for the many important fundamental research of little driving mechanism, do not solve such as the characteristics of motion, physical property and the mechanical characteristic thereof etc. of little gear under the microcosmic condition, cause and can not estimate and predict the performance of little gear.
At present, apply to staggered driven off by shaft micromechanics transmission and then only have slightly-inclined gear transmission, little train transmission and little worm drive, the research of these mechanisms yet is not very perfect, and for the angle of alternating axis certain requirement is arranged.
The model utility content
The problem that the utility model exists in the milli machine drive system for existing alternating axis transmission, proposition can provide for the milli machine device spatial intersecting shaftgear machine of continous-stable engagement.What alternate angle can be in 0 °~180 ° between the driving wheel axis of spatial intersecting shaftgear of the present utility model mechanism and follower axis is arbitrarily angled, and quality is little, make simple, the cheap application of being convenient to especially in micro electronmechanical field.The utility model is realized by following technological method.
A kind of spatial intersecting shaftgear mechanism, this mechanism comprises driving wheel, follower, active shank and driven shank, initiatively shank is evenly arranged on the circumference of driving wheel end cylindrical body upper bottom surface, driven shank is evenly arranged on the circumference of cylindrical body side, follower end, driving wheel and the follower transmission that partners, alternate angle is 0 °~180 ° between driving wheel axis and follower axis.
Further, described active shank and driven shank are respectively take the closed curve of arbitrary shape as bus along the entity that forms as guidewire movement take active exposure line and driven Line of contact, and described active exposure line and driven Line of contact are a pair of conjugate space curve that meets spatial intersecting shaftgear Equation of space meshed curve.
Further, driving wheel and follower contact engagement by the active exposure line of a pair of conjugation on shank initiatively and the driven shank with point between driven Line of contact, realize the transmission of this spatial intersecting shaftgear mechanism.
Further, described spatial intersecting shaftgear Equation of space meshed curve is determined by following: o-xyz, o p-x py pz pWith o q-x qy qz qBe three space Descartes's rectangular coordinate systems, o is the o-xyz coordinate origin, and x, y, z are three coordinate axes of o-xyz system of coordinates, o pBe o p-x py pz pCoordinate origin, x p, y p, z pO p-x py pz pThree coordinate axes of system of coordinates, o qBe o q-x qy qz qCoordinate origin, x q, y q, z qO q-x qy qz qThree coordinate axes of system of coordinates, plane xoz and plane x po pz pIn same plane, o pPoint to the distance of z axle is | a|, o pPut and to the distance at the x axle be | b|, o q-x qy qz qAt o p-x py pz pThe basis on along y pDistance of direction translation | c| obtains, and note z and z pThe supplementary angle of diaxon angle is θ, and 0 °≤θ≤180 °, θ equals z and z qThe supplementary angle of diaxon angle, space cartesian coordinate system o 1-x 1y 1z 1Connect firmly o with driving wheel 1Be o 1-x 1y 1z 1Coordinate origin, x 1, y 1, z 1O 1-x 1y 1z 1Three coordinate axes of system of coordinates, space cartesian coordinate system o 3-x 3y 3z 3Connect firmly o with follower 3Be o 3-x 3y 3z 3Coordinate origin, x 3, y 3, z 3O 3-x 3y 3z 3Three coordinate axes of system of coordinates, and driving wheel and the initial engagement place of follower be initial position, in initial position, and system of coordinates o 1-x 1y 1z 1And o 3-x 3y 3z 3Respectively with system of coordinates o-xyz and o q-x qy qz qOverlap, at any time, initial point o 1Overlap z with o 1Axle overlaps with the z axle, initial point o 3With o qOverlap z 3Axle and z qAxle overlaps, and when 0 °≤θ<90 °, driving wheel is with uniform angular velocity
Figure BDA00002386448400021
Around the rotation of z axle, driving wheel angular velocity direction is z axle negative direction, and driving wheel around the angle that the z axle turns over is
Figure BDA00002386448400022
Follower is with uniform angular velocity
Figure BDA00002386448400023
Around z qThe axle rotation, follower angular velocity direction is z qThe axle negative direction, follower is around z qThe angle that axle turns over is Spatial intersecting shaftgear Equation of space meshed curve then:
Figure BDA00002386448400032
Figure BDA00002386448400033
Figure BDA00002386448400034
Wherein, x M ( 1 ) = x M ( 1 ) ( t ) y M ( 1 ) = y M ( 1 ) ( t ) z M ( 1 ) = z M ( 1 ) ( t ) That the active exposure line of driving wheel is at o 1-x 1y 1z 1Equation under the system of coordinates, t is that the plane, cylindrical body upper bottom surface place of parameter driving wheel is the plane by active exposure line starting point and parallel plane xoy, the cylindrical body upper bottom surface center of circle of driving wheel be true origin o driving wheel cylindrical body upper bottom surface subpoint in the plane
Figure BDA00002386448400036
For this mechanism's active exposure line loses i in the master of the unit method at contact points place (1), j (1), k (1)X 1, y 1, z 1The unit vector of axle, the driven Line of contact of follower is at o 3-x 3y 3z 3Equation under the system of coordinates is:
Figure BDA00002386448400037
Wherein
Figure BDA00002386448400039
i 21Be the velocity ratio of driving wheel and follower, when 90 °≤θ≤180 °, driving wheel is with uniform angular velocity
Figure BDA000023864484000310
Around z axle rotation, driving wheel angular velocity direction is z axle negative direction, this moment follower take size as
Figure BDA000023864484000311
Direction is z qThe angular velocity of axle postive direction is around z qThe axle rotation, driving wheel around the angle that the z axle turns over is
Figure BDA000023864484000312
Follower is around z qThe angle that axle turns over is
Figure BDA000023864484000313
Then, the spatial intersecting shaftgear Equation of space meshed curve of this mechanism is:
Figure BDA000023864484000314
Figure BDA000023864484000316
Wherein, x M ( 1 ) = x M ( 1 ) ( t ) y M ( 1 ) = y M ( 1 ) ( t ) z M ( 1 ) = z M ( 1 ) ( t ) That the active exposure line of driving wheel is at o 1-x 1y 1z 1Equation under the system of coordinates, t are parameter
Figure BDA00002386448400042
For this gear mechanism active exposure line loses i in the master of the unit method at contact points place (1), j (1), k (1)X 1, y 1, z 1The unit vector of axle, the driven Line of contact of follower is at o 3-x 3y 3z 3Equation under the system of coordinates is:
Figure BDA00002386448400043
Wherein
Figure BDA00002386448400044
Figure BDA00002386448400045
i 21Velocity ratio for driving wheel and follower.The plane, cylindrical body upper bottom surface place of follower is by driven Line of contact terminating point and is parallel to plane x qo qy qThe plane, the cylindrical body upper bottom surface center of circle of follower is true origin o qFollower cylindrical body upper bottom surface subpoint in the plane.
Active exposure line in the utility model and driven Line of contact are a pair of conjugate space curve that meets spatial intersecting shaftgear Equation of space meshed curve, be different from traditional space curved surface engagement skew gear mechanism, also be different from being applicable to the driven off by shaft space curve meshing wheel of quadrature and being applicable to intersect driven off by shaft space curve engagement oblique gear based on the space curve theory of engagement that the claimant has applied for.The utility model is realized the staggered of axis, thereby causes the change of Equation of space meshed curve, and if active exposure line when being the spatially spiral line, the driven Line of contact of follower then for and its space curve of gripping altogether.
The utility model compared with prior art has following advantage:
(1) realize that alternate angle is transmission between two alternating axiss of arbitrarily angled value: the utility model is based on the design of the space curve theory of engagement, transmission between can the implementation space staggered diaxon of this mechanism, and the alternate angle between two alternating axiss can be the arbitrarily angled value in 0 °~180 °, according to different alternate angles, can obtain different gear mechanisms.Therefore, can design as required the mechanism of any diaxon arbitrary position transmission on the implementation space, use more extensive than little worm drive that can only realize the vertical interlaced transmission.
(2) velocity ratio is large: just can reach larger velocity ratio based on single-stage, and larger than the little driving mechanism of existing other alternating axis (such as, little tape handler) velocity ratio; The velocity ratio that traditional microminiature gear (such as small planetary gears) is realized can be realized, and the transmission of train arbitrary position can be realized.
(3) simple in structure: driving wheel and follower consist of a pair of transmission, compare with traditional microminiature gear (such as small planetary gears), and this power train structure is very simple, lightweight, volume is little; Compare with the slightly-inclined gear, the space curve engaging gear is made and installs simpler, installs more conveniently, and cost is cheaper.
(4) multiaxis of different drive ratios, different direction output a: driving wheel, if cooperate several followers, can directly obtain many outputs of different drive ratios, different direction, realize the velocity ratio of existing traditional gear and the function that transmission direction changes, and simpler than little train drive mechanism.
(5) transmission continous-stable, vibration and noise are little.
Description of drawings
Fig. 1 is space engagement system of coordinates schematic representation in the mode of execution.
Fig. 2 is shank wire and bus schematic representation in the mode of execution.
Fig. 3 is driving wheel and shank schematic representation thereof in the mode of execution.
Fig. 4 is follower and shank schematic representation thereof in the mode of execution.
Fig. 5 is driven wheel mesh schematic representation in the mode of execution.
Embodiment
Below in conjunction with accompanying drawing enforcement of the present utility model is described further, for a person skilled in the art, the utility model has been done sufficient explanation, and protection domain of the present utility model is not limited to following content.
The spatial intersecting shaftgear Equation of space meshed curve of the active exposure line in the utility model and driven Line of contact meets the space curve mesh theory.
Fig. 1 has described the space engagement system of coordinates schematic representation of a kind of spatial intersecting shaftgear mechanism.O-xyz, o p-x py pz pWith o q-x qy qz qBe three space Descartes's rectangular coordinate systems, o is the o-xyz coordinate origin, and x, y, z are three coordinate axes of o-xyz system of coordinates, o pBe o p-x py pz pCoordinate origin, x p, y p, z pO p-x py pz pThree coordinate axes of system of coordinates, o qBe o q-x qy qz qCoordinate origin, x q, y q, z qO q-x qy qz qThree coordinate axes of system of coordinates, plane xoz and plane x po pz pIn same plane, o pPoint to the distance of z axle is | a|, o pPut and to the distance at the x axle be | b|, o q-x qy qz qAt o p-x py pz pThe basis on along y pDistance of direction translation | c| obtains, and note z and z pThe supplementary angle of diaxon angle is θ (0 °≤θ≤180 °), and θ equals z and z qThe supplementary angle of diaxon angle, space cartesian coordinate system o 1-x 1y 1z 1Connect firmly o with driving wheel 1Be o 1-x 1y 1z 1Coordinate origin, x 1, y 1, z 1O 1-x 1y 1z 1Three coordinate axes of system of coordinates, space cartesian coordinate system o 3-x 3y 3z 3Connect firmly o with follower 3Be o 3-x 3y 3z 3Coordinate origin, x 3, y 3, z 3O 3-x 3y 3z 3Three coordinate axes of system of coordinates, and driving wheel and the initial engagement place of follower be initial position, at initial position o 1-x 1y 1z 1And o 3-x 3y 3z 3Respectively with system of coordinates o-xyz and o q-x qy qz qOverlap, at any time, initial point o 1Overlap z with o 1Axle overlaps with the z axle; Initial point o 3With o qOverlap z 3Axle and z qAxle overlaps, and driving wheel is with uniform angular velocity
Figure BDA00002386448400061
Around the rotation of z axle, driving wheel angular velocity direction as shown in Figure 1; Follower is with uniform angular velocity
Figure BDA00002386448400062
Around z qThe axle rotation, follower angular velocity direction as shown in Figure 1.From initial position after after a while, o 1-x 1y 1z 1And o 3-x 3y 3z 3Two coordinates move to respectively the position shown in the figure, and driving wheel around the angle that the z axle turns over is
Figure BDA00002386448400063
Follower is around z qThe angle that axle turns over is
Utilize the knowledge of Differential Geometry and space curve mesh theory, then, can get formula (1):
Figure BDA00002386448400065
Wherein,
Figure BDA00002386448400066
Figure BDA00002386448400067
Figure BDA00002386448400068
Formula (2) is spatial intersecting shaftgear Equation of space meshed curve.
x M ( 1 ) = x M ( 1 ) ( t ) y M ( 1 ) = y M ( 1 ) ( t ) z M ( 1 ) = z M ( 1 ) ( t ) For the active exposure line at o 1-x 1y 1z 1Equation under the system of coordinates, t are parameter;
β (1)For the active exposure line loses in the master of the unit method at contact points place, that is,
Figure BDA00002386448400072
i (1), j (1), k (1)X 1, y 1, z 1The unit vector of axle.
Wherein:
β x ( 1 ) = x M ( 1 ) ′ ′ ( t ) [ x M ( 1 ) ′ ( t ) 2 + y M ( 1 ) ′ ( t ) 2 + z M ( 1 ) ′ ( t ) 2 ] - x M ( 1 ) ′ ( t ) [ x M ( 1 ) ′ ( t ) x M ( 1 ) ′ ′ ( t ) + y M ( 1 ) ′ ( t ) y M ( 1 ) ′ ′ ( t ) + z M ( 1 ) ′ ( t ) z M ( 1 ) ′ ′ ( t ) ] [ x M ( 1 ) ′ ( t ) 2 + y M ( 1 ) ′ ( t ) 2 + z M ( 1 ) ′ ( t ) 2 ] 2
β y ( 1 ) = y M ( 1 ) ′ ′ ( t ) [ x M ( 1 ) ′ ( t ) 2 + y M ( 1 ) ′ ( t ) 2 + z M ( 1 ) ′ ( t ) 2 ] - y M ( 1 ) ′ ( t ) [ x M ( 1 ) ′ ( t ) x M ( 1 ) ′ ′ ( t ) + y M ( 1 ) ′ ( t ) y M ( 1 ) ′ ′ ( t ) + z M ( 1 ) ′ ( t ) z M ( 1 ) ′ ′ ( t ) ] [ x M ( 1 ) ′ ( t ) 2 + y M ( 1 ) ′ ( t ) 2 + z M ( 1 ) ′ ( t ) 2 ] 2
β z ( 1 ) = z M ( 1 ) ′ ′ ( t ) [ x M ( 1 ) ′ ( t ) 2 + y M ( 1 ) ′ ( t ) 2 + z M ( 1 ) ′ ( t ) 2 ] - z M ( 1 ) ′ ( t ) [ x M ( 1 ) ′ ( t ) x M ( 1 ) ′ ′ ( t ) + y M ( 1 ) ′ ( t ) y M ( 1 ) ′ ′ ( t ) + z M ( 1 ) ′ ( t ) z M ( 1 ) ′ ′ ( t ) ] [ x M ( 1 ) ′ ( t ) 2 + y M ( 1 ) ′ ( t ) 2 + z M ( 1 ) ′ ( t ) 2 ] 2
Figure BDA00002386448400076
Formula (3) is that driven Line of contact with active exposure space of lines conjugation is at o 3-x 3y 3z 3Equation under the system of coordinates;
In the formula: a, b, c-O qPoint is at three coordinate score values (such as Fig. 1) of space coordinates o-xyz;
Figure BDA00002386448400077
Figure BDA00002386448400078
The angular velocity size that-driving wheel and follower rotate;
i 21The velocity ratio of-driving wheel and follower.
When 0 °≤θ<90 °, the angular velocity omega of follower 2Direction and opposite direction shown in Figure 1, and
Figure BDA00002386448400079
Direction also with Fig. 1 opposite direction, therefore,
Figure BDA000023864484000711
In negative value substitution formula (2) and (3), can obtain spatial intersecting shaftgear Equation of space meshed curve, active exposure line equation and driven Contact line equations under this θ angle, suc as formula (4):
Figure BDA00002386448400081
(4)
When 90 °≤θ≤180 °, the angular velocity omega of follower 2Direction identical with direction shown in Figure 1, and
Figure BDA00002386448400082
Direction also identical with Fig. 1 direction, active exposure line and the driven Contact line equations that can obtain under this θ angle are exactly shown in the equation (1).
According to spatial intersecting shaftgear Equation of space meshed curve, select different angle θ and active exposure line equation, can obtain
Figure BDA00002386448400083
And the relation between the t, again according to the θ value, the equation of the driven Line of contact in selecting type (3) or the formula (4), then can obtain respectively the wire of active shank and driven shank, and be bus by closed curve, bus is respectively along two guidewire movement, resulting entity is initiatively shank and driven shank, be the plane, cylindrical body upper bottom surface place of driving wheel again by the plane by active exposure line starting point and parallel plane xoy, the subpoint of true origin o on this plane is the cylindrical body upper bottom surface center of circle of driving wheel, cylindrical body upper bottom surface radius and the driving wheel cylinder height of driving wheel can be determined as required, and obtain driving wheel; Plane, follower cylindrical body upper bottom surface place is by driven Line of contact terminating point and is parallel to plane x qo qy qThe plane, the cylindrical body upper bottom surface center of circle of follower is true origin o qSubpoint on this plane, cylindrical body upper bottom surface radius and the follower cylinder height of follower also can be determined as required.
The closed curve that bus can have any shape is because want the shank entity in the mechanical property allowed band, only requires to guarantee that the shank Line of contact satisfies gear motion and learns rule at each contact points place, and the shank entity itself is not had concrete shape need.Namely as shown in Figure 2,1 expression active exposure line among Fig. 2, the driven Line of contact of 2 expressions, the contact points of M point expression active exposure line and driven Line of contact, and the bus of 3 expression active shanks, if 3 is oval, move along 1, this can obtain initiatively shank, if 3 closed curves for circle or other shapes, equally can obtain initiatively shank, driven shank in like manner.Guaranteeing that active shank and driven shank do not interfere situation and can realize that then the continuous and stable between active shank and driven shank meshes.
If the active exposure line of driving wheel is the spatially spiral line, at o 1-x 1y 1z 1Satisfy formula (5) in the system of coordinates:
x M ( 1 ) = m cos t y M ( 1 ) = m sin t z M ( 1 ) = nπ + nt ( - π ≤ t ≤ - π 2 ) - - - ( 5 )
Then when 0 °≤θ≤180 °, all can obtain spatial intersecting shaftgear Equation of space meshed curve, suc as formula (6):
Figure BDA00002386448400092
If primary quantity is m=5mm, n=4mm, a=13mm, b=22mm, c=6mm, θ=90 ° and i 21=1/3 substitution formula (1) has the active exposure line at o 1-x 1y 1z 1Equation is under the system of coordinates: x M ( 1 ) = 5 cos t y M ( 1 ) = 5 sin t z M ( 1 ) = 4 π + 4 t , And by formula (6) spatial intersecting shaftgear Equation of space meshed curve, can get:
Figure BDA00002386448400094
Get driven Line of contact at o by formula (3) 3-x 3y 3z 3Equation is under the system of coordinates:
Again the circle take 0.6mm as radius as bus along form initiatively shank and driven shank entity take active exposure line recited above and driven Line of contact as guidewire movement.Carry out modeling at the PRO/E Three-dimensional CAD Software, namely obtain initiatively shank and driven shank, and be plane, driving wheel cylindrical body upper bottom surface place by the plane of active exposure line starting point and parallel plane xoy, the subpoint of true origin o on this plane is the driving wheel cylindrical body upper bottom surface center of circle, driving wheel cylindrical body upper bottom surface radius is that 12mm, driving wheel cylinder height are 2mm, and obtains driving wheel; Plane, follower cylindrical body upper bottom surface place is by driven Line of contact terminating point and is parallel to plane x qo qy qThe plane, the cylindrical upper bottom surface of the follower center of circle is true origin o qSubpoint on this plane, follower cylindrical body upper bottom surface radius are that 33mm, follower cylinder height are 2mm.And carry out the drafting of drive sprocket axle and follower shaft.Can obtain thus driving wheel and shank schematic representation thereof as shown in Figure 3, follower and shank schematic representation thereof are as shown in Figure 4, driving wheel and follower mesh schematic representation as shown in Figure 5,4 among Fig. 5 is driving wheels, the 5th, shank, the 6th initiatively, follower, the 7th, driven shank.
The utility model provides a kind of method and mechanism that can the continous-stable engagement driving for the milli machine device.The structure of micromechanics transmission device can greatly have been simplified by this mechanism, and physical dimension is dwindled in implementation space alternating axis transmission, reduces quality, improves the flexibility of operation, and makes simply, and is cheap, is convenient to the application in micro electronmechanical field.

Claims (4)

1. spatial intersecting shaftgear mechanism, it is characterized in that this mechanism comprises driving wheel, follower, active shank and driven shank, initiatively shank is evenly arranged on the circumference of driving wheel end cylindrical body upper bottom surface, driven shank is evenly arranged on the circumference of cylindrical body side, follower end, driving wheel and the follower transmission that partners, alternate angle is 0 °~180 ° between driving wheel axis and follower axis.
2. a kind of spatial intersecting shaftgear according to claim 1 mechanism, it is characterized in that described active shank and driven shank are respectively take the closed curve of arbitrary shape as bus along the entity that forms as guidewire movement take active exposure line and driven Line of contact, described active exposure line and driven Line of contact are a pair of conjugate space curve that meets spatial intersecting shaftgear Equation of space meshed curve.
3. spatial intersecting shaftgear according to claim 2 mechanism, it is characterized in that driving wheel and follower contact engagement by the active exposure line of a pair of conjugation on shank initiatively and the driven shank with point between driven Line of contact, realize the transmission of this spatial intersecting shaftgear mechanism.
4. spatial intersecting shaftgear according to claim 2 mechanism is characterized in that described spatial intersecting shaftgear Equation of space meshed curve determined by following: o-xyz, o p-x py pz pWith o q-x qy qz qBe three space Descartes's rectangular coordinate systems, o is the o-xyz coordinate origin, and x, y, z are three coordinate axes of o-xyz system of coordinates, o pBe o p-x py pz pCoordinate origin, x p, y p, z pO p-x py pz pThree coordinate axes of system of coordinates, o qBe o q-x qy qz qCoordinate origin, x q, y q, z qO q-x qy qz qThree coordinate axes of system of coordinates, plane xoz and plane x po pz pIn same plane, o pPoint is a to the distance of z axle, o pPoint is b to the distance of x axle, o q-x qy qz qAt o p-x py pz pThe basis on along y pDistance c of direction translation obtains, and note z and z pThe supplementary angle of diaxon angle is θ, and 0 °≤θ≤180 °, θ equals z and z qThe supplementary angle of diaxon angle, space cartesian coordinate system o 1-x 1y 1z 1Connect firmly o with driving wheel 1Be o 1-x 1y 1z 1Coordinate origin, x 1, y 1, z 1O 1-x 1y 1z 1Three coordinate axes of system of coordinates, space cartesian coordinate system o 3-x 3y 3z 3Connect firmly o with follower 3Be o 3-x 3y 3z 3Coordinate origin, x 3, y 3, z 3O 3-x 3y 3z 3Three coordinate axes of system of coordinates, and driving wheel and the initial engagement place of follower be initial position, in initial position, and system of coordinates o 1-x 1y 1z 1And o 3-x 3y 3z 3Respectively with system of coordinates o-xyz and o q-x qy qz qOverlap, at any time, initial point o 1Overlap z with o 1Axle overlaps with the z axle, initial point o 3With o qOverlap z 3Axle and z qAxle overlaps, and when 0 °≤θ<90 °, driving wheel is with uniform angular velocity
Figure FDA00002386448300021
Around the rotation of z axle, driving wheel angular velocity direction is z axle negative direction, and driving wheel around the angle that the z axle turns over is
Figure FDA00002386448300022
Follower is with uniform angular velocity
Figure FDA00002386448300023
Around z qThe axle rotation, follower angular velocity direction is z qThe axle negative direction, follower is around z qThe angle that axle turns over is
Figure FDA00002386448300024
Spatial intersecting shaftgear Equation of space meshed curve then:
Figure FDA00002386448300025
Figure FDA00002386448300026
Figure FDA00002386448300027
Wherein, x M ( 1 ) = x M ( 1 ) ( t ) y M ( 1 ) = y M ( 1 ) ( t ) z M ( 1 ) = z M ( 1 ) ( t ) That the active exposure line of driving wheel is at o 1-x 1y 1z 1Equation under the system of coordinates, t is parameter, the plane, cylindrical body upper bottom surface place of driving wheel is the plane by active exposure line starting point and parallel plane xoy, the cylindrical body upper bottom surface center of circle of driving wheel be true origin o driving wheel cylindrical body upper bottom surface subpoint in the plane For this gear mechanism active exposure line loses i in the master of the unit method at contact points place (1), j (1), k (1)X 1, y 1, z 1The unit vector of axle, the driven Line of contact of follower is at o 3-x 3y 3z 3Equation under the system of coordinates is:
Figure FDA000023864483000210
Wherein,
Figure FDA000023864483000211
Figure FDA000023864483000212
i 21Be the velocity ratio of driving wheel and follower,
When 90 °≤θ≤180 °, driving wheel is with uniform angular velocity
Figure FDA000023864483000213
Around z axle rotation, driving wheel angular velocity direction is z axle negative direction, this moment follower take size as
Figure FDA000023864483000214
Direction is z qThe angular velocity of axle postive direction is around z qThe axle rotation, driving wheel around the angle that the z axle turns over is Follower is around z qThe angle that axle turns over is Then, the spatial intersecting shaftgear Equation of space meshed curve of this mechanism is:
Figure FDA00002386448300031
Figure FDA00002386448300032
Wherein, x M ( 1 ) = x M ( 1 ) ( t ) y M ( 1 ) = y M ( 1 ) ( t ) z M ( 1 ) = z M ( 1 ) ( t ) That the active exposure line of driving wheel is at o 1-x 1y 1z 1Equation under the system of coordinates, t are parameter
Figure FDA00002386448300035
For this gear mechanism active exposure line loses i in the master of the unit method at contact points place (1), j (1), k (1)X 1, y 1, z 1The unit vector of axle, the driven Line of contact of follower is at o 3-x 3y 3z 3Equation under the system of coordinates is:
Figure FDA00002386448300036
Wherein
Figure FDA00002386448300038
i 21Velocity ratio for driving wheel and follower.The plane, cylindrical body upper bottom surface place of follower is by driven Line of contact terminating point and is parallel to plane x qo qy qThe plane, the cylindrical body upper bottom surface center of circle of follower is true origin o qFollower cylindrical body upper bottom surface subpoint in the plane.
CN 201220592270 2012-11-12 2012-11-12 Spatial alternating axis gear mechanism Expired - Fee Related CN202883889U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220592270 CN202883889U (en) 2012-11-12 2012-11-12 Spatial alternating axis gear mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220592270 CN202883889U (en) 2012-11-12 2012-11-12 Spatial alternating axis gear mechanism

Publications (1)

Publication Number Publication Date
CN202883889U true CN202883889U (en) 2013-04-17

Family

ID=48075320

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201220592270 Expired - Fee Related CN202883889U (en) 2012-11-12 2012-11-12 Spatial alternating axis gear mechanism

Country Status (1)

Country Link
CN (1) CN202883889U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102954153A (en) * 2012-11-12 2013-03-06 华南理工大学 Spatial-crossing shaft gear mechanism
CN106368974A (en) * 2016-11-19 2017-02-01 泸县玉流机械制造有限责任公司 Method of arc-shaped controller
WO2018036034A1 (en) * 2016-08-23 2018-03-01 华南理工大学 Rotation-movement conversion linear gear mechanism

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102954153A (en) * 2012-11-12 2013-03-06 华南理工大学 Spatial-crossing shaft gear mechanism
CN102954153B (en) * 2012-11-12 2016-01-20 华南理工大学 A kind of spatial intersecting shaftgear mechanism
WO2018036034A1 (en) * 2016-08-23 2018-03-01 华南理工大学 Rotation-movement conversion linear gear mechanism
CN106368974A (en) * 2016-11-19 2017-02-01 泸县玉流机械制造有限责任公司 Method of arc-shaped controller

Similar Documents

Publication Publication Date Title
CN102954153A (en) Spatial-crossing shaft gear mechanism
CN105042002B (en) A kind of variable ratio line gear mechanism
CN105114532B (en) A kind of bump arc gear mechanism for the driving of parallel axes
CN202883889U (en) Spatial alternating axis gear mechanism
CN102518756B (en) Compound transmission face gear pair with transmission ratio variable
CN101324265A (en) Space curve engagement transmission mechanism
CN105889456A (en) Design method for curved-tooth non-circular gear
Chen et al. A study on geometry design of spiral bevel gears based on conjugate curves
CN102374273A (en) Tooth profile design of dual-pressure angle involute helical tooth externally-meshed cylindrical gear
CN205978280U (en) Rotate movement change's line gear mechanism
US11149821B2 (en) Line gear mechanism with variable-angle transmission
CN104455212A (en) Hook rod gear mechanism for parallel shaft transmission
CN104819267A (en) Harmonic gear device adopting non-interference and wide range meshing tooth profile
CN204985583U (en) Variable ratio line gear
CN103267106B (en) There are the helical gear of Fibonacci helix profile of tooth
CN103122971B (en) External gear pump is secondary
CN101963206B (en) Regular polygon axial distribution-based micro speed reducer
CN103122984A (en) Conjugate gear pair based on common rack and design method thereof
US8789438B2 (en) Space curve mesh driving pair and polyhedral space curve mesh transmission
CN204985518U (en) A unsmooth pitch arc gear for driving of parallel axes
CN103089963A (en) Inner meshing tooth profile pair
CN106122378A (en) A kind of line gear mechanism rotating mobile conversion
CN103089616A (en) Internal engaged tooth profile pair
CN104615800B (en) The design method and its transmission device of alternating axis non-circular gear
CN110285203B (en) Harmonic reducer multi-tooth meshing load distribution model design method

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130417

Termination date: 20161112

CF01 Termination of patent right due to non-payment of annual fee