GB2134208A - Nutating gear transmission - Google Patents
Nutating gear transmission Download PDFInfo
- Publication number
- GB2134208A GB2134208A GB08331521A GB8331521A GB2134208A GB 2134208 A GB2134208 A GB 2134208A GB 08331521 A GB08331521 A GB 08331521A GB 8331521 A GB8331521 A GB 8331521A GB 2134208 A GB2134208 A GB 2134208A
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- Prior art keywords
- gear
- nutating
- orthogonal
- drive
- ofthe
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H1/321—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear the orbital gear being nutating
Abstract
A nutating gear transmission comprising drive means 5 mounted coaxially with respect to an output shaft 7 and which at the rear engage a nutating gear 1, the nutating gear 1 being engaged with the teeth of a bevel gear 2 and being mounted at an angle, which determines the transmission ratio, on the output shaft 7, with three degrees of freedom. The nutating gear corresponds to the theoretical face gear of a bevel gear drive, wherein the teeth of the nutating gear are formed with straight flanks while the teeth of the bevel gear 2 have curved flanks. The drive means 5 of the nutating gear 1 is of a flange-like configuration and has a flange mounting means which carries the nutating gear 1 at a fixed angle and spacing with respect to the gear 2. The nutating gear 1 transmits its movement to the output shaft 7 by way of a homokinetic joint 6. <IMAGE>
Description
SPECIFICATION
Nutating gear transmission
This invention relates to a nutating geartrasmission fortransmitting rotary movements and torques, which transmission can be used for widely va ryi ng mechanisms or machines. In that respect, very high transmission ratiosareto be achieved.
Preferably, use is envisaged in manually actuated lifting equipment, and a play-free design permits the use ofthe nutating geartransmission in particular in the robotic and equipment art.
Technical solutions are known, which makes use of a difference in the peripheries or number of teeth of two wheels, to provide a high transmission ratio. SU
Author's Certificate No. 310 162 provides a larger wheel which is mounted eccentrically in an inclined position, as a driving or driven wheel, which is engaged with a wheel which is only a little smaller.
Due to the eccentricity of the arrangement, the points of engagement, during the movement ofthe assembly, perform an arcuate movement which is not equal to the radius of both wheels. The consequence is radial rubbing in respect of the points of contact or the flanks ofthe gearteeth, whereby the efficiency of the transmission is adversely affected and the teeth maysufferfrom a high rate of wear.
DE-OS No 21 24137 discloses a reducing transmission in which the drive wheel is mounted eccentricalliy on the drive shaft, in rotating it performs a circular oscillatory movement, and drives a driven pinion which is mounted in the housing of the transmission.
In that arrangement, the drive wheel is prevented from rotating about its axis and the relative movement between the two wheels, during each phase of movement, is produced by sliding contact as be tweentheflanksofatriangulartooth configuration provided on both components, being pressed into engagementwith each other bythe circular move mentofthedrivewheel. It has been found thatthat arrangement suffers from the disadvantage that, when transmitting high torques, the above-identified sliding movement and the fact that the teeth are pressed into each other creates high frictional forces and, in consequence, a low level of efficiency and a high rate of wear.It is not possible to use tooth profiles which aretypical of gearwheels,sothatthe kinematics of the reducing transmission is unsatisfactory.
The use of a locking means for preventing reverse movement, as is absolutely necessary for example in lifting equipment, can only be achieved by making expensive special provisions.
In many situations involving the use of transmission arrangementswitha high transmission ratio, it is necessary to limit or eliminate backlash between the teeth, for example in the robotic and equipment art. Forthatpurpose, in particular in regard to spur gear and bevel gear transmissions, it is known for at least one gearwheel to be disposed movably, also being subjected to the force of loading springs, wherein displacement may
be axial, radial ortangential. Such arrangements, when eliminating backlash overthe entire rotary movements of the respective gears, suffer from the common disadvantage that eithertheflanks of the teeth are pressed against each other with a greater force, or the rearward flank is additionally subjected to a loading.That gives rise to additional losses which can substantially reduce the efficiency of the transmissions. Solutions which provide for a reduction in backlash in reducing transmissions having a high transmission ratio, of the kind set forth in the opening part of this specification, have hitherto not been proposed at all, in the state of the art.
The invention is based on the problem of developing a nutating geartransmission in which compensation is providedforall substantial loadings, sliding friction is excluded at all points of engagement of the teeth, and atthe same time the arrangement provides a positively operating reverse motion-blocking means. All parts which are directly in gear engage mentareto be mounted in a backlash-free manner.
According to the present invention there is provided a nutating gear transmission, preferablyfor use in lifting apparatuses having high transmission ratios, comprising two gears of different diameters, drive means mounted on the same axis as an output shaft, said drive means rearwardly engaging a nutating gear constituting one of said two gears and which is positively engaged with the teeth of an orthogonal gear constituting the other of said two gears, the nutating gear being mounted on the output shaft at an angle that determines the transmission ratio and in such a waythatthe nutating gear is movable relative to the orthogonal gear with three degrees of freedom, the axes ofthe drive means, the outputshaftandthe nutating gear intersecting in the plane of all points of engagement of the nutating gear with the orthogonal gear.
The spatial association and mounting of the nutating gear and the orthogonal gear is such that the axes ofthe drive means, the outputshaft and the nutating gear intersect on the plane of all points of engagementoftheteeth ofthe nutating gear, wherein the nutating gear is guided and mounted on the output shaft by a per se known homokineticjoint.
The invention further provides that the nutating gearcorrespondsto the theoretical face gear or crown gearofa bevel gear transmission which, expressed in terms of a gear rack, rollstangentially against an equivalent spur gear ofthe orthogonal gear. In that connection, the teeth of the nutating gear are formed with straight profiles,whiletheteeth of the orthogonal gear are of curved profiles, and thus correspond to the equivalentspurgearwhich is derived from the large wheel of a bevel gear transmission.The degree of curvature ofthe gear profiles is related to the theoretical number of teeth of the associated equivalent spur gear and thus rolling friction isto be expected upon rolling movements as
between the nutating gear and the orthogonal gear.
The drive means of the nutating gear is of a flange-like configuration and has a flange mounting
or bearing means which carries the nutating gear at a fixed angle and spacing, relative to the orthogonal
gear. In a preferred embodiment, the drive flange is of
a rotationally symmetrical configuration and sur
rounds the homokineticjointwhich is arranged on the driven shaft, whereby the nutating gear transmission is advantageously short in length.
Other desirable embodiments ofthe invention provide that the orthogonal gear is formed as a direct component ofthe housing and the homokinetic joint is formed as a diaphragm-type coupling means, in particularfor shallow angles of positioning of the nutating gear.
In accordance with a first embodiment of the invention, the drive flange is arranged within a drive drum and is fixedly connected thereto, wherein the drive drum, enclosing the nutating geartransmision in the form of a housing, is rotatably mounted byway ofthe homokinetic joint on the driven shaft and/or in the region ofthe orthogonal gear. It is also possible for the drive drum to be mounted on the fixed housing.
A second embodiment of the invention provides thatthe drive flange and the flange mounting means are fixed on the drive shaft and the drive shaft is mounted within the driven shaft and/or atthe input side ofthe transmission, on the fixed housing.
For the purposes of kinematically reversing the drive arrangement, it is possible to preventthe nutating gear from rotating and for the orthogonal gearto be mounted rotatably on the output shaft. In that arrangement, it is alternatively possible to providefordirectly restraining the nutating gearwith respectto the housing or for locking the homokinetic joint.
Ifthe nutating gear is subjected to high transverse
loadings, it may have a further, rearward tooth
assembly and it may be supported on a second
orthogonal wheel. A requirementfor operation of that construction is that both tooth arrangements
have the sametransmission ratio, whereby the point ofengagementthereofarealways in mutually opposing relationship.
All the specified basic designs ofthe nutating gear transmissions can be carried into practice in a multi-stage mode by suitable combination, wherein a plurality of transmission stages are advantageously disposed in a common housing. The output shaft of the preceding stage ofthe transmission forms the drive shaft ofthe nextfollowing stage ofthe transmission, and respective transmission stages which are disposed adjacent to each other in pairs advantageously have common orthogonal gears which have teeth on both sides, with the respective nutating gears engaging therewith.
In another modification of the basictransmission, it is also possiblefora clamp or clip member to be arranged on the rotating drive drum, the clamp or clip member engaging overthe nutating gear and the orthogonal gear in the region of engagementthereof and initiating the drive movement.
Finally, another aspect of the invention provides that constraint-free, low-friction and adequate en gagement conditions are provided, within the teeth.
Forthat purpose, the arrangement provides for axial displaceabilityofthe nutating gearortheorthongon- al gear against resilient elements which preferably engage the rear ofthe respective tooth arrangements. It is similarly also possible for the nutating gearto be mounted in a resiliently supported manner aboutthe point of intersection ofthe nutation axis with the axis ofthetransmission.
Some embodiments of the invention will now be described, by way of examples, with reference to the accompanying drawings; in which:
Figure lisa diagrammaticview in longitudinal section of a transmission according to the present invention;
Figure 2 shows the transmissive arrangement of the nutating gear in the overall transmission;
Figure 3 shows the positive engagement between the nutating gear and the orthogonal gear; Figure 4is a viewin longitudinal section of a nutating gear transmission having a nutating gear drive mounted in the region of the orthogonal gear;
Figure 5 is a diagrammatic view of a nutating gear transmission with axially resiliently displaceable drive mounting means;
Figure 6 is a view in longitudinal section ofthe nutating gear transmission having a nutating gear drive means mounted in the output shaft;;
Figure 7 is a cross-section through a manual lifting apparatus provided with a nutating geartransmission according to the invention, as shown in Figure 6;
Figure 8 is a diagrammaticview of a nutating gear transmission with an axially displaceable but nonrotatable orthogonal gear;
Figure 9 is a transmission with a resiliently mounted, non-rotatable orthogonal gear;
Figure loins a diagrammaticview of a single-stage transmission with a non-rotatable nutating gear;
Figure 11 is a diagrammatic view of a single-stage transmission with a fixed orthogonal gear and a drive flange mounted on the output shaft;
Figure 12 is a diagrammatic view of a single-stage transmission with a fixed orthogonal gear and a diaphragm clutch means;
Figure 13 is a diagrammatic view of a nutating drive gearwith a resilient nutating gear;;
Figure 14 is a diagrammaticviewofasingle-stage transmission having two orthogonal gears;
Figure 15 is a diagrammatic view of a double-stage transmission with a fixed nutation gear in the first stage and a fixed orthogonal gear in the second stage;
Figure 16 is a diagrammatic view of a double-stage transmission with a fixed orthogonal gear in the first and the second stages;
Figure 17 is a diagrammatic view of a double-stage transmission with a rotatable orthogonal gear and with a difference formed between the first and second stages; and
Figure 18 is a diagrammatic view of a nutating gear transmission with a resilient angle-adjusting pressure member and an embracing clamp or clip member.
Referring to Figure 1, a toothed orthogonal gear 2 which at the same time forms the inner component of a stationary housing 8 rotatablycarries an output shaft 7. The associated swash face gear or nutating gear 1 is mounted on the common axis of rotation of the drive and driven means in the nutating gear transmission, on a homokinetic joint 6 or a ball-and- socket mounting means, and is engaged with the orthogonal gear 2, by means of its teeth. Drive means are also mounted on the driven shaft 7, on the input side ofthetransmission, which drive means are in the form of, for example, of lever systems 27 and are carried directly on the drive shaft 4. The drive shaft4 is mounted in the housing 8 and concentric with respect to the drive shaft7 which passes through the drive shaft 4.By virtue of rotary movementofthe drive shaft 4,the drive means rotate and the lever system 27, by way of slide members 26, tilts the nutating gear 1 about the lowest point of engagement ofthezone of contact between the orthogonal gear 2 and the nutating gear 1. As a result ofthe given peripheral differences, the nutating gear 1 rotates at a rotary speed which is not identical to the drive speed, and transmits that output speed to the output shaft 7, by way ofthe homokineticjoint 6.Besides rotation abouttheoutputshaft7,thenutating gear 1 also moves in two degrees of freedom on the homokinetic joint 6 and thereby permits a rolling movement of the nutating gear 1 on the orthogonal gear2,without inadmissible displacement in the radial andtangential directions.
Asshownin Figure2,thenutatinggearl isthe practical embodiment ofthe theoretical face or generating gearwhich determines the formation of the teeth, in a bevel geartransmission comprising a bevel pinion 0 and a bevel gear = orthogonal gear 2.
As shown in Figure 3, the pairing oftheorthogonal gear 2 with the nutating gear 1 can be replaced by an equivalent spur gear pairing in which the nutating gear 1 forms a straight gear rackwhich rolls tangentially against the periphery ofthe equivalent spurgearofthe orthogonal gear2.Theteeth of the orthogonal gear2are of a curved profile,whilethose ofthe nutating gear 1 are of straight profiles.
It is also possible forthe nutating gear 1 to be in the form of a crown wheel gear, the partial bevel angle of which is almost 90". The tooth profiles are related to the associated number of equivalent teeth.
The foregoing description relating to Figures 1 to 3 forms the basis for all the embodiments ofthe nutating geartransmission according to the invention, as described hereinafter.
Referring to Figure 4, secured on the output shaft 7 which is rotatably mounted in the stationary housing 8 is the homokinetic joint 6 fortransmitting torque, which in turn is fixedly connected to the nutating gear 1. Disposed on the rearofthe nutating gear 1 as a drive means, is a flange bearing 9, the outer ring of which is disposed on a drive flange 5. The drive flange 5 is fixedly connected to the drive drum 3.
The drive drum 3 is rotatably mounted atthe rear on the orthogonal gear 2, by way of a drive drum mounting means or bearings 10. The orthogonal gear 2 and the housing 8 are fixedly connected together.
The nutating gear 1 and the orthogonal gear 2 do not have the same number ofteeth, the nutating gear 1 has the larger number ofteeth, corresponding to the transmission ratio. When a torque is applied at the drive drum 3, the nutating gear 1 is caused to perform a swash or nutating movement byway ofthe drive flange Sand the flange mounting 9, and rolls against the orthogonal gear2 in the region ofthe common rolling cone (partial cone). In one revolution of the drive drum 3, the nutating gear 1 moves by the difference between the pitch circle peripheries of the nutating gear 1 and the orthogonal gear2, aboutthe common axis of rotation ofthe drive means 3 and the output means 7.The difference in speed of rotation as between the drive drum 3 and the nutating gear 1 are compensated bytheflange mounting means 9. The nutating gear 1 transmits its movement to the output shaft 7 byway of the homokinetic joint 6, while take-off ofthe drive torque may also occur between the output shaft mounting means or bearings 11. By virtue of the mounting ofthe drive drum 3 on the orthogonal wheel 2, the arrangement provides that axial loadings from the teeth and the inclined positioning ofthe nutating gear 1 are carried in the stationary part ofthe transmission.
Figure 5 shows a possible way of eliminating backlash between theflanks ofthetooth assemblies.
The drive drum mounting means 10 is disposed axially displaceably in the drive drum 3 and is axially supported on both sides against resilient members 23, for example rubber spring rings. By virtue ofthe force-storage action of the resilient members 23, the system comprising the drive drum 3, the flange mounting means9 andthe nutating gear 1 is constantly urged axiallytowardsthe orthogonal gear 2. Irregularities resulting from manufacture orfrom the effect of axial forces are compensated by the spring action of the resilient members 23, and thus any backlash between the teeth is eliminated, in any operating condition.
Figure 6 shows another embodiment ofthe principle ofthetransmission. In this embodiment, the drive flange 5 is fixedly connected to a drive shaft 4which in turn is mounted rotatably in the outputshaft7 by way of the drive shaft bearing means 12. The drive moment is applied to the drive shaft 4which transmits itto the nutating gear 1 by way of the drive flange 5 and the flange mounting means or bearings 9. The entire mode of operation of the transmission then correspondsto that described above with reference to Figure 4; backlash in the teeth is compensated for, at the orthogonal gear 2 which is non-rotatably but axially displaceably connected to the stationary housing 8 by way of pins 22.Axial displacement ofthe orthogonal gear2towardsthe nutating gear 1 is provided by resilient members 23, for example coil compression springs, rubber springs or diaphragm springs. The output shaft 7 is mounted in the region of the orthogonal gear by an axially displaceable mounting or bearing 24. As a result of the pressure effect of the resilient members 23which are arranged in a uniformly distributed configuration in the orthogonal gear 2 and the housing 8,there is no backlash between the flanks oftheteeth of the nutating gear 1 and the orthogonal gear 2, due to axial displacement ofthe orthogonal gear 2 in the direction ofthe nutating gear 1.
This construction affords the possibility of introducing drive moments on both sides, while the transmission unit can be fixed in position at any points on the housing.
Figure 7 shows a practical use of the nutating gear transmission according to the invention in a manual lifting apparatus. In that connection, the hand coin (not shown) is passed over a drive wheel 17 which is carried in a cantilever manner on the end ofthe drive shaft4. In accordance with the construction illustrated in Figure 6, the drive shaft4 extends through the output shaft 7 and the associated drive shaft bearings 12 to the drive fla nge 5. The two output shaft bearings 11 are held at a spacing and are carried by bearing seats 18 to which the web or bar portions 19 ofthe suspension means 20 are secured. The output wheel 21 ofthe load chain is arranged between the output shaft bearings 11 and is held byfitting key means (not shown) on the output shaft 7.The remainder ofthe construction ofthe lifting apparatus, in regard to the association ofthe drive flange 5, the flange mounting means 9, the orthogonal gear2 and the nutating gear 1 substantially corresponds to
Figure 6, with the orthogonal gear 2 being screwed to the associated portion 19 of the stationary suspension means 20.
Figure 8 shows a diagrammaticviewofasingle- stage transmission. The drive shaft 4 is fixedly connected to the drive flange 5 which carries the nutating gear 1 by means of the flange mounting or bearing means 9. The homokinetic joint 6 connects the nutating gear 1 to the output shaft7 and the orthogonal gear 2 is axially displaceably but nonrotatably connected to the housing 8 by the pins 22.
The arrangement also has resilient members 23, for example in the form of coil springs with a flat characteristic, disposed between the housing 8 and the orthogonal gear 2. The resilient members 23 urge the orthogonal gear 2 into a position which is typical for idle operation orfor lowtorquesto betransmitted,
being a position in which the flanks oftheteeth of a
nutating gear 1 and the orthogonal gear 2 mesh without backlash. In that respect, the pins 22 are
precisely set in such a way as to ensurefreedom from
backlash. With high torque peaks or with high torques to betransmitted,the orthogonal gear 2 is displaced rearwardlytowards the housing 8, due to the axially directed force component resulting from the tooth flank pressure.That kind of transmission is particularly suitable fortransmitting high torques without backlash.
Figure 9 shows another alternative form of a transmission in which the orthogonal gear2 is connected to the housing 8 by a resilient member 23, illustrated in the form of a rubber disc which is, for example, vulcanised in position. In that arrangement, the function of the resilient member 23 is constantly to prevent backlash between the orthogonal gear 2 and the nutating gear land atthe same time to carry the torsional momentwith respecttothe housing 8.
This embodiment is preferably suitable for the backlash-free transmission of medium to high levels oftorque, depending on the nature of the resilient member 23.
Figure 10 showsthe reverse ofthat principle. In contrastto the embodiments shown in Figures 8 and 9, the nutating gear 1 is connected to the housing 8 by means of a pin 13 which is guided in a groove 14, in such a waythatthe nutating orswash movement is not prevented, while however preventing rotary movement. The nutating gear 1 may also be connected to the housing 8 in the above-defined manner by means of rollers, coupling rods or by locking the homokineticjoint 6 relative to the housing 8. The orthogonal gear 2 is fixedly carried on the output shaft 7. When the drive shaft 4 is set rotating, the nutating gear 1 drives the orthogonal gear 2 and thus the output shaft 7.When that occurs, the pin 13 slides in ths groove 14, according to the position ofthe nutating gear 1. In that arrangement, the output shaft 7 rotates in the opposite direction of rotation, relative to the drive.
Thediagrammaticviewshown in Figure 11 illustrates an alternative embodiment in which the drive flange 5 is mounted on the output shaft 7. The drive flange forms a component ofthe drive drum 3 and, similarlyto the embodiment illustrated in Figure 8, the orthogonal gear 2 is fixedly connected to the housing 8, while the nutating gear 1 and the output shaft 7 are connected by the homokineticjoint 6.
Figure 12 shows a diagrammatic view of a con struction which is identical to the example illustrated in Figures 8 and 9 respectively. However, in this embodiment, the homokinetic joint 6 is replaced by a diaphragm-type coupling means which is particularly suitable for shallow angles of inclination ofthe nutating gear 1 and thus for high transmission ratios.
Figure 13 shows a diagrammaticviewofa backlash-freetransmission in which the gear rim ofthe nutating gear 1 is connected to the flange mounting or bearing means 9 by a resilient member 23 which is in the form of a diaphragm-type coupling means. The resilient member 23 urges the flanks ofthe teeth of the nutating gear 1 into those ofthe orthogonal gear 2, under a constant pre-stressing force, and thus prevents tooth backlash in the idle mode and in the reversing mode. This simple alternative embodiment is particularly suitable for low levels oftorqueto be transmitted.
Figure 14 shows a diagrammatic view of a singlestage transmission in which the nutating gear 1 is simultaneously engaged with two orthogonal gears 2 and 2' which are both fixedly connected to the housing 8. In that arrangement, the points of engage mentoftheorthogonal gears2 and 2'with the nutating gear 1 and the centre point of the homokine ticjoint 6 are disposed on a straight line. When the driveshaft4is rotated andthetransmission is put under load, the nutating gear 1 is supported attwo points of engagement with respect to the corresponding orthogonal gears 2 and 2', thereby considerably reducing the transverse loading on the nutating gear 1.
Figure 15 shows a diagrammatic view of a multistage transmission. By virtue of rotation ofthe drive shaft 4, the drive flange 5 and the flange mounting or bearing means 9 cause the nutating gear 1 to perform a nutating movement. The nutating gear lisa non-rotatably connected to the housing 8 byway of the homokineticjoint 6 and drivesthe orthogonal gear 2 which in turn drives the driveflange 5' ofthe second stage and the flange mounting or bearing means 9' ofthe second stage. The nutating gear 1' of the second stage bears againstthe fixed orthogonal gear 2' and rotates the output shaft 7' to which it is connected by means ofthe homokineticjoint 6' ofthe second stage. The direction of rotation of the output shaft7' is opposite to the direction of drive rotation.
The diagrammaticview shown in Figure 16 illustrates the successive connection of two transmissions as illustrated in Figure 9, which, like the multi-stage transmission shown in Figure 15, serves to produce particularly high transmission ratios.
Figure 17 also shows a double-stage construction in which the drive flanges Sand 5' ofthefirst and second stages are fixedly connected to the drive shaft 4. The nutating gear 1 is non-rotatably connected to the housing 8 byway of the homokineticjoint 6 and is engaged with the orthogonal gear 2. In the sameway, the orthogonal gear 2 which is toothed on both sides is connected to the nutating gear 1,1' ofthe second stage. The orthogonal gear 2 is rotatably mounted on the drive shaft4. The homokinetic joint6' ofthe second stage connects the nutating gear 1' of the second stage to the output shaft 7.
Upon rotary movement of the drive shaft 4, the drive flanges 5 of the first and second stages drive the nutating gear 1 of the first stage and the nutating gear 1' of the second stage at the same speed, whereby the two nutating gears 1 and 1' nutate synchronously but in opposition, that is to say, they nutate in a precise mirror image relationship with each other. The nutating gear 1 of the first stage drives the orthogonal gear 2so that the latter rotates slowly in the opposite direction to the direction of rotation ofthe drive shaft 4, at the transmission ratio of the first stage.However, the nutating gear 1 ' of the second stage rotates in the same direction as the drive shaft 4, relative to the orthogonal gear 2, atthe transmission ratio of the second stage, sothatthe movement of the orthogonal gear 2 and that of the nutating gear 1' of the second stage are subtracted. On the assumption thatthe transmission ratios of the first and second stages are different, the output shaft 7 is driven by means of the homokinetic joint 6' of the second stage, at the difference in respect of rotary movement as between the nutating gear 1 ' of the second stage and the orthogonal gear 2. Depending on the selected transmission ratios ofthe first and second stages, the direction of rotation ofthe output shaft 7 is the same as or opposite to the direction of drive rotation.
Figure 18 shows a diagrammatic view of a transmission which is of the same construction asthe embodiment illustrated in Figure 5. However, the nutating gear 1 is only guided on the output shaft 7 by the homokinetic joint 6. In addition, disposed between the orthogonal gear 2 and the nutating gear 1 is a clamp or clip member 15 which rotates with the drive drum 3 and which, upon rotary movement of the drive drum 3, causes the nutating gear 1 to initiate the nutating movement.
The transmission according to the present invention considerably improves the efficiency of equipment in comparison with equipment having conventional transmissions, with a comparablytransmission ratio. That optimum efficiency is also found in the reversible mode of operation, and the use of homokineticjoints compares to the self-locking or reverse motion-blocking action according to the invention, which is necessary in particularfor manual lifting equipment. As only a small number of components of the transmission rotate at high speeds, the inertia forces thereof are extremely low, for which reason inter alia the combinability provided in accordance with the invention in respect of such nutating geartransmission also permits high transmission ratios. Irregularities due to inaccuracies in production and the effect of axial forces are compensated by the spring action ofthe resilient members in any phase ofthe movement, when the transmission is in a stationary condition, and in the reversing mode of operation.
Claims (17)
1. A nutating geartransmission, preferablyfor use in lifting apparatuses having high transmission ratios, comprising two gears of different diameters, drive means mounted on the same axis as an output shaft, said drive means rearwardly engaging a nutating gear consisting of one of said two gears and which is positively engaged with the teeth of an orthogonal gear constituting the other of said two gears, the nutating gear being mounted on the output shaft at an angle that determines the transmission ration and in such a way that the nutating gear is movable relative to the orthogonal gearwith three degrees of freedom, the axes ofthe drive means, the output shaft and the nutating gear intersecting in the plane of all points of engagement of the nutating gear with the orthogonal gear.
2. A nutating geartransmission as claimed in claim 1, in which a homokineticjoint which is carried bythe output shaft is provided for mounting and guiding the nutating gear with respectto the orthogonal gear, the centre of said homokinetic joint being disposed atthe point of intersection of the plane of all points of engagement ofthe nutating gearwith the axes ofthe dirve means and ofthe output shaft.
3. A nutating geartransmission as claimed in claim 1 or claim 2, in which the nutating gear represents the theoretical face gear of a bevel gear transmission ora gear rackwhich rolls tangentially against the periphery of the equivalent spur gear of the orthogonal gear, and a symmetrical drive flange is provided as the driveforthe nutating gear, said drive flange carrying the nutating gear at a fixed angle and spacing relative to the orthogonal gear and having a flange mounting means and preferably partially enclosing the homokineticjoint.
4. A nutating gear transmission as claimed in any one of claims 1 to 3, in which the curvature ofthe tooth profiles is related to the number of teeth of equivalent spur gears.
5. A nutating gear transmission as claimed in any one claims 1 to 4, in which the homokineticjoint is formed as a diaphragm-type coupling means.
6. A nutating geartransmission as claimed in any one claims 1 to 5, in which the orthogonal gear is formed as a direct componenet of a housing.
7. A nutating geartransmission as claimed in any one of claims 1 to 6, in which resilient members in the form of coil springs, diaphragm springs, rubber springs or diaphragm-type coupling means are associated axially displaceablywith the orthogonal gear or axially displaceably with the nutating gear or around the point of intersection ofthe nutation axis with the axis of the transmission, in such a way as to
provide constraint-free, low-friction and adequate contact between the flanks of the teeth .
8. A nutating geartransmission as claimed in claim 7, in which the resilient members engage the orthogonal gearorthe nutating gear respectively on the backofthe respective teeth thereof.
9. A nutating geartranmission as claimed in any one of claims 1 to 8, in which the drive flange and the flange mounting means are secured within a drive drum which encloses the nutating geartransmission, the drive drum being rotatably mounted on the output shaft and/or on the orthogonal gear orthe housing.
10. A nutating geartransmission as claimed in any one of claims 1 to 8, in which the drive flange and the flange mounting means are fixed on the drive shaft, and the drive shaft is mounted within the outputshaftand/or, at the input side of the transmis- sion, in the stationary housing.
11. A nutating geartransmission as claimed in any one of claims 1 to 8 and 10, in which the nutating gear is held non-rotatably relative to the housing and the orthogonal gear is connected to the output shaft.
12. A nutating geartransmission as claimed in any one of claims 1 to 5 and 7 to 10, in which the homokineticjointis locked non-rotatablywith respect to the housing and the orthogonal gear is connected to the output shaft.
13. A nutating geartransmission as claimed in any one of claims 1 to 8 and 10, in which the nutating gear has a further rearward tooth arrangement and engages with an additional orthogonal gear in such a waythatthe points of engagement of all tooth arrangements are constantly in mutually opposing relationship.
14. A nutating gear transmission as claimed in anyone of claims 1 to 8 and lOto 13, in which nutating geartransmissions are interlinked in a multi-stage construction in a common housing and the output shaft ofthe preceding transmission stage forms the drive shaft of the nextfollowingtransmission stage, wherein in respective adjacent stages, the nutating gears engage a common orthogonal gear having teeth on both sides.
15. Anutating geartransmission as claimed in anyoneofolaims 1,2,4to 8and 11 to 14, inwhichthe drive means are in the form of lever system and engage the nutating gearoutsidethe deepest point of engagement between the nutating gear and the orthogonal gear symmetrically by means of slide members, the drive means being mounted in the housing and/orthe output shaft.
16. A nutating geartransmission as claimed in any one of claims 1 to 8, in which the drive drum has a rotating clip means which engages overthe nutating gear and the orthogonal gear in the region of engagement thereof.
17. A nutating geartransmission, substantially as hereinbefore described with reference to and as illustrated in the accompanying drawings.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DD24559082A DD228713A3 (en) | 1982-12-06 | 1982-12-06 | TAUMELPLANRADGETRIEBE |
| DD25578083A DD230139A3 (en) | 1983-10-19 | 1983-10-19 | HAND HOIST |
| DD25583383 | 1983-10-21 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB8331521D0 GB8331521D0 (en) | 1984-01-04 |
| GB2134208A true GB2134208A (en) | 1984-08-08 |
| GB2134208B GB2134208B (en) | 1987-02-18 |
Family
ID=27179848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB08331521A Expired GB2134208B (en) | 1982-12-06 | 1983-11-25 | Nutating gear transmission |
Country Status (9)
| Country | Link |
|---|---|
| DE (1) | DE3341558C2 (en) |
| FI (1) | FI834433A (en) |
| FR (1) | FR2541405A1 (en) |
| GB (1) | GB2134208B (en) |
| HU (1) | HUT37235A (en) |
| IT (1) | IT1193435B (en) |
| NL (1) | NL8304197A (en) |
| SE (1) | SE8306659L (en) |
| YU (1) | YU237083A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3811074A1 (en) * | 1988-03-31 | 1989-10-12 | Teves Gmbh Co Ohg Alfred | TRANSMISSION TO TRANSFER A ROTATIONAL MOTION |
| DE29707039U1 (en) * | 1997-04-18 | 1998-08-13 | Hirn Marliese | Reduction gear |
| US5893813A (en) * | 1994-12-27 | 1999-04-13 | Canon Kabushiki Kaisha | Speed reducer |
| WO2001052615A2 (en) * | 2000-01-20 | 2001-07-26 | Milan Cizl | Gear drive with wobbling crown wheel |
| EP1270995A1 (en) * | 2001-06-28 | 2003-01-02 | Paolo Bonfiglio | Speed-reducing device for transmitting a rotary motion through a toothed member with precession motion |
| WO2006074732A1 (en) * | 2004-12-23 | 2006-07-20 | Schaeffler Kg | Device for modifying the control times of an internal combustion engine |
| WO2022220128A1 (en) * | 2021-04-13 | 2022-10-20 | Thk株式会社 | Deceleration or acceleration device |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD251332A1 (en) * | 1986-07-25 | 1987-11-11 | Suhl Hebezeugwerk | HEMMEINICHTUNG FOR UMLAUFERREDERGETRIEBE |
| DE102008001490A1 (en) | 2008-04-30 | 2009-11-05 | Zf Friedrichshafen Ag | Wobbling wheel gear i.e. overriding drive, has transfer element connected with output element over level out element, and teeth engaged with another teeth arranged at support element, where teeth are formed as spur toothing system |
| FR3020855A1 (en) * | 2014-05-12 | 2015-11-13 | Peugeot Citroen Automobiles Sa | REDUCER FOR THE STEERING ASSISTANCE OF A MOTOR VEHICLE, COMPRISING AN INCLINE TRAY PERFORMING ROTATIONS ON A FIXED TRACK |
| FR3032507A1 (en) * | 2015-02-09 | 2016-08-12 | Peugeot Citroen Automobiles Sa | ELECTRIC BRAKE CALIPER COMPRISING A CYCLOIDAL REDUCER ENABLING A REVERSIBLE MOTION TRANSFORMATION SYSTEM |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB251630A (en) * | 1925-04-29 | 1927-07-28 | Kenneth Kestell Turner | An improved reciprocating engine or pump |
| GB952789A (en) * | 1961-02-15 | 1964-03-18 | Arthur Mihalka Maroth | Mechanical transmission |
| GB1098513A (en) * | 1965-02-05 | 1968-01-10 | Haegglund & Soener Ab | Mechanical reduction gear system |
| GB1462850A (en) * | 1972-12-27 | 1977-01-26 | Davidson R | Speed change means |
| GB2011016A (en) * | 1977-12-22 | 1979-07-04 | Skf Nova Ab | Toothed Gearing |
| GB1548765A (en) * | 1975-04-15 | 1979-07-18 | Balcke Duerr Ag | Planetary gearing |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE666040A (en) * | ||||
| DE188265C (en) * | ||||
| CH438872A (en) * | 1965-06-30 | 1967-06-30 | Haegglund & Soener Ab | Mechanical reduction transmission device between a control shaft and a servo shaft |
| US3353426A (en) * | 1965-10-28 | 1967-11-21 | Mallory & Co Inc P R | Speed reduction system for a timer |
| FR1480317A (en) * | 1966-03-29 | 1967-05-12 | Commissariat Energie Atomique | Device for transforming a rotary movement into a translational movement on a closed curve |
| US3595103A (en) * | 1969-05-29 | 1971-07-27 | Ernest Wildhaber | Angular drive arrangement |
| SU370162A1 (en) * | 1971-02-23 | 1973-02-15 | HAND WINCH | |
| DE2249068A1 (en) * | 1972-10-06 | 1974-04-18 | Pietzsch Ludwig | TRANSMISSION |
| US4255988A (en) * | 1973-05-10 | 1981-03-17 | Massie Philip E | Axial gear trains |
| DE2603202C2 (en) * | 1976-01-29 | 1986-02-27 | Naviga Ets., Vaduz | Arrangement for slip-free hauling of a rope |
| FR2485669B1 (en) * | 1980-06-25 | 1985-12-20 | Jouvenel & Cordier | CYCLOIDAL GEAR REDUCER |
| JPS5834255A (en) | 1981-08-20 | 1983-02-28 | Iseki & Co Ltd | Reduction gear |
-
1983
- 1983-11-17 DE DE3341558A patent/DE3341558C2/en not_active Expired
- 1983-11-25 GB GB08331521A patent/GB2134208B/en not_active Expired
- 1983-12-02 FI FI834433A patent/FI834433A/en not_active Application Discontinuation
- 1983-12-02 SE SE8306659A patent/SE8306659L/en not_active Application Discontinuation
- 1983-12-02 FR FR8319335A patent/FR2541405A1/en not_active Withdrawn
- 1983-12-05 IT IT68266/83A patent/IT1193435B/en active
- 1983-12-05 YU YU02370/83A patent/YU237083A/en unknown
- 1983-12-06 HU HU834170A patent/HUT37235A/en unknown
- 1983-12-06 NL NL8304197A patent/NL8304197A/en not_active Application Discontinuation
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB251630A (en) * | 1925-04-29 | 1927-07-28 | Kenneth Kestell Turner | An improved reciprocating engine or pump |
| GB952789A (en) * | 1961-02-15 | 1964-03-18 | Arthur Mihalka Maroth | Mechanical transmission |
| GB1098513A (en) * | 1965-02-05 | 1968-01-10 | Haegglund & Soener Ab | Mechanical reduction gear system |
| GB1462850A (en) * | 1972-12-27 | 1977-01-26 | Davidson R | Speed change means |
| GB1548765A (en) * | 1975-04-15 | 1979-07-18 | Balcke Duerr Ag | Planetary gearing |
| GB2011016A (en) * | 1977-12-22 | 1979-07-04 | Skf Nova Ab | Toothed Gearing |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3811074A1 (en) * | 1988-03-31 | 1989-10-12 | Teves Gmbh Co Ohg Alfred | TRANSMISSION TO TRANSFER A ROTATIONAL MOTION |
| GB2216982A (en) * | 1988-03-31 | 1989-10-18 | Teves Gmbh Co Ohg Alfred | Nutating gear mechanism |
| US5893813A (en) * | 1994-12-27 | 1999-04-13 | Canon Kabushiki Kaisha | Speed reducer |
| CN1068418C (en) * | 1994-12-27 | 2001-07-11 | 佳能株式会社 | Speed reducer |
| DE29707039U1 (en) * | 1997-04-18 | 1998-08-13 | Hirn Marliese | Reduction gear |
| WO2001052615A2 (en) * | 2000-01-20 | 2001-07-26 | Milan Cizl | Gear drive with wobbling crown wheel |
| WO2001052615A3 (en) * | 2000-01-20 | 2002-02-07 | Milan Cizl | Gear drive with wobbling crown wheel |
| EP1270995A1 (en) * | 2001-06-28 | 2003-01-02 | Paolo Bonfiglio | Speed-reducing device for transmitting a rotary motion through a toothed member with precession motion |
| WO2006074732A1 (en) * | 2004-12-23 | 2006-07-20 | Schaeffler Kg | Device for modifying the control times of an internal combustion engine |
| US7793628B2 (en) | 2004-12-23 | 2010-09-14 | Schaeffler Kg | Device for modifying the control times of an internal combustion engine |
| WO2022220128A1 (en) * | 2021-04-13 | 2022-10-20 | Thk株式会社 | Deceleration or acceleration device |
Also Published As
| Publication number | Publication date |
|---|---|
| YU237083A (en) | 1988-06-30 |
| IT8368266A0 (en) | 1983-12-05 |
| FI834433A (en) | 1984-06-07 |
| IT1193435B (en) | 1988-06-22 |
| SE8306659D0 (en) | 1983-12-02 |
| NL8304197A (en) | 1984-07-02 |
| DE3341558C2 (en) | 1986-08-21 |
| SE8306659L (en) | 1984-06-07 |
| HUT37235A (en) | 1985-11-28 |
| FI834433A0 (en) | 1983-12-02 |
| GB2134208B (en) | 1987-02-18 |
| GB8331521D0 (en) | 1984-01-04 |
| DE3341558A1 (en) | 1984-06-07 |
| FR2541405A1 (en) | 1984-08-24 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PCNP | Patent ceased through non-payment of renewal fee |