WO1998036189A1 - Compound oscillatory roller transmission - Google Patents
Compound oscillatory roller transmission Download PDFInfo
- Publication number
- WO1998036189A1 WO1998036189A1 PCT/US1998/002810 US9802810W WO9836189A1 WO 1998036189 A1 WO1998036189 A1 WO 1998036189A1 US 9802810 W US9802810 W US 9802810W WO 9836189 A1 WO9836189 A1 WO 9836189A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- speed
- changing device
- gear
- wave
- crankshafts
- Prior art date
Links
Classifications
-
- 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
Definitions
- This invention relates to a speed-changing device more particularly, to a speed-
- the objective of the present invention is to provide a speed-
- the present invention is a speed-changing
- the first stage comprises a pinion 13 attached to a high speed shaft 10, and to
- crankshafts 11 have eccentric portions 18 that are assembled in a wave-actuating
- the internal gear 30 is fixed on or an integral part of a casing and
- the oscillatory roller gear comprises two force-
- oscillatory rollers 20 rotate along the surface of the internal gear 30, driving the force-
- stage equals the numbers of the oscillatory rollers Zh, which can be one more or less
- ORT drive which the force-transmitting disks are connected together via rods between the oscillatory rollers The greater number of oscillatory rollers combined with the
- the torque of the low speed shaft 60 is applied to the multiple oscillatory
- this engagement also enables the speed-changing device to operate even if a few of the oscillatory rollers are missing
- the transmission is a differential
- the first stage reduction gear can combine with one row or more than one row of ORT reduction gears It is preferable to use two or three rows of ORT reduction gears that are 180 or 120 degrees in phase respectively, so that the forces caused by
- Fig 1 is a transverse sectional view, partially broken away, of the compound oscillatory roller transmission
- Fig 2 is a cross-sectional view along the shaft of the compound oscillatory roller
- Fig 3 is a transverse sectional view, partially broken away, of an embodiment of the
- Fig 4 is a cross-sectional view along the shaft of the embodiment shown in Fig 3 Best Mode for Carrying Out the Invention
- invention is a speed reducer comprising a spur gear reduction stage and an ORT
- the spur gear reduction stage comprises a pinion 13 coupled with a
- crankshafts 11 are evenly angular spaced crankshafts 11 Clearly, depending on the size of the speed
- the number of the crankshafts can be less or more than three
- ORT reduction gears each comprising a wave actuator, an oscillatory roller gear and an internal gear
- ORT reduction gears each comprising a wave actuator, an oscillatory roller gear and an internal gear
- crankshafts 11 are supported on two force-
- crankshafts 11 has two eccentric portions 18 such that their eccentricities are 180
- the two eccentric portions 18 can also be two eccentric
- Each of the mternal gears 30 has Zg numbers of inner gear teeth
- Each of the oscillatory roller gears comprises Zh numbers of oscillatory
- rollers 20 that mesh with the inner gear teeth of the mternal gear 30, where Zh can be
- journal bearings are assembled in radial pin slots on the force-transmitting disks 21, 21a and 23.
- Three supporting portions 22 link the force-transmitting disks 21, 21a
- the supporting portions 22 are integral portions of the
- center force-transmitting disk 23 with a shell-like shape. Obviously, they can be
- the high speed pinion 13 drives the planetary gears 12 and the crankshafts 11
- the oscillatory rollers can have different configurations depends on ratio and size of the speed reducer.
- the oscillatory rollers can be rolling bearings supported on axle pins.
- the oscillatory rollers may also be rolling wheels mounted on axle pins like
- the speed reducer may be used in various ways. Any one of the three
- the high speed shaft 10 the internal gear 30 and the low speed shaft 60
- the transmission is a differential.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
A speed-changing device comprising a planetary gear stage integrated with an oscillatory roller transmission (ORT) stage. The ORT stage having eccentric wave actuating disk (14) mounted on eccentric portions (18) of crankshafts (11) of the planetary stage, rollers (20) mounted in radial slots (27) of transmission disks via pin (26), with the rollers acting on the internal gear (30).
Description
COMPOUND OSCILLATORY ROLLER TRANSMISSION
Technical Field
This invention relates to a speed-changing device more particularly, to a speed-
changing device that employs movable gear teeth or rollers to transmit movement and
torque.
Background Art
We have previously described a mechanism called Oscillatory Roller Transmission in Chinese patents CN91,01060.2 and CN96,215,504.7. The
transmission ratio of this previous mechanism is limited by the number of rollers that can be arranged on the oscillatory roller gear.
There are also known cycloidal type drives that are widely used in robotics and motion control industries as shown in US patents 4,348,918, 4,690,010 and 5,322,485. The stress on the bearings that support the eccentric crankshafts is very high since those bearings take loads not only directly from the low speed shaft, but also from the eccentric cams and the first stage spur gears. Disclosure of Invention
Accordingly, the objective of the present invention is to provide a speed-
changing device that has high speed-changing ratios, low bearing loads and compact
size, thereby overcoming the inherent shortcomings of the prior arts. Further objects
and advantages of the present invention will become apparent from a consideration of
the drawings and ensuing description.
Referring now to Figs. 1 and 2, the present invention is a speed-changing
device comprising two stages such that the overall transmission ratios of the speed-
changing device can be provided by selecting various ratio combinations of the two
stages The first stage comprises a pinion 13 attached to a high speed shaft 10, and to
engage with a plurality of planetary gears 12 coupled with a plurality of crankshafts 11
The crankshafts 11 have eccentric portions 18 that are assembled in a wave-actuating
disk 14 via eccentric bearings 16 to form the wave actuator of the second stage,
whereby the wave-actuating disk 14 has an eccentricity e to the center line 50 The
second stage applies the mechanism of the Oscillatory Roller Transmission (ORT),
which comprises three major components a wave actuator, an oscillatory roller gear
and an internal gear The internal gear 30 is fixed on or an integral part of a casing and
has Zg numbers of inner gear teeth, which have a tooth profile of the envelope curve
of the oscillatory rollers 20 The oscillatory roller gear comprises two force-
transmitting disks 21 and 23 that are linked together by supporting portion 22 via through-holes 15 on the wave-actuating disk 14 Zh number of oscillatory rollers 20,
supported on axle pins 26 via needle bearings 28, are assembled in radial pin slots 27
on the force-transmitting disks 21 and 23 Thus, the wave-actuator orbits around the
center line 50 and pushes oscillatory rollers 20 of the oscillatory roller gear to move in
the axial direction meshing with inner gear teeth of the internal gear 30 The
oscillatory rollers 20 rotate along the surface of the internal gear 30, driving the force-
transmitting disks 21 and 23 to rotate via axle pins 26, thereby transmitting the
movement and force to the low speed shaft 60 The transmission ratio of the ORT
stage equals the numbers of the oscillatory rollers Zh, which can be one more or less
than the number of the inner gear teeth Zg of the internal gear 30 Since the force-
transmitting disks 21 and 23 are connected together through supporting portions 22,
more oscillatory rollers can be arranged on the oscillatory roller gear than a regular
ORT drive which the force-transmitting disks are connected together via rods between
the oscillatory rollers The greater number of oscillatory rollers combined with the
reduction provided by the first stage vastly increases the overall transmission ratio of
the speed-changing device In addition, unlike the cycloidal type drives, in the present
invention, the torque of the low speed shaft 60 is applied to the multiple oscillatory
rollers directly, therefore the supporting bearings 17 of the crankshafts only take loads
from the eccentric portions 18 and the planetary gears 12 The multiple rollers/gear
teeth engagement provides the speed-changing device with high load capacity and
especially high shock load tolerance Furthermore, this engagement also enables the speed-changing device to operate even if a few of the oscillatory rollers are missing
Any one of the three components the high speed shaft 10, the internal gear 30
and the low speed shaft 60, can be grounded so that the other two serve as input and output components When none of the components are grounded, the transmission is a differential
The first stage reduction gear can combine with one row or more than one row of ORT reduction gears It is preferable to use two or three rows of ORT reduction gears that are 180 or 120 degrees in phase respectively, so that the forces caused by
the eccentricity can be balanced Brief Description of Drawings
Fig 1 is a transverse sectional view, partially broken away, of the compound oscillatory roller transmission
Fig 2 is a cross-sectional view along the shaft of the compound oscillatory roller
transmission shown in Fig 1
Fig 3 is a transverse sectional view, partially broken away, of an embodiment of the
compound oscillatory roller transmission
Fig 4 is a cross-sectional view along the shaft of the embodiment shown in Fig 3
Best Mode for Carrying Out the Invention
Referring now to Figs 3 and 4, the preferred embodiment of the present
invention is a speed reducer comprising a spur gear reduction stage and an ORT
reduction stage The spur gear reduction stage comprises a pinion 13 coupled with a
high speed input shaft 10, to engage with three planetary gears 12 coupled with three
evenly angular spaced crankshafts 11 Clearly, depending on the size of the speed
reducer, the number of the crankshafts can be less or more than three The ORT
reduction stage comprises two rows of ORT reduction gears, each comprising a wave actuator, an oscillatory roller gear and an internal gear The two rows of ORT
reduction gears are arranged symmetrically to balance the forces caused by the eccentricity It is best to place the spur gears of the first stage between the two rows of oscillatory roller gears to keep the structure compact Nevertheless, an arrangement with the first stage outside the two rows of oscillatory roller gears is
applicable for other purpose The three crankshafts 11 are supported on two force-
transmitting disks 21 and 21a via tapered roller bearings 17 Each of the three
crankshafts 11 has two eccentric portions 18 such that their eccentricities are 180
degrees in phase Obviously, the two eccentric portions 18 can also be two eccentric
cams mounted on a straight crankshaft Two wave-actuating disks 14 are assembled
on the eccentric portions 18 via eccentric bearings 16 to form the two wave actuators
of the ORT stage Each of the mternal gears 30 has Zg numbers of inner gear teeth,
where the inner gear teeth have the profile of the envelope curve of the oscillatory
rollers 20 Each of the oscillatory roller gears comprises Zh numbers of oscillatory
rollers 20 that mesh with the inner gear teeth of the mternal gear 30, where Zh can be
one more or less than Zg The oscillatory rollers 20 supported by axle pins 26 hke
journal bearings are assembled in radial pin slots on the force-transmitting disks 21,
21a and 23. Three supporting portions 22 link the force-transmitting disks 21, 21a
and 23 across the through-holes 15 on the wave-actuating disks 14. The gaps between
each side of the supporting portions 22 and the edges of the through-holes 15 are
larger than twice the eccentricity of the wave actuators, such that the wave actuators
can orbit without interference. The supporting portions 22 are integral portions of the
center force-transmitting disk 23 with a shell-like shape. Obviously, they can be
separated parts and/or different shapes.
The high speed pinion 13 drives the planetary gears 12 and the crankshafts 11
to rotate, whereby the eccentric portions 18 of the crankshafts 11 bring the wave
actuators to orbit around the center line 50. The wave-actuating disks 14 push the
oscillatory rollers 20 to move in the radial direction and to mesh with the internal gears
30. Rotating on the surface of the internal gears 30, the oscillatory rollers 20 drive the force-transmitting disks 21, 21a and 23 through axle pins 26 to rotate, thereby
transmitting movement and torque to the slow speed shaft 60. As we have described previously in the ORT patents, the oscillatory rollers can have different configurations depends on ratio and size of the speed reducer. For
example, the oscillatory rollers can be rolling bearings supported on axle pins. Obviously, the oscillatory rollers may also be rolling wheels mounted on axle pins like
journal bearings or axle pins with both ends supported on small rings.
The speed reducer may be used in various ways. Any one of the three
components: the high speed shaft 10, the internal gear 30 and the low speed shaft 60
can be grounded so that the other two serve as input and output components. When
none of the components are grounded, the transmission is a differential.
Claims
Claims of the Invention
We claim
1 A speed-changmg device comprising
a sun gear attached to a high speed shaft,
a plurality of planetary gears meshing with said sun gear,
a plurality of rotatably mounted crankshafts coupled with said planetary gears and having eccentric portions,
at least one wave-actuating disk which has a plurality of shaft holes angular spaced
evenly to each other, whereby said eccentric portions of said crankshafts being inserted into said shaft holes so that rotation of the crankshafts drives said wave- actuating disk to revolve eccentrically,
said wave-actuating disk having a plurality of through-holes, each through-hole being placed between adjacent shaft holes, at least one oscillatory roller gear comprising
supporting means attached to a slow speed shaft having a plurality of radial pin slots,
connecting means loosely inserted into said through-holes of the wave-actuatmg disk and linking said supporting means, wherein the opposite ends of the supporting means support the crankshafts to rotate,
a plurality of rolling means being supported on axle pms which are assembled in
said pin slots on said supporting means,
at least one internal gear surrounding said oscillatory roller gear and having inner gear
teeth which mesh with said rolling means of the oscillatory roller gear,
whereby, eccentric revolving of the wave-actuating disk pushes said rolling means to
move in the radial direction and to rotate along the gear tooth surface of said internal
gear, thereby transmitting movement and torque to said slow speed shaft via the axle
pins
2 A speed-changing device according to claim 1, wherein any one of the three
components said high speed shaft, said low speed shaft and said internal gear can
be grounded so that the other two serve as input and output components of said speed-changing device
3 A speed-changing device according to claim 1, wherein none of the three
components said high speed shaft, said low speed shaft and said internal gear is
grounded so that the speed-changing device is a differential transmission 4 A speed-changing device according to claim 1, wherein the number of said rolling means is one less or more than the number of inner gear teeth of said internal gear
5 A speed-changing device according to claim 1, wherein arranging n rows of the combination of said wave actuator, said oscillatory roller gear and said internal
gear 360°/n in phase so that the internal forces of said speed-changing device
caused by the eccentricity are balanced
6 A speed-changing device according to claim 1, wherein said wave-actuatmg disk
being rotatable mounted on said eccentric portions of said crankshafts via eccentric
rolling bearings, whereby rotation of the crankshafts drives the wave-actuating disk to revolve eccentrically
7 A speed-changmg device according to claim 1 , wherein said eccentric portions of
said crankshafts comprises eccentric cams mounted on straight crankshafts
8 A speed-changing device according to claim 1, wherein said connecting means of
said oscillatory roller gear is loosely inserted into said through-holes of said wave-
actuating disks, such that the gaps between the connecting means and the edges of
the through-holes being wide enough to allow the wave-actuating disks revolving
eccentrically without interference.
9. A speed-changing device according to claim 1, wherein said supporting means and
connecting means are separated parts or integrated to one another for easy manufacturing.
10. A speed-changing device according to claim 1, wherein said rolling means of said
oscillatory roll gear are rolling bearings supported on said axle pins.
11. A speed-changing device according to claim 1, wherein said rolling means of said oscillatory roll gear are journal bearings supported on said axle pins. 12. A speed-changing device according to claim 1, wherein the number of said planetary gear and said crankshaft is one.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU61637/98A AU6163798A (en) | 1997-02-17 | 1998-02-13 | Compound oscillatory roller transmission |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN97100463A CN1068664C (en) | 1997-02-17 | 1997-02-17 | Compound rolling free gear drive |
CN97100463.3 | 1997-02-17 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998036189A1 true WO1998036189A1 (en) | 1998-08-20 |
Family
ID=5165067
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1998/002810 WO1998036189A1 (en) | 1997-02-17 | 1998-02-13 | Compound oscillatory roller transmission |
Country Status (3)
Country | Link |
---|---|
CN (1) | CN1068664C (en) |
AU (1) | AU6163798A (en) |
WO (1) | WO1998036189A1 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2332936A (en) * | 1997-12-11 | 1999-07-07 | Teijin Seiki Co Ltd | An internally meshing planetary gear device |
DE102006006003A1 (en) * | 2006-02-08 | 2007-08-09 | Auma Riester Gmbh & Co. Kg | Superposition gear |
WO2008146748A1 (en) | 2007-05-23 | 2008-12-04 | Nabtesco Corporation | Reduction gear device |
DE10123548B4 (en) * | 2000-06-06 | 2010-01-07 | Sew-Eurodrive Gmbh & Co. Kg | Planetary gearbox, series of planetary gearboxes and use of a special material to achieve a quiet operation |
DE102008018374B4 (en) * | 2007-04-24 | 2013-05-23 | Sumitomo Heavy Industries, Ltd. | Eccentrically oscillating revolving speed reduction gearbox |
DE102008036629B4 (en) * | 2007-08-07 | 2014-09-25 | Sumitomo Heavy Industries, Ltd. | Oscillating inboard planetary gear structure |
JP2015206396A (en) * | 2014-04-18 | 2015-11-19 | ナブテスコ株式会社 | Eccentric reduction gear |
US9797493B2 (en) | 2014-05-20 | 2017-10-24 | Johnson Electric S.A. | Actuator for seat adjustment |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102691752A (en) * | 2011-03-21 | 2012-09-26 | 陈仕贤 | Composite rolling active-tooth transmission device and method for performing transmission by using the same |
CN108087498B (en) * | 2016-11-21 | 2021-06-11 | 陈仕贤 | Multi-tooth simultaneous meshing movable tooth transmission device |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1578965A (en) * | 1924-12-03 | 1926-03-30 | Roberts & Schaefer Company | Automatic reversible hoist |
US4846018A (en) * | 1985-03-18 | 1989-07-11 | Teijin Seiki Co., Ltd. | Articulation drive apparatus of industrial robot |
US4898065A (en) * | 1987-02-27 | 1990-02-06 | Sumitomo Heavy Industries, Ltd. | Planetary reduction gear |
US5123882A (en) * | 1991-10-10 | 1992-06-23 | Trogetec, Inc. | Compound planocentric cycloidal gear drives with orthogonal planet arrangements |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1020383C (en) * | 1991-02-22 | 1993-04-28 | 陈智 | Full-rolling movable teeth drive |
US5322485A (en) * | 1991-12-24 | 1994-06-21 | Sumitomo Heavy Industries Ltd. | Internally meshing planetary gear structure |
-
1997
- 1997-02-17 CN CN97100463A patent/CN1068664C/en not_active Expired - Fee Related
-
1998
- 1998-02-13 WO PCT/US1998/002810 patent/WO1998036189A1/en active Application Filing
- 1998-02-13 AU AU61637/98A patent/AU6163798A/en not_active Abandoned
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1578965A (en) * | 1924-12-03 | 1926-03-30 | Roberts & Schaefer Company | Automatic reversible hoist |
US4846018A (en) * | 1985-03-18 | 1989-07-11 | Teijin Seiki Co., Ltd. | Articulation drive apparatus of industrial robot |
US4898065A (en) * | 1987-02-27 | 1990-02-06 | Sumitomo Heavy Industries, Ltd. | Planetary reduction gear |
US5123882A (en) * | 1991-10-10 | 1992-06-23 | Trogetec, Inc. | Compound planocentric cycloidal gear drives with orthogonal planet arrangements |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6231469B1 (en) | 1997-12-11 | 2001-05-15 | Teijin Seiki Co., Ltd. | Internally meshing planetary gear device |
GB2332936B (en) * | 1997-12-11 | 2001-12-19 | Teijin Seiki Co Ltd | An internally meshing planetary gear device |
GB2332936A (en) * | 1997-12-11 | 1999-07-07 | Teijin Seiki Co Ltd | An internally meshing planetary gear device |
DE10123548C5 (en) * | 2000-06-06 | 2012-12-20 | Sew-Eurodrive Gmbh & Co. Kg | Planetary gearbox, series of planetary gearboxes and use of a special material to achieve a quiet operation |
DE10123548B4 (en) * | 2000-06-06 | 2010-01-07 | Sew-Eurodrive Gmbh & Co. Kg | Planetary gearbox, series of planetary gearboxes and use of a special material to achieve a quiet operation |
DE102006006003A1 (en) * | 2006-02-08 | 2007-08-09 | Auma Riester Gmbh & Co. Kg | Superposition gear |
DE102008018374B4 (en) * | 2007-04-24 | 2013-05-23 | Sumitomo Heavy Industries, Ltd. | Eccentrically oscillating revolving speed reduction gearbox |
EP2149724A4 (en) * | 2007-05-23 | 2010-07-21 | Nabtesco Corp | Reduction gear device |
EP2149724A1 (en) * | 2007-05-23 | 2010-02-03 | Nabtesco Corporation | Reduction gear device |
WO2008146748A1 (en) | 2007-05-23 | 2008-12-04 | Nabtesco Corporation | Reduction gear device |
DE102008036629B4 (en) * | 2007-08-07 | 2014-09-25 | Sumitomo Heavy Industries, Ltd. | Oscillating inboard planetary gear structure |
JP2015206396A (en) * | 2014-04-18 | 2015-11-19 | ナブテスコ株式会社 | Eccentric reduction gear |
US9797493B2 (en) | 2014-05-20 | 2017-10-24 | Johnson Electric S.A. | Actuator for seat adjustment |
Also Published As
Publication number | Publication date |
---|---|
CN1191284A (en) | 1998-08-26 |
AU6163798A (en) | 1998-09-08 |
CN1068664C (en) | 2001-07-18 |
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