WO2006085793A1

WO2006085793A1 - Internal eccentric planetary gear

Info

Publication number: WO2006085793A1
Application number: PCT/RU2006/000033
Authority: WO
Inventors: Viktor Vladimirovich Stanovskoy; Sergei Matveievich Kazakiavichius; Tatiana Andreevna Remneva
Original assignee: Joint Stock Company 'tomsk Transmission Systems'
Priority date: 2005-02-11
Filing date: 2006-02-01
Publication date: 2006-08-17
Also published as: RU2313016C2; RU2005103677A

Abstract

The inventive internal eccentric planetary gear relates to mechanical engineering, in particular to internal mechanical planetary gears whose central gear axis is arranged inside the basic circle of a planetary pinion and whose gearwheels have an insignificant size difference. The inventive gear comprises two mutually embracing collars (1, 2) which form a module with the aid of bearings (4, 6; 5, 7) and an eccentric socket (3). The axes of rotation (OO1, CC1) of the collars are offset with respect to each other. Any collar is provided with an eccentric section (9) on which a planetary wheel (11) is fitted by means of bearings (10), therein a mounting bore is shifted from the satellite gear centre and the sun gear (13) of the internal gear set is rigidly connected to the other collar. The external collar (2) and eccentric socket (3) are provided with elements (15, 14) for connecting to the shaft and body of an external mechanism, respectively.

Description

Eccentric planetary gear internal gearing.

The field of technology.

The invention relates to the field of mechanical engineering, namely to the class of mechanical planetary gears of internal gearing, with the central axis of the gear lying inside the main circumference of the planetary wheel, mainly to gears in which the gearing links have a small size difference. The term internal gearing in this context means not only the usual involute gearing of gears, it is understood in a broader sense as the sequential interaction of the elements of two wheels making up a kinematic pair. The prior art. Planetary gears of internal gearing are very sensitive to the magnitude of the eccentricity, since the speed of the orbital movement of the satellite wheel depends on it. The smaller the eccentricity, the lower the linear velocity of the satellite during orbital movement. In turn, the difference in the size of the engaging wheels depends on the eccentricity. The smaller the eccentricity, the smaller the difference in the sizes of the central wheel and the satellite, and the greater the number of teeth is engaged. Schemes of such programs appeared at the beginning of the last century and they still have not received an established name. Some authors call them eccentric, others - cycloidal. One of the wheels - the satellite is mounted on the eccentric of the input shaft with the possibility of rotation around its own axis, and is engaged with the central wheel. The diameters of the wheels are close to each other, and the eccentricity is small. The rotation of the satellite around its own axis is brought to the transmission axis by an additional mechanism. Such a mechanism can be a mechanism of parallel cranks, an Oldham coupling, a cardan gear, gearing, etc.

A large number of such mechanisms are known that differ in the shape of the engagement elements: gear with a circular tooth shape (for example, US 4,338,831), cycloidal (for example US1,867,492 or DE459747), roller (US 4,584,904), or ball (US 4,829,851, US 5,683,323 ) gearing. To reduce the imbalance, the satellite is made up of two or more wheels floating in antiphase (US 987,430). Planetary gears of this type with a small size have a high gear ratio, so the scheme has received great further development. The main weak link in terms of efficiency and power characteristics of the transmission was the mechanism of bringing the rotation of the satellite to the axis of transmission. To increase the power characteristics, a satellite unit was developed, which formed the basis of the so-called “CYCLO” gears (in Russia called planetary gears, and in Slovakia - “Twin Spin”). The satellite block is a few eccentric rings, phase-shifted relative to each other and fastened into a single unit with two flanges, and the rods passing through the holes of the rings and flanges form a parallel crank mechanism (see US 5,286,237, 5,433,672, etc.). Structurally, such transmissions were transformed into a module in the form of cages covering each other and flanges between them, connected into a single unit using bearings (US 4,736,654, US 4,909,102 US 5,908,372, US 20020052262A1, WO 01/86170, KR 242207, etc.). Flanges are a low-speed output link of the transmission, and are attached to the shaft of the actuator. The inner race is an input high-speed link with a hole for landing on the motor shaft. The outer cage serves as a reactive link, for which it has mounting holes for communication with the bodies of external mechanisms. Another wiring diagram of the module in the drive is also possible, since any of the transmission links can serve as an input, output, or transmission housing. The modular design further reduces the weight and size characteristics of the transmission, since its own fixed housing is eliminated.

The main disadvantage of modular gears is sliding friction between the fingers of the parallel crank and the holes of the planetary rings. There are many patents in which they solve the problem of reducing friction in different ways: using bushings (DE2835973), using additional crosspieces (US 5,908,372).

In planetary gears of internal gearing of Sumitomo companies Nevu Industries (US 4,909,102, US 5,322,485 and others) and Teijip Seiki Co (US 4,846,018, US 6,033,333, etc.), the rods serve only for connecting flanges, and crank shafts located around the circumference transmit around the transmission axis and seated in flange discs with bearings.

Thus, in all the above transmissions there is a satellite unit composed of flanges fastened to each other, between which satellites are located. As noted in US patent 4,846,018, the fastening elements of the flanges must withstand a load several times higher than the nominal. Many holes penetrating the satellites significantly reduce their strength. In addition, such designs consist of a large number of parts that require high precision manufacturing and assembly. The presence of several parallel crank shafts requires their precise installation.

For the prototype, we selected a planetary gearbox with internal gearing of the wheels with a small difference in the number of teeth according to patent RU 2156900. The gearbox contains a movable rotating housing formed by a front cover, an internal gearing wheel and a rear cover connected to the driven shaft. A drive shaft is mounted on the eccentric bushings in the movable housing, so that the axis of rotation of the housing is offset from the axis of the drive shaft. Three eccentrics in phase by 120 degrees are phase-mounted on the drive shaft. On each of the eccentrics, with the help of bearings, a satellite is mounted - an external gear wheel, and the landing holes are offset relative to the geometrical centers of the satellites. The description of the invention indicates that the gearbox does not require a fixed housing, since there is no reactive moment. Those. the gearbox is integrated in the drive with input and output shafts. However, a careful examination of this design showed that when the gearbox is operating, the drive and driven shafts will tend to make planetary motion around their common axis. Ultimately, the reactive moment during operation of the gearbox as part of the drive will be applied through the driven and drive shafts to the bearings of the engine and the actuator, i.e. to external mechanisms with which the gearbox is connected. Moreover, the reaction force will be greater, the smaller the offset of the axes of the drive and driven shafts. Given that the bearings of any mechanism are not designed for significant additional load, the described gearbox cannot be used as part of powerful drives with standard external mechanisms. Its application requires the replacement of motor bearings and actuators with more powerful ones. The implementation of the inventive gear in a fixed housing with supports, as proposed in FIG. 5 patent descriptions, increases the weight and dimensions of the gearbox, immediately reducing its attractiveness, since the modular design is transformed into a traditional one .-

Thus, the object of the invention is to provide a simple, reliable and cheap transmission mechanism that provides a wide range of gear ratios and small dimensions when transmitting high loads.

The technical result is the ability to embed the transmission module in any standard mechanisms without significant changes. Another technical result is the implementation of two-stage circuits in a simple design single module. An additional technical result is the creation of a series of various modular designs that implement the general principle of the invention, and allow you to create gears that meet the installation and operational requirements of the widest class of machines and mechanisms. SUMMARY OF THE INVENTION

The eccentric planetary gear of the internal gearing, like the prototype, contains an internal rotation element and, covering it, an external element, mounted on the inner one using bearings and an eccentric sleeve so that the axis of rotation of the elements are offset from each other. In the wheel pair of internal gearing, the satellite wheel is seated by bearings on an eccentric, and the center of the seating circle is offset from the center of the satellite. Unlike the prototype, the outer element is made in the form of a cage equipped with communication elements with the shaft of the external mechanism, the sleeve is made with elements for communication with the housing of the external mechanism, the eccentric for landing the satellite is made on the surface of any of the rotation elements in the form of an eccentric section, and the central wheel the wheelset is rigidly connected to another rotation element.

Thus, the structurally proposed transmission is a module of an inner element, an outer race and an eccentric sleeve, interconnected by bearings, and with a satellite located in the space between the outer and inner elements.

The outer cage can be connected to the shaft of the external mechanism using flexible coupling, for which its outer surface is made in the form of a pulley or asterisk.

It is also advisable to execute the internal element in the form of a cage with an internal hole for landing on the shaft of an external mechanism.

The satellite may be an external gear wheel. Then it, as in the prototype, is planted on an eccentric section made on the outer surface of the inner rotation element. The central inner gear wheel is rigidly connected to the outer race.

In addition, a satellite option is also possible - an internal gear wheel. In this case, the eccentric section is made on the inner surface of the outer race, and the central wheel of the external gearing is rigidly connected to the inner rotation element. The satellite is set on bearings inside the eccentric portion on the surface of the outer race, and the seat circle is eccentrically offset relative to the inner gear wheel. Thus, in this case, the satellite is an eccentric ring between two eccentrically displaced circles: the landing circle and the internal gear wheel. To reduce the imbalance of the satellite of any of the previous gears, it is advisable to make a compound of several wheels located sequentially along the axis, and planted on eccentric sections shifted in phase, made on one rotation element.

In the case of a composite satellite of two wheels, another design modification is possible. The eccentric sections on one of the rotation elements and both wheels of the composite satellite can be located on opposite sides of the eccentric sleeve along the axis. In this case, the fastening elements of the sleeve to the housing pass through the holes in the satellites.

It is advisable to perform an eccentric sleeve split of two parts spaced along the axis, each of which is connected to the internal and external rotation elements by its bearings. This allows you to distribute the load on two pairs of bearings spaced along the axis and get away from the console application of bearing loads. In this case, the inner pair of gears is located between the parts of the hub. The elements of communication with the housing of the external mechanism in this case can be performed both on one and on both parts of the bushings.

It should be noted that any gearing of the wheels can be used in the invention: friction, cycloidal, pin, or gearing of periodically curved racetracks made on wheel surfaces facing each other using free rolling bodies. A particular case of the last engagement is a transmission in which the engaging wheels are disks located in parallel with periodic treadmills on the facing planes facing each other. At the intersection of the tracks in them are balls. An embodiment of periodic tracks on the cylindrical surfaces of the wheels facing each other with balls or rollers between them is also possible.

The proposed transmission allows you to create two-stage transmission of a simplified design, in which one of the rotation elements is common. In a variant of a two-stage transmission with a sequential arrangement of steps along the axis, the eccentric bushings are located at the ends of the common element and both have communication elements with the body of the external mechanism (or the bodies of different external mechanisms). The common element in one section is rigidly bonded to the central wheel of one stage, and in another section it is made with an eccentric for free landing of a satellite of another stage.

A common element for both steps can be both the outer cage and the inner element. In another embodiment of the two-stage transmission, the steps are mutually enclosed, so that two pairs of internal gears are made up of three rings covering each other between a common outer cage and an inner element separated by eccentric bushings, the middle ring simultaneously serving as a gear wheel for one pair and an eccentric for another pair, for which one of the cylindrical surfaces of the middle ring is made with engagement elements, and the opposite cylindrical surface is made ene with an eccentric portion in which the bearing is mounted via a satellite of the other pair. Average the ring is installed so that its axis of rotation is offset relative to the axes of both the inner element and the outer race.

To ensure this bias, the rings can be installed in different ways. In one embodiment, all three rings are installed between the inner and outer elements using bearings and engagement elements to form their support interaction with each other. Those. the axis of rotation of the middle ring is fixed due to the support on the engagement elements of the other two rings.

In the second embodiment, the middle ring is based on bearings relative to the eccentric bushings. This option unloads gears of both stages from supporting loads. Another variant of a two-stage coaxial transmission is possible, in which the outer cage, the inner element and the sleeve between them are coaxial to each other. To do this, in each stage, the displacement of the axes is made in opposite directions and is equally large. Two pairs of internal gearing are also formed by three enveloping rings and the middle ring is also made with gearing elements and an eccentric on opposite cylindrical surfaces. The middle ring is seated by bearings eccentrically relative to the sleeve, so that the parts of the sleeve between the middle ring and the outer element and between the middle ring and the inner element form eccentric bushings of the steps. A brief description of the figures of the drawings. The invention is illustrated in graphic materials, where in FIG. 1 and 2 are longitudinal sections of two variants of the claimed transmission with a satellite — an external gear wheel, and in FIG. Beyond and 36, the kinematic transmission scheme shown in FIG. 1, in two different positions of the satellite. In FIG. 4 is a sectional view of a transmission with a satellite — an internal gear wheel. The engagement in FIG. 1 is gear, the engagement in FIG. 2 is formed by teeth and rollers on the lugs, and in FIG. 4, the engagement is formed by periodic tracks on the disks and balls in them. FIG. 5 and 6 illustrate corresponding variants with composite satellites for a satellite — external gear wheels and for a satellite — internal gear wheels, respectively. FIG. 7 illustrates a gear with a composite satellite, the wheels of which are located on both sides of the eccentric hub. In FIG. Figure 8 shows how the proposed transmission can be integrated into a pulley of a conventional belt or chain drive, and Fig. 9 shows an angular connection to an external mechanism using a bevel gear pair. In FIG. 10 and 11 are longitudinal sections of two-stage gears with a sequential arrangement of steps with a common outer cage and with a common internal element, respectively. In FIG. 12 and 14 are a sectional view of two-stage transmission variants with steps spanning one another, and in FIG. 13 is a cross-sectional view of the transmission of FIG. 12. FIG. 15 and 16 represent two-stage transmission variants with non-coaxial steps spanning each other, but with coaxial inner element and outer race. In FIG. 17 is a section along A-A of the transmission of FIG. 15. Embodiments of the invention.

The transmission of FIG. 1 contains an inner rotation element 1 and an outer element 2 surrounding it, made in the form of a cage. The cage 2 is seated on the inner element 1 with an eccentric sleeve 3 and two pairs of bearings 4,5 and 6, 7, so that the axis _of rotation 0O ₁ of the inner element is offset relative to the axis of rotation CC _{1 of the} outer cage 2 by Δ. The inner element 1 and the outer cage 2 are input and output transmission elements connected to b shafts of external mechanisms. The inner rotation element 1 is made with an opening 8 for landing on the shaft of an external mechanism, for example, an electric motor 16. An eccentric section 9 with an eccentricity e is formed at one end of the inner element 1. An external gear 11 is installed through the bearing 10 through the eccentric 9. the holes 12 in the wheel 11 is offset from the geometric center D of the wheel 11 by a distance L equal to the displacement of the axes Δ. The gear wheel of the internal gearing 13 is rigidly set inside the outer race 2. The eccentric sleeve 3 at the end has fixing holes 14 for communication with the housing of the external mechanism. The outer cage 2 has on its lateral surface slots 15, which can be connected to the shaft of the actuator. In particular, the entire transmission module can be mounted as a flange in the engine casing 16. Due to the cantilever landing of elements 1 and 2 on each other, bearings 5 and 7 will experience greater loads than bearings 4 and 6 near the engine.

To balance the load, another design is developed, shown in FIG. 2. The eccentric sleeve 3 consists of two spaced apart along the axis of the parts Za and 36. The eccentric 9 is made on the surface of the inner ring 1 in its middle annular part between the parts a and b of the eccentric sleeve 3. Accordingly, the inner pair of gears formed by wheels 11 and 13 is also located in the central region between the parts of the sleeve Za and 36. The external gear wheel 11 is a sprocket wheel in which the rollers 18 rotate on the sprockets 17. The internal gear wheel 13 has cycloidal teeth. Fixing holes 14 for coupling the sleeve with the housing of the external mechanism can be made at the end of only one part of the sleeve Zb. In this case, the module can also be mounted as a flange in the motor housing. End slots 19 for communication of the outer casing 2 with the shaft of the actuator are made on the opposite end of the transmission module. The sleeve part Beyond is a free part. This makes it possible to sample gaps to compensate for inaccuracies in the manufacture of transmission parts. At the same time, such a transmission module will have a sufficiently large backlash. For drives in which the rotation of the output shaft relative to the input shaft is less than one revolution, for example, in robotic arms, it is more preferable to connect both parts of the sleeve 3 with fixed elements. For this purpose, mounting holes 20 are made in the end face of the sleeve For.

The value Δ of the displacement of the axes of the internal and external elements can, in principle, be any, however, several circumstances should be kept in mind that affect the choice of this value in each particular case. For explanation, refer to FIG. For and 36, where the left and right kinematic diagrams show the position of the satellite 11, corresponding to half the revolution of the inner element 1. The letters D and D 'indicate the centers of the satellite 11, and the letters B and B' indicate the center of the landing hole 12 in diametrically opposite positions of the satellite 11 The letters Li and L ₂ denote the shoulders of the acting forces from the transmitted moment in different positions of the satellite 11. Obviously, the greater the distance Δ, the greater the difference between Li and L ₂ , and the higher the heterogeneity of the load during operation on the satellite and internally m element. On the other hand, the smaller the displacement of the axes, the smaller the arm L ₃ of the counter-rotation force of the satellite 11, and the greater the load will be experienced by bearings 4-7, ceteris paribus. At the same time, with a slight displacement of the center B of the bore from the center D of the satellite, the radial dimensions of the bearing 10 can be increased almost up to the size of the satellite 11 without increasing the overall size transmission. The minimum boundary of the magnitude of the displacement is determined by the accuracy of the manufacture of transmission parts and is limited by the magnitude of the radial and angular backlash. Thus, in transmissions to low rotation speeds, where the heterogeneity of the load does not play a big role, it is advisable to choose a large displacement. In other cases, the displacement value is advisable to choose in the size of the eccentricity, calculating the optimal dimensions of the bearing 10, ensuring its strength at rated load.

The transmission module in figure 4 contains an inner element made in the form of a disk 21, and an outer cage 2, mounted on the inner element using an eccentric sleeve 3 and bearings 22 and 23. Unlike the above modules, the eccentric section 24 is made on the inner surface of the outer cages 2. Inside the eccentric section 24, a satellite I is mounted on the bearing 10, with a periodic race 25 on the end surface facing the disk 21. On the disk 21 a periodic race 26 is made with a number of periods different from Isla periods intersection track 25. The tracks 25 and 26 is a chain of balls 27. The internal gear is a disc in which the pitch circle raceway has a larger radius. In FIG. 4 internal gearing gear is a satellite 11 with a raceway 25.

In the depicted in FIG. 5 gear of the satellite - the external gearing wheel is made up of three separate disks 28, 29 and 30, freely set with bearings 31, 32, 33 on the eccentric sections 34, 35, 36 of the inner element - cages 1. Eccentrics 34, 35 and 36 are shifted in phase with respect to each other. For the three eccentrics, the phase difference is 120 degrees. The centers of the mounting holes 37, 38, 39 of all three discs are offset relative to their geometric centers by the same amount equal to the shift between the axes OOi and CC _{1 of the} inner 1 and outer 2 of the cage.

All three satellite disks mesh with one central wheel 13 of internal gearing, rigidly set in the outer element 2. The eccentric sleeve 3 connects the inner 1 and outer 2 cages with bearings 4, 5, 6 and 7 into a single module, and consists of two parts and 36 connected to each other by studs 40. Thread 41 at the ends of the studs is used to attach the bushings to a fixed housing. As in previous designs, both part of sleeve Za and both parts of Za and 36 can be connected to the housing. The studs pass through holes 42 in the disks 28, 29 and 30 of the composite satellite, the radius of the holes 42 is greater than the radius of the stud 40 by the amount of eccentricity e. Unlike the rods connecting the flanges in the CYCLO gear, the studs in their middle part do not bear a significant load for transmitting the torque, since they are not, but the eccentric sleeve, which keeps the satellite disks from rotating. The reactive load is perceived by bearings 4-6 between the stationary eccentric sleeve 3, the clips 1 and 2, and the fastening elements of the sleeve 3 to the fixed housing.

FIG. 6 shows a structure with a composite satellite — an internal gear wheel. The disks of the composite satellite in the form of rings 43, 44, 45 with bearings 31, 32, 33 are mounted in eccentric sections 46, 47 and 48 on the inner surface of the outer race 2. The inner part of the rings 43, 44, 45 is made with gears 49, 50 51 forming wheels of the internal gearing. The centers of the outer landing circles of each of the rings (indicated in Fig. B by the points B ₁ , B ₂ , B ₃ ) are offset from the geometric centers (points D ₁ , D ₂ , D ₃ , respectively) ring gears 49, 50, 51. As a result, the rings 43, 44 and 45 of the composite satellite have an eccentric shape. All three wheels are engaged with one central external gearing wheel 52 rigidly seated on the inner race 1. All other structural parts are similar to FIG. 5 and have the same notation. In the transmission of FIG. 7, the eccentric sleeve 3 is located between each other, cages 1 and 2 in their middle region. The clips 1 and 2 and the eccentric sleeve 3 are connected into a single module by a pair of bearings 53. The composite satellite consists of two disks - external gear wheels 54 and 55, located between the clips 1 and 2 on both sides of the eccentric sleeve 3. Rods 56 for fixing the sleeve 3 to the stationary body of the external mechanism pass through holes 57, 58 in the satellites 54, 55. The wheels 54 and 55 of the composite satellite mesh with the same internal gear wheels 59, 60, made inside the cage 2 at its ends. Wheels 54 and 55 are mounted on eccentrics 61 and 62 made on the inner race 1 using bearings 63. Eccentrics 61 and 62 in FIG. 7 have the same eccentricity directed in one direction, and the wheels 54 and 55 move in phase. The transmission is unbalanced in mass and its work is accompanied by beats and noise. An antiphase execution of eccentrics is also possible, which reduces the transmission imbalance, but leads to the appearance of a tipping moment and undesirable additional loads on the bearings.

The following two figures show various types of mounting of the inventive transmission: in FIG. 8 in a pulley-timing mechanism as a pulley, and in FIG. 9 as an angular gear. In FIG. 8, the hole 64 of the inner race 1 is tapered to fit on the shaft 65 of any external mechanism. The outer surface 66 of the cage 2 is made with grooves for a V-belt (not shown in Fig. 8) and serves as a pulley. Eccentric cage For 36 screws 67 are attached to the rack 68. The inner surface of the outer cage 2 has two antiphase eccentric sections 69, 70, in which through the bearings 71 and 72 are set the internal gear wheels 73, 74, forming a composite satellite. The Central wheel of the external gearing 75 is mounted directly on the surface of the cage 1.

In the transmission of FIG. 9, the outer race 2 has on its surface a bevel gear ring 76 engaged with a bevel wheel 77. The wheel 77 is rigidly connected to the shaft 78 of the external mechanism. The transmission module is made according to the circuit of FIG. 6. In the two-stage transmission of FIG. 10, the outer cage 2 is a common element for both gear stages. In this case, the first stage is formed by the inner race 1, the eccentric sleeve Za and the outer race 2, seated on each other using bearings 22 and 23 with the displacement of the axes OC ¹ _{I of the} inner race and CCi of the outer race. The second transmission stage is formed by a cage 2, an eccentric sleeve 36 and an inner cage 79, connected by bearings 80 and 81 also with an offset of the axes. One end of the inner race 1 is made with an eccentric section 9, on which a satellite — an external gearing wheel 11 — is mounted through the bearing 10. The center B of the landing hole 12 of the wheel 11 is offset from the center D of the satellite by a distance Δ equal to the displacement of the axes of the inner 1 and outer 2 races. The Central wheel 13 of the first transmission stage is rigidly connected with the inner surface 82 of the outer race 2. An eccentric 83 of the second transmission stage is made on another portion of this surface. In the second stage, the satellite is an internal gear wheel 84, mounted on an eccentric 83 using bearings 85. The landing circle with center E is also as in the first stage, it is shifted relative to the center F of the wheel 84. The central wheel of the second stage is an external gear wheel 86, which is rigidly mounted on the inner element 79. The eccentric bushings Za and 36 have fixing holes 87 and 88 for connecting each of them to the bodies of external mechanisms. The mounting holes, and therefore the mounting screws are located around the circumference of the bushings and have different diameters in accordance with the wall thickness of the eccentric sleeve. This allows, without reducing the strength of the bushings, to increase the reliability of their attachment to the fixed housings of external mechanisms. The input / output elements are internal clips 1 and 79 with holes for mounting on the shafts of external mechanisms. Common to both stages of the outer casing 2 is an intermediate element that performs the function of the output for one stage and the function of the input for the other.

In the two-stage transmission of FIG. 11, the element common to both steps is the inner race 1, which forms, with the outer race 2, the eccentric sleeve Za and bearings 22 and 23, the transmission module of the first stage with the displacement of the axes 0O ₁ and CC _{1 of the} inner race and the outer race. A satellite is mounted on the eccentric section 89 of the outer race 2 on the bearings 90, which is the inner gear wheel 91. The central gear wheel 92 of the outer gear is rigidly seated on the inner race 1. The second stage is formed by the inner race 1, on which the eccentric region 93 is fitted with on bearings 94, the wheel of the external gearing 95. The Central wheel of the second gear stage is the wheel 96, made on the inner surface of the outer race 97, covering the inner race 1, as well as Pit 2 of the first stage. The cage 97 is seated on a common central element 1 using an eccentric sleeve 36 and bearings 98 and 99 also with an offset of the axes of the cage 97 and 1. The fastening elements of the eccentric bushings Za and 36 are made somewhat differently than in the previous design. The bushings are fastened to each other by pins 100, which at the ends have a thread 101 for attachment to the housing of an external mechanism. The studs 100 pass through the holes 102 and 103 in the satellites 91 and 95 of the first and second stages. The dimensions of the holes 102 and 103 are larger than the diameters of the studs 100, so that with the orbital motion of the satellites, the studs do not touch the walls of the holes. The studs keep both parts of the eccentric sleeve 3 from turning and therefore, when they are attached to the fixed body from one end, as shown in the figure, must withstand the full reactive load. If the studs are threaded at both ends, then the load will be applied only to the fastening elements, and the middle part of the studs will be unloaded. The input / output of the two-stage transmission is the outer casing 2 and 97, having for this purpose fastening elements - slots 15 and 19.

FIG. 12 and 13 illustrate a two-stage transmission, the steps of which span one another. The inner race 1 and the outer race 2 are seated on top of each other using two eccentric bushings Over and 36 and two pairs of bearings 4,5 and 6,7 with the displacement of their axes 0O ₁ and CC ₁ . One of the parts of the sleeve 3, namely, Za, has mounting holes 14, and the outer casing 2 - holes 115 for mounting respectively to the housing and shaft of the external mechanism. An eccentric section 104 is made inside the outer race 2, in which, using bearings 105, a ring 106 is fitted with a gear ring of internal gearing 107 forming a satellite of the first stage. The center K of the seating circumference of the ring 106 is offset from the center of the ring gear 107 (point M). The ring gear 107 is engaged with the ring of external engagement 108 on the ring 109. The axis of rotation DD _{1 of the} ring 108 is offset from the axis CC _{1 of the} outer ring 2, i.e. ring 109 is for the first stage of the inner clip. The distance KM is equal to the offset A _{1 of the} axes DD ₁ and CC _{1 of the} first stage. The inner surface of the ring 109 is eccentrically offset relative to its axis and is an eccentric of the second stage. On the eccentric ON through the bearing 111, a ring 112 is fitted with an internal gearing crown 113, which is a satellite of the second stage. The center N of the landing hole is offset from the center of the crown FROM - point P. The crown 113 is engaged with the central wheel of the external gear 114 on the inner race 1. Thus, the ring 109 and the inner race 1 form a second gear stage with the axes DD ₁ offset by a distance A ₂ and 0O ₁ . The middle ring 109 is common to both stages of the transmission link. One of its cylindrical surfaces serves as the central gearing wheel 108 of one stage, and the other as an eccentric 110 of the second stage. The rings 106, 109 and 112 are based between the cages 1 and 2 with the help of bearings 105, 111 and gears 107, 108, 113 and 114, with the formation of their support interaction. In this design, the gears of both stages are loaded not only with the force to transmit the torque, but also with additional reaction forces.

In the transmission of FIG. 14 the gear crowns are unloaded from the reaction forces, due to the fact that the middle ring 109 is supported on parts of the eccentric sleeve Za and 36 using bearings 116 and 117. Otherwise, the gear differs from the previous one only in that the eccentric section 118 is not made on the outer race , and on the inner sleeve 1, and both transmission stages have a reversed design. That is, the ring 112 is seated on the eccentric 118, and its outer side surface is a ring gear 119 of the external engagement. Accordingly, the middle ring 109 has a ring gear 120 on the inner side surface, and the eccentric portion 121 on the outer surface. Similarly, the location of the elements on the ring 106 and the cage 2 has been changed. Accordingly, the point Q denotes the center of the seat circumference of the wheel 112, the point R is the center of the crown of the external gear 119, the axis DDl is the axis of the crown 120, point S is the center of the hole of the ring 106 point T is the center of the crown external gearing on the ring 106. The axes 0O ₁ and CC ₁ , as in all previous figures, are the axes of the inner and outer rings 1 and 2. The distance between the points QR and TS is equal to the displacement distances of the axes A ₁ and A ₂ . The eccentric sleeve Za has two rows of mounting holes 14, and the outer casing is made with end slots 19 on the opposite end of the module. The remaining symbols correspond to the symbols in FIG. 12 and 13.

In the module of FIG. 15, the inner and outer rings 1 and 2 have a common axis 0O ₁ . At the ends of the cages are two coaxial bushings 122a and 1226 using bearings 4-7 connecting cages 1 and 2 into a single module. Between the bushings are two pairs of internal gear wheels formed by rings 106, 109 and 112. The middle ring 109 is eccentrically mounted relative to the bushings. For this purpose, eccentric annular grooves are made on the ends of the parts 122a and 1226 of the sleeve facing each other, in which the middle ring 109 is mounted on the bearings 116 and 117. As a result, one cage of the transmission comprises an inner race 1, a ring - satellite 112 and a middle ring 109, which for this stage of the outer member, the axis of rotation LL ₁ which is offset relative to the axis of rotation of the inner ring ₁ 0O 1 due to the eccentricity of the sleeve portion 122 between the middle ring 109 and inner ring 1. quite similarly formed second mortar s transmission with offset axis LL of the inner member ₁ - middle ring 109 and outer ring OOi axis 2. Since the offset of the axes of each pair are equally and oppositely in direction, the resulting misalignment inner and outer yokes 1 and 2 is zero, ie . the clips have one axis of rotation. The fastening elements of the eccentric sleeve 122A to the housing and the outer casing 2 to the shaft of the external mechanism are holes 14 and slots 19.

The two-stage transmission in FIGS. 16 and 17, like the previous one, has coaxial inner and outer cages 1 and 2. In the middle region between the cages, there are two eccentric bushings 123 and 124 covering each other. The bushings 123 and 124 are rotated relative to each other so that their eccentricity is mutually compensated, due to which the axis of the inner and outer cages coincide. Between the bushings 123 and 124 on the bearings 125 and 126, a middle ring 109 is fitted, which is the inner race for one gear stage and the outer race for the other. The axis of rotation LLi of the ring 109 is offset relative to the axis OOi. The cylindrical surfaces at the edges of the ring 109 are made with gear rims 128 and 129, and eccentrics 130, 131 on the outer surface of the ring. The ring gears 128 and 129 form the central wheel of one of the transmission stages, and the rings 134, 135 with the ring gears 136, 137 are planted on the eccentrics 130 and 131, through bearings 132, 133, which form the composite satellite of the second stage. In the eccentric sections 138, 139 of the inner race 1, rings 140, 141 with toothed crowns 142, 143 are freely set through the bearings 152 and 153, forming a composite satellite of the first stage. The ring gears 144, 145 on the yoke 2 are the central wheel of the second stage. On the eccentric bushings 123 and 124, pins 146, 147 are provided for connecting to the housings of external mechanisms. The pins 146 pass through the holes 148 in the rings 140 and 141, which are a composite satellite of the first stage. The pins 147 pass through the holes 149 in the rings 134 and 135. The bearings 150 and 151 serve to fit the sleeve block 123, 124 between the inner 1 and outer 2 cages. The pins 146 and 147 are fasteners of both eccentric bushings to the bodies of external mechanisms.

Any of the considered gears can work in the gearbox mode (with a decrease in speed) and in the multiplier mode (with a speed increase). For simplicity, we consider the operation of the inventive gears in gear mode. In this case, the input element is an eccentric element. In the module of FIG. 1 input link is the inner cage 1, mounted on the shaft of the engine 16. When the cage 1 is rotated with an eccentric 9, the external gearing wheel 11 will perform a circumferential planetary motion around the axis CC ₁ , exactly the same as if it had been mounted on the eccentric with its geometric center . The planetary movement of the wheel 11 due to its engagement with the internal gear wheel causes the wheel 11 to rotate around its own axis passing through the center — point D in FIG. 1. Since the wheel And is seated on the eccentric, although freely (through bearings 10), but the landing hole 12 is offset from the geometric center of the wheel, the rotation of the wheel 11 around its own axis is possible only together with the planetary movement of the input clip 1. Since, the clip 1 with bearings planted in the sleeve 3, rigidly connected with the housing of the engine 16, the rotation of the wheel 11 will not occur. Reactive momentum to the housing will be transmitted through bearings 4-7 and fasteners 14. As a result of the engagement of the wheels, the wheel 13 will rotate around the CCi axis and the outer cage 2 will be connected. One full revolution of the input shaft corresponds to the rotation of the wheel 13 by one tooth. The gear ratio between the shaft 1 and the driven wheel 13 is equal to = Z ₁₃ / (z _{] 3} - Z ₁₁ ), where Z ₁₃ and Z ₁₁ are the number of teeth or the number of periods of the raceway of the wheels 13 and 11. The operation of the eccentric gears in FIG. 2 and 4 are fundamentally no different from the above, the mechanisms differ only in the type of gearing of the wheels. The transmission of FIG. 4 different 2006/000033

12 also by the fact that the eccentric section 24 is made on the inner surface of the outer cage 2, and when using the module as a reducer, the cage 2 will be a transmission input. Correspondingly, the internal disk 21 serves as the output. This difference imposes a restriction on the use of such a mechanism in high-speed drives, since with increasing diameter of the input element its linear speed increases.

In gears with a composite satellite in FIG. 5-8, the rotation of the element with an eccentric (in Figs. 5 and 7 is the inner element 1, and in Figs. 6 and 9 is the outer race 2) is converted to the planetary motion of several wheels, in-phase or phase-shifted. The use of a composite satellite allows increasing the carrying capacity of the transmission, since the power is transmitted through several streams. In addition, phase-shifted eccentrics improve gear balancing.

Consider the operation of two-stage gears with a sequential arrangement of steps along the axis in FIG. 10 and 11. When using these mechanisms as a reducer, the input element will be a clip with an eccentric section on its surface. In FIG. 10 it can be an inner clip 1 or an outer clip 2. In the first case, the first gear stage will be formed by wheels 11 and 13, and in the second case, by the wheel 84 and gear ring 86 on the inner ring 79. Each of the steps works as it was described above. The gear ratio of the module is equal to the product of the gear ratios of the steps.

In a two-stage module with encompassing steps in FIG. 12 and 13, the input link in the reduction gear will be the outer cage 2 with the eccentric 104. When the cage 2 is rotated, the satellite ring 106 with the internal gear teeth 107 will make a planetary motion about the CC ₁ axis. Point M is the center of the ring gear 107, which is offset from the center K of the seating circumference of the satellite 106 in the bearing 105. The center offset will prevent the rotation of the gear wheel 107 about its own axis passing through point M. Due to the engagement of the ring gears 107 and 108, rotation around its own axis DDj will make a ring 109 with a gear ring 108 external gearing, which is the Central wheel of the first gear stage, and at the same time the input link of the second gear. For this, an eccentrically displaced hole 110 is made in the ring 109 centered at the point N, forming an eccentric portion in which a ring 112 with a ring gear 113 is inserted through the bearing 111, which is a satellite of the second stage. The rotation of the ring 109 around the axis DDj will cause the planetary movement of the ring 112. In the engagement of the rings 113 and 114, the rotation of the ring 113 is prevented by the displacement of the axis of rotation of the ring gear 113 and the bore of the wheel 112 in the bearing 11. (in the axis, marked with points N and P, respectively). Thus, the gear ring 114, rigidly connected to the inner race ₁ , will rotate in mesh 113-114. The total displacement of the axes CC ₁ , DD ₁ and 0O ₁ is provided by the eccentric bushings Za and Zb, defining the offset between the points P and K, and the gear support rims in gears 107-108 and 113-114 on each other. The reference interaction of the gears sets the displacement of the point M from the axis DD ₁ and point P relative to point N. In the transmission, both stages have internal gear wheels as a satellite.

In the two-stage transmission of FIG. 14 satellites of both steps are external gear wheels formed by ring 112, with ring gear 119 and ring 106. Accordingly, the input link is the inner race 1 with the eccentric 118. Otherwise, the operation of this gear is absolutely similar to the previous one, except that it has gears unloaded from the reference interaction, providing the displacement of the axes in each stage. This function is performed by bearings 116, on which the middle ring 109 is fitted in the eccentric bushings Za and Zb. In the two-stage gears considered, the axles in each stage are shifted to one side, increasing the total displacement of the inner and outer cages and the eccentricity of the sleeve.

In the following two designs of two-stage gears, the displacement of the axes in each stage is directed in the opposite direction and mutually compensates each other. As a result, the total displacement of the inner 1 and outer casing 2 is zero, that is, the cages are coaxial to each other. In both designs, the input link is the inner clip 1, the output link is the outer clip 2. The operation of these gears is practically the same as the gear in FIG. 14. Similarly, the reactive moment in the transmission of FIG. 15 is selected by the eccentric portions of the sleeve 122a between the inner race 1, the middle ring 109, and the outer race 2 through the bearings 4, 116 and 5. The sleeve 122a is attached to the fixed housing by mounting holes 14. In the transmission of FIG. 16 in each stage, a composite satellite of two rings 140-141 and 134-135 is used. The reactive moment is selected by two eccentric bushings 123 and 124 covering each other, which can be attached to the fixed housing by two sets of pins 146 and 147. The eccentricities of the bushings 123 and 124 are the same and directed in opposite directions, as a result of which the total axial displacement of the yokes 1 and 2 is zero . The gear ratio u is also defined as the product of the gear ratios of the steps and is equal to u = ux U ₂ , where

and U ₂ = Zi ₄₄ / (zi ₄₄ -zizb). Thus, in comparison with the prototype, the proposed transmission can be mounted with any standard external mechanisms without changing them. In addition, the invention significantly expands the number of possible structural options, which allows the use of transmission in much wider areas of technology, choosing the option that most fully meets the operational, technical and economic requirements of the consumer. According to the technical characteristics and design, the proposed transmission is comparable to the modules

“CYCLO”, or “TWIN SPIN”, however, it is much simpler than them due to the elimination of the mechanism of bringing the satellite rotation to the transmission axis, and all the problems associated with this mechanism. Two-stage options, implemented in a single structural module, with a high gear ratio, are significantly smaller. Compared with the planetary gears of internal gearing, made according to the scheme

David, in which a two-crown satellite is used, and one of the central wheels is connected to the body, the proposed two-stage transmission with the same dimensions and weight has a significantly higher gear ratio.

Claims

Claim

1. Eccentric planetary gear of internal gearing, containing two encompassing rotation elements connected by an eccentric sleeve so that the axis of rotation of the elements are displaced relative to each other, as well as a wheel pair of internal gearing, a gear wheel of which is mounted by means of bearings on an eccentric, and the center the landing circle is offset from the center of the satellite, characterized in that the outer rotation element is made in the form of a cage provided with communication elements with the shaft of the external mechanism, the sleeve is made It is connected with elements for communication with the body of an external mechanism, an eccentric for landing a satellite is made on the surface of any of the rotation elements in the form of an eccentric section, and the central wheel of the wheelset is rigidly connected to another rotation element

2. The eccentric planetary gear according to claim 1, characterized in that for the connection of the outer casing with the shaft of the external mechanism, the outer surface of the cage is made in the form of a pulley or sprocket.

3. The eccentric planetary gear according to claim 1, characterized in that the inner element is made in the form of a cage with an internal hole for landing on the shaft of an external mechanism.

4. The eccentric planetary gear according to claim 1, characterized in that the satellite is an external gear wheel, the eccentric section is made on the outer surface of the inner element, and the central gear wheel is rigidly connected to the outer race.

5. The eccentric planetary gear according to claim 1, characterized in that the satellite is an internal gear wheel, for which the eccentric section is made on the inner surface of the outer race, and the external gear wheel is the central wheel and is rigidly connected to the inner rotation element.

6. Eccentric planetary gear according to any one of claims 1-5, characterized in that the satellite is made up of several wheels arranged in series along the axis, mounted on eccentric sections shifted in phase on one rotation element.

7. The eccentric planetary gear according to claim 6, characterized in that the composite satellite is made of two wheels located on both sides of the eccentric sleeve, and the fastening elements of the sleeve to the body pass through the holes made in the satellites.

8. Eccentric planetary gear according to any one of paragraphs. 1 to 5, characterized in that the eccentric sleeve is made of two spaced apart along the axis of the parts, each of which is connected to the inner element and the outer cage with its own bearings.

9. Eccentric planetary gear according to any one of paragraphs. 1 to 5, characterized in that the gearing is formed by friction gearing of the wheels.

10. Eccentric planetary gear according to any one of paragraphs. 1 to 5, characterized in that the engagement is formed by cycloidal teeth.

11. Eccentric planetary gear according to any one of paragraphs. 1 to 5, characterized in that the engagement is formed by rollers on the spindles and cycloidal teeth.

12. Eccentric planetary gear according to any one of paragraphs. 1 to 5, characterized in that the engagement is formed by periodically curved raceways on the facing surfaces of the wheels engaged with free rolling bodies between them.

13. The eccentric planetary gear according to claim 12, characterized in that the tracks are made on the end surfaces of the disks and engage with each other using balls located at the intersection of the tracks.

14. The eccentric planetary gear according to claim 12, characterized in that the raceways are made on the cylindrical surfaces of the wheels, and balls or rollers serve as the rolling bodies.

15. The eccentric planetary gear according to claim 1, characterized in that it is made of a two-stage of two successive stages, one of the rotation elements being common to both stages, the eccentric bushings located at its ends and both have elements of communication with the bodies of external mechanisms, and the common element in one section is rigidly connected to the central wheel of one stage and in another section it is made with an eccentric for free landing of a satellite of another stage.

16. The eccentric planetary gear according to claim 15, characterized in that the outer race is common to both stages.

17. The eccentric planetary gear according to claim 15, characterized in that the internal element is common to both stages.

18. The eccentric planetary gear according to claim 1, characterized in that it is made of a two-stage of two mutually enclosing steps, where two pairs of internal gear wheels are made up of three, covering each other between the outer and inner elements separated by bearings by a common eccentric sleeve other rings, and the middle ring simultaneously performs the function of the gear wheel for one pair and the eccentric of the day of the other pair, for which one of its cylindrical surfaces is made with gear elements and the opposite cylindrical surface is made with an eccentric section, on which the satellite of the other pair is mounted through the bearing and the ring is installed so that its axis of rotation is offset relative to the axis of rotation of the inner element and the outer race.

19. The eccentric planetary gear according to claim 18, characterized in that all three rings are installed between the inner and outer cages by means of bearings and engagement elements with the formation of their supporting interaction with each other.

20. The eccentric planetary gear according to claim 18, characterized in that the middle ring is configured to fit relative to the eccentric bushings using bearings.

21. The eccentric planetary gear according to claim 1, characterized in that it is made of a two-stage of steps covering each other, which are formed by an internal element and an outer cage seated on each other using a common sleeve and bearings, two pairs of internal gearing are formed by three rings covering each other moreover, the middle ring is made with engagement elements on one surface and an eccentric on the other, so that it is both a link in both steps and eccentrically fitted with bearings relative to the sleeve, so that the part of the sleeve between the middle ring and the outer element and the part between the middle ring and the inner element form the eccentric bushings of the steps, and i "the eccentricities are equal in magnitude and opposite, so that the common sleeve, the inner and outer elements are coaxial to each other. ^•