WO2011091770A1

WO2011091770A1 - Filtering gear reducer

Info

Publication number: WO2011091770A1
Application number: PCT/CN2011/070847
Authority: WO
Inventors: 王家序; 肖科; 李俊阳; 周广武
Original assignee: 重庆大学
Priority date: 2010-02-01
Filing date: 2011-01-31
Publication date: 2011-08-04
Also published as: CN101725673B; CN101725673A

Abstract

A filtering gear reducer comprises an eccentric shaft (1), a split-type spine half-axle duplex gear, a fixed gear (8), an output gear (4) and a rubber alloy layer (10). The split-type spine half-axle duplex gear, the fixed gear and the output gear are all helical bevel gears which are meshed to form a backlash-free precise transmission pair and can adaptively compensate for abrasion of tooth surfaces. The rubber alloy layer adhered on the spine half-axle of the duplex gear can ensure that transmission components filter the fluctuation caused by the conversion of a high speed and low torque into a low speed and high torque of a motor, processing, mounting errors and the like through a controllable elastic deformation quantity in a designed transmission accuracy and a bearing capacity range, effectively prevent the nonlinear coupled vibration of a transmission system caused by influences of extreme working conditions and special environments from being generated, and avoid the emergence of problems such as jam, even seizure and the like of the transmission components. Thus, the filtering gear reducer has the advantages of high precision, high reliability, prolonged service life, high torque, low energy consumption, small size and the like, and can be widely applied to equipments in engineering fields, such as robots, space flights, ships and vehicles.

Description

Filter reducer

Technical field

The invention relates to a precision transmission reducer, in particular to a filter reducer.

Background technique

With the rapid development of engineering in the fields of robotics, automation, aviation, aerospace, shipbuilding, vehicles, weapons and equipment, high precision, high reliability, long life, high torque, low energy consumption and small volume are proposed for its transmission parts and systems. High-performance requirements such as lightweight and maintenance-free. Since the high-performance key science and technology of transmission parts and systems directly affect the function and life of important equipment to a large extent, the innovative design theory, methods and techniques of high-performance transmission parts and systems are explored to improve the reliability of China's electromechanical equipment. Comprehensive performances such as sex, motion accuracy and extended service life have very important scientific significance and engineering applicability.

In the prior art, although the precision transmission parts and systems such as the harmonic reducer and the RV reducer are widely used in the electromechanical transmission systems of important equipments such as robots, automation, aviation, aerospace, etc., the motor is used as the power source of the transmission system. The generated mechanical energy is in a high-speed and small-torque state, and becomes a low-speed and large-torque state when the output of the reducer is output, which inevitably causes fluctuations in the torque of the transmission system, assembly and manufacturing errors of the respective components, and the same shafting. Axis and transmission meshing errors, wear parts in the transmission mechanism, especially in extreme working conditions and special environments, the large fluctuations caused the operating state of the transmission mechanism to deteriorate, inevitably increasing the operation of the transmission mechanism. Vibration and noise cause phenomena such as "click" or even "catch". For example, the single-stage transmission ratio of harmonic transmission is limited (usually <360), and there are shortcomings such as low torsional rigidity, low torque, and poor reliability of the elastic element, which is easy to generate nonlinear coupling vibration with the execution system such as solar panels. Phenomenon, serious problems such as "cracking" or even "snap" caused the execution system of the solar windsurfing mechanism to fail to work properly, causing the satellite to be out of control or even completely scrapped.

Therefore, in view of the commonalities and key scientific and technological problems existing in electromechanical transmission systems of robots, aerospace, aerospace, ships and vehicles at home and abroad, the scientific problems of dynamic service behaviors of electromechanical equipment transmission parts and systems under extreme working conditions and special environments are revealed. The theory and method of deformation coordination design of new high-reliability precision transmission parts and systems are proposed to effectively prevent the nonlinear coupling vibration caused by the extreme working conditions and the special environment, so as to avoid serious problems such as "click" or even "catch". Ensure that the transmission member filters out the fluctuations of the high speed and small torque of the motor into low speed, large torque, machining and installation errors through the controllable elastic deformation within the designed transmission accuracy and load carrying capacity. A filter reducer is proposed, in particular, a high-reliability precision transmission mechanism involving engineering equipment such as robots, aviation, aerospace, ships, vehicles, and the like.

Summary of the invention

In view of the above, an object of the present invention is to provide a filter reducer that can be used for Robots, aerospace, aerospace, ships, vehicles and other equipment can solve the commonalities and key problems of electromechanical transmission systems, and can effectively prevent nonlinear coupling vibrations caused by extreme working conditions and special environments, avoiding "cracking" or even "Knocking" and other issues, to ensure that the transmission parts in the designed transmission accuracy and load capacity, control the high-speed small torque of the motor into low-speed large torque, processing and installation errors, etc. .

The filter reducer of the present invention comprises a power input eccentric shaft, a split double external gear, a fixed internal gear and a power output internal gear, and the split double external gear rotates and fits over an eccentric shaft section of the power input eccentric shaft; The split double external gear is a split type composed of the external gear I and the external gear II arranged side by side. Splined half shaft double gear The external gear I and the external gear II are driven and coupled in the circumferential direction by a spline, and an engagement gap is arranged on both sides of the key tooth between the spline of the external gear I and the spline of the external gear II, and the rubber is tightly filled in the meshing gap. The alloy layer; the external gear I meshes with the fixed internal gear with less tooth difference, and the external gear II meshes with the power output internal gear with less tooth difference.

Further, the outer gear I and the outer gear II are both side gears, and the half shaft of the outer gear II is an outer spline hollow shaft that is formed on a eccentric shaft section by a rotational fit, and the outer shaft of the outer gear I is formed. a spline bushing, the bushing sleeve is matched with the spline transmission by the hollow shaft, and the outer gear I and the outer gear II are formed into a split type a splined half shaft double gear, the rubber alloy layer is bonded to the inner spline of the sleeve or the outer spline surface of the hollow shaft;

Further, the external gear I, the external gear II, the fixed internal gear, and the power output internal gear are all helical gears, and the helical gears of the external gear I and the external gear II are spirally expanded in opposite directions;

Further, the teeth of the external gear I and the external gear II are spirally expanded in a direction in which the external gear I and the external gear II face away from each other and are opposite to the rotation direction thereof. ;

Further, the external gear I, the external gear II, the fixed internal gear, and the power output internal gear are all gear-toothed gears, and the tooth thicknesses of the teeth of the external gear I and the external gear II are along the external gear I and the external gear II The direction of mutual deviation gradually becomes smaller;

Further, a spring is disposed between the external gear I and the external gear II, the spring sleeve is externally rounded on the inner spline bushing, one end is placed on the end surface of the external gear I, and the other end is placed on the end surface of the external gear II;

Further, the outer circumference of the fixed internal gear extends to the inner end portion to form a bearing seat, and the outer circumference of the power output inner gear and the bearing housing are rotated and matched by a cross bearing;

Further, the outer circumference of the eccentric shaft and the fixed internal gear are rotatably engaged by the rolling bearing I, and the inner end surface of the inner shaft of the power output inner gear is provided with a central bearing seat, and the central bearing housing is disposed on the inner circumference of the inner end of the eccentric shaft by the rolling bearing II;

Further, the external gear I, the external gear II, the fixed internal gear, and the power output internal gear are all tapered gears whose nominal diameter gradually decreases along the direction in which the external gear I and the external gear II deviate from each other;

Further, the rubber alloy layer is vulcanized by mixing the following parts by weight: butyl rubber 40 to 100, zinc oxide 3 ～ 8, sulfur 1 ~ 3, accelerator 1 ~ 3, antioxidants 1 ~ 3, fatty acids 1 ~ 3, semi-reinforcing carbon black 60 ~ 80 and fillers 20 ~ 60.

Beneficial effect

The filter reducer of the invention, The eccentric speed reduction mechanism first filters out the high-frequency wave of the driving motor at high speed; at the same time, the planetary gear mechanism consisting of the planetary double gear, the fixed internal gear and the output internal gear is used to filter the high frequency revolution wave of the double gear again. And output low frequency rotation, double gear The split double gear with the spline transmission in the circumferential direction is filled with the rubber alloy layer in the meshing gap, which can obviously enhance the bearing capacity and seismic capacity of the double gear and the whole transmission system, which can greatly improve the efficiency of the transmission. Through the controllable elastic deformation, the fluctuation of the high speed and small torque of the motor is converted into low speed and large torque, processing and installation errors, etc., which can be used for Robots, aviation, aerospace, ships, vehicles and other equipment can solve the commonalities and key problems of electromechanical transmission systems, which can effectively prevent Non-linear coupling vibration occurs due to the influence of extreme working conditions and special environment, avoiding problems such as “clicking” or even “snap”, ensuring that the transmission parts are within the designed transmission accuracy and carrying capacity.

DRAWINGS

The invention is further described below in conjunction with the drawings and embodiments.

Figure 1 is a schematic view of the structure of the present invention;

Figure 2 is a schematic view of Figure 1 taken along line A-A.

Embodiments of the invention

1 is a schematic view of the structure of the present invention, and FIG. 2 is a schematic view taken along line A-A of FIG. 1, as shown in the figure: the filter reducer of the present embodiment includes a power input eccentric shaft 1, a split double external gear, and a fixed internal gear 8 And the power output inner gear 4, the split double outer gear is rotatably fitted over the eccentric shaft section 1a of the power input eccentric shaft 1, as shown, by the rolling bearing 11 sleeved on the eccentric shaft section 1a; the split type double joint The gear includes an external gear I9 and an external gear II6 arranged side by side, and the external gear I9 and the external gear II6 are driven and coupled in a circumferential direction by a spline, and the two teeth of the external gear I9 and the spline of the external gear II6 are located between the key teeth. The engaging gap is arranged on the side, and the rubber alloy layer 10 is tightly filled in the meshing gap; the splines of the external gear I9 and the external gear II6 can adopt the end splines and the axial splines, and the invention can achieve the object; the external gear I 9 meshes with the fixed internal gear 8 with less tooth difference, and the external gear II6 meshes with the power output internal gear 4 with less tooth difference.

In this embodiment, the outer gear I9 and the outer gear II6 are both side gears, and the half shaft of the outer gear II6 is an outer spline hollow shaft 6a that forms a rotational fit on the eccentric shaft section 1a, and the outer gear I9 The half shaft forms an inner spline bushing 9a, and the sleeve 9a is sleeved on the hollow shaft 6a and is coupled with the spline to make the outer gear I9 and the outer gear II6 form a split type. Splined half shaft double gear The rubber alloy layer 10 is bonded to the inner spline or the outer shaft spline surface of the sleeve; in this embodiment, the rubber alloy layer is bonded to the outer surface of the hollow shaft spline to facilitate assembly; through the hollow shaft and the sleeve The mating structure facilitates maintaining the stability of the structure and facilitates sufficient axial movement of the external gear II and the external gear I.

In this embodiment, the external gear I9, the external gear II6, the fixed internal gear 8 and the power output internal gear 4 are all helical gears, and the helical gears of the external gear I9 and the external gear II6 are spirally expanded in the opposite direction, of course, Correspondingly, the helical internal rotation direction of the fixed internal gear 8 and the power output internal gear 4 teeth is also reversed. The helical gear structure is adopted to facilitate the elimination of the meshing clearance and further ensure that the transmission meshing pair does not appear. "Card" or even "catch" and other issues, to ensure the smoothness and high precision of the transmission.

In this embodiment, the external gear I9 and the external gear II6 teeth are spirally unfolded in the direction in which the external gear I9 and the external gear II6 are away from each other, and the direction of the rotation is opposite to the direction of rotation. After the meshing, the axial component force causes the external gear I9 and the outer gear. The gear II6 moves in the opposite direction, so that the external gear I and the external gear II are abutted, which helps to eliminate the meshing gap and maintain high-precision transmission;

In this embodiment, a spring 7 is disposed between the external gear I9 and the external gear II6, the spring 7 is sleeved on the outer circumference of the inner spline bushing 9a, one end is placed on the end surface of the external gear I9, and the other end is placed on the end surface of the external gear II6; The spring 7 has the function of further filtering and isolating the vibration, further Preventing the nonlinear operating vibration caused by the extreme working conditions and the special environment, and the axial force generated by the spring drives the external gear I and the external gear II to be moved, which is beneficial to eliminate The meshing gap between the outer gear I and the outer gear II is advantageous for eliminating transmission vibration.

In this embodiment, the outer circumference of the fixed internal gear 8 extends toward the inner end portion (the side opposite to the power output internal gear) to form a bearing housing, and the outer circumference of the power output internal gear 4 and the bearing housing pass the cross bearing 5 Rotating fit helps to eliminate the interference of the axial force from the two directions to the transmission mechanism and keep the mechanism running stably.

In this embodiment, the outer circumference of the eccentric shaft 1 and the fixed internal gear 8 are rotatably engaged by the rolling bearing I12, and the inner end surface of the power output internal gear 4 (the side opposite to the fixed internal gear 8) is provided with a center bearing seat, the center bearing The seat is disposed on the inner end of the inner end of the eccentric shaft 1 by the rolling bearing II2; the structure is compact, and the power output inner gear 4 has stable support, which is favorable for maintaining the stability of the transmission; in the embodiment, the power output inner gear 4 is along the circumference The direction also sets a connection hole 3 for connecting the power output of other devices.

In this embodiment, the external gear I9, the external gear II6, the fixed internal gear 8 and the power output internal gear 4 are tapered gears whose nominal diameter gradually decreases along the direction in which the external gear I9 and the external gear II6 deviate from each other; The function of the spring eliminates the radial clearance and avoids transmission vibration.

The rubber alloy layer 10 is formed by vulcanizing and mixing the following parts by weight: nitrile rubber 40-100, zinc oxide 3-8 , sulfur 1 ~ 3, accelerator 1 ~ 3, anti-aging agent 1 ~ 3, fatty acid 1 ~ 3, semi-reinforcing carbon black 60 ~ 80 and filler 20 ~ 60; the accelerator As a sulfenamide accelerator, the antioxidant is nickel dibutyl dithiocarbamate, the fatty acid is C16 or C18 saturated fatty acid, and the filler is Molybdenum disulfide, polytetrafluoroethylene, graphite, glass fiber or carbon fiber; in this embodiment, the rubber alloy layer material comprises the following components by weight: nitrile rubber 40, zinc oxide 3 , sulfur 1 , N-cyclohexyl -2- benzothiazole sulfenamide 1, nickel dibutyl dithiocarbamate 1, C16 saturated fatty acid 1, semi-reinforcing carbon black 60, molybdenum disulfide 20 .

Another embodiment of the present invention: the difference from the above embodiment is: The external gear I9, the external gear II6, the fixed internal gear 8 and the power output internal gear 6 are gear-toothed gears, and the tooth thicknesses of the teeth of the external gear I9 and the external gear II6 are along the external gear I9 and the external gear II6. The direction of mutual deviation gradually becomes smaller, and in cooperation with the external gear I9 and the external gear II6, the tooth thickness variation of the fixed internal gear 8 and the power output internal gear 4 is opposite to that of the corresponding external gear, and can be completely eliminated by the action of the spring 7. Engagement side clearance; help to maintain the smoothness of the transmission.

The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to be limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art Modifications or equivalents are intended to be included within the scope of the appended claims.

Claims

A filter reducer, comprising: a power input eccentric shaft, a split double external gear, a fixed internal gear and a power output internal gear, wherein the split double external gear rotates and fits an eccentricity of the power input eccentric shaft The shaft section; the split type double external gear includes an external gear I and an external gear II arranged side by side, and the external gear I and the external gear II are driven and coupled in a circumferential direction by a spline, and the external gear I spline and the external gear II flower A meshing gap is disposed between the keys on both sides of the key teeth, and the rubber alloy layer is tightly filled in the meshing gap; the outer gear I meshes with the fixed internal gear with less tooth difference, and the outer gear II meshes with the power output inner gear with less tooth difference.
The filter reducer according to claim 1, wherein the outer gear I and the outer gear II are both side gears, and the half shaft of the outer gear II is formed on the eccentric shaft portion to form a rotational fit. The spline hollow shaft, the half shaft of the outer gear I forms an inner spline bushing, the bushing sleeve is matched with the spline transmission on the hollow shaft, and the outer gear I and the outer gear II constitute a split spline half shaft double gear The rubber alloy layer is bonded to the inner spline of the sleeve or the outer spline surface of the hollow shaft.
The filter reducer according to claim 2, wherein said external gear I, external gear II, fixed internal gear, and power output internal gear are helical gears, and teeth of said external gear I and external gear II The spiral is unfolded in the opposite direction.
The filter reducer according to claim 2, wherein the teeth of the external gear I and the external gear II are spirally expanded in a direction in which the external gear I and the external gear II face away from each other in a direction opposite to the rotation direction thereof .
The filter reducer according to claim 3, wherein said external gear I, external gear II, fixed internal gear, and power output internal gear are variable-tooth gears, and said external gear I and external gear II The tooth thickness of the teeth gradually becomes smaller as the outer gear I and the outer gear II face away from each other.
The filter reducer according to claim 4 or 5, wherein a spring is disposed between the outer gear I and the outer gear II, the spring sleeve is outside the inner spline bushing, and one end is placed on the end of the outer gear I. The other end is on the end of the external gear II.
The filter reducer according to claim 6, wherein the outer circumference of the fixed internal gear extends toward the inner end portion to form a bearing seat, and the outer circumference of the power output inner gear and the bearing housing are rotationally engaged by the cross bearing.
The filter reducer according to claim 7, wherein the outer circumference of the eccentric shaft and the fixed internal gear are rotatably engaged by the rolling bearing I, and the inner end surface of the power output internal gear is provided with a center bearing seat, and the center bearing housing passes the rolling bearing II The turning fit is arranged at the outer circumference of the inner end of the eccentric shaft.
The filter reducer according to claim 8, wherein the external gear I, the external gear II, the fixed internal gear, and the power output internal gear are both gradually reduced in diameter in a direction in which the external gear I and the external gear II deviate from each other. Bevel gear.
The filter reducer according to claim 9, wherein the rubber alloy layer is vulcanized by mixing the following parts by weight of materials: butyl rubber 40 to 100 , zinc oxide 3 ~ 8, sulfur 1 ~ 3, accelerator 1 ~ 3, anti-aging agent 1 ~ 3, fatty acid 1 ~ 3, semi-reinforcing carbon black 60 ~ 80 and filler 20 ~ 60.