WO2017118054A1 - 大重合度内啮合摆线齿轮机构 - Google Patents

大重合度内啮合摆线齿轮机构 Download PDF

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WO2017118054A1
WO2017118054A1 PCT/CN2016/097113 CN2016097113W WO2017118054A1 WO 2017118054 A1 WO2017118054 A1 WO 2017118054A1 CN 2016097113 W CN2016097113 W CN 2016097113W WO 2017118054 A1 WO2017118054 A1 WO 2017118054A1
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cycloidal
gear
internal
meshing
cycloidal gear
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PCT/CN2016/097113
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French (fr)
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贾萌
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贾萌
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • F16H55/0826—Novikov-Wildhaber profile
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • 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
    • F16H2001/327—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 with orbital gear sets comprising an internally toothed ring gear
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F16H2055/176—Ring gears with inner teeth

Definitions

  • the present invention relates to a gear mechanism, and more particularly to an internal meshing cycloidal gear mechanism.
  • the cycloidal gear transmission appeared very early and has a wide application. After the involute gear transmission appeared, many fields were replaced by the latter, but the cycloidal gear transmission still occupies important or even major in the fields of clocks, instruments, blowers, compressors, etc. position.
  • the traditional cycloidal gear tooth profile is generated by a circular meshing line. The top and the root of the tooth are composed of two different curves, the outer cycloid and the hypocycloid. The slip ratio at any point on the tooth profile is equal, but The center distance error is sensitive.
  • the internal gear pair is composed of an external gear and an internal gear, which can realize fixed shaft or planetary transmission. Regardless of the tooth profile used, the conventional internal gear pair generally has a degree of coincidence of no more than two, that is, the number of meshing teeth does not exceed two pairs at the same time, and the structure is often designed to be large in order to be able to carry or transmit the necessary torque.
  • the cycloidal pinwheel transmission has the outstanding advantage that the cycloidal wheel is in contact with all the pin teeth at the same time. Nearly half of the pin teeth are engaged at the same time in the transmission process, the rigidity is large, and the bearing capacity is strong.
  • the cycloid reducer developed has been widely used in the field of precision and heavy equipment.
  • the core component of the RV reducer which is widely used in the field of industrial robots, is the cycloidal pin mechanism.
  • the disadvantages are many parts, complicated structure and manufacturing process. At present, 95% of high-end RV reducers for domestic robots rely on imports.
  • the state of meshing of the cycloidal wheel and the pin teeth is not very satisfactory, and it is basically in contact with a small area at the tip of the pin tooth, the pressure angle is large, and the force is not good.
  • the object of the present invention is to overcome the shortcomings of the prior art and to provide a large coincidence internal meshing cycloid gear mechanism with fewer parts, simple structure, easy manufacturing process and greatly improved carrying capacity.
  • a large coincidence internal meshing cycloidal gear mechanism consisting of a cycloidal internal gear and a cycloidal external gear disposed in the internal cycloidal gear and meshed with a cycloidal internal gear, said cycloid
  • the meshing line of the gear and the cycloidal external gear is an arc, and the arc radius of the meshing line is r, the pitch circle radius of the inner gear of the cycloid is r 1 and the pitch radius of the cycloidal external gear is r 2 , Then r 1 >r>r 2 , when the meshing lines are respectively rolled around the pitch circle of the cycloid internal gear and the pitch circle of the cycloidal external gear, respectively, a point of the meshing line generates two gear tooth tips respectively Profile.
  • a plurality of pairs of teeth participate in the meshing at the same time, and the pressure angle is small, so that the bearing capacity of the mechanism is greatly improved, the root portion of the gear does not substantially participate in the meshing, and the tooth profile can be flexibly designed according to the structural requirements, and there is no undercut, etc. problem.
  • the invention has simple structure, few parts and easy manufacturing process.
  • FIG. 1 is a schematic structural view of an embodiment of a large coincidence internal meshing cycloid gear mechanism according to the present invention
  • FIG. 2 is a schematic structural view of another embodiment of a large coincidence internal meshing cycloid gear mechanism according to the present invention.
  • Figure 3 is an exploded perspective view of the structure shown in Figure 2;
  • Figure 4 is a schematic view showing the relationship between the gear meshing line and the pitch circle
  • Fig. 5 is a principle of forming the tooth profile of the tooth top.
  • a large-coincidence internal meshing cycloidal gear mechanism as shown in the accompanying drawings which is provided by a cycloidal internal gear 1 and a cycloidal line disposed in the cycloidal internal gear 1 and meshed with the cycloidal internal gear 1
  • the gear 2 is composed, and the meshing line R (also referred to as a circle) of the cycloidal internal gear 1 and the cycloidal external gear 2 is an arc (the center is at the point o), and the radius of the arc is r, the pendulum
  • the pitch of the pitch circle R 1 of the in- line gear 1 is r 1 (the center of the circle is at point o 1 ) and the pitch of the pitch circle R 2 of the cycloidal external gear 2 is r 2 (the center of the circle is at point o 2 ), then r 1 >r>r 2 , when the meshing lines R are respectively rolled around the pitch circle R 1 of the cycloid internal gear and the pitch circle R 2 of the cycloidal external gear, a point
  • the cycloidal external gear 2 is two or more and the same structure, and one cycloidal internal gear 1 simultaneously meshes with two or more identical cycloidal external gears 2 to form a planet. Transmission mechanism.
  • the two cycloidal external gears 2 are two, and the two cycloidal external gears 2 are rotatably fitted on an eccentric shaft 3 as a motion input end, and the two The axes II, III of the cycloidal external gear 2 are arranged symmetrically symmetrically on both sides of the eccentric shaft axis I and are arranged offset on the eccentric shaft 3, symmetrically opening on the two said cycloidal external gears 2 a hole, the output mechanism 4 is disposed coaxially with the eccentric shaft 3, and a plurality of motion transmission pins are respectively disposed on the output mechanism 4 corresponding to the plurality of holes, and the plurality of motion transmissions The pin is inserted into a plurality of holes in the two said cycloidal external gears 2.
  • the cycloid internal gear 1 is a fixed end, and the output mechanism 4 is a motion output end; or as another structure in the embodiment: the cycloid
  • the internal gear 1 is a motion output end, and the output mechanism 4 is a fixed end.
  • the number of pairs of teeth participating in the engagement can be adjusted by adjusting the radius of the meshing line.
  • the maximum value is determined by the top height of the inner and outer gears of the cycloid.
  • the cycloidal internal gear 1 is fixed and the eccentric shaft 3 is used as the input shaft, that is, the motion is input from it
  • the cycloidal external gear 2 will be moved in a plane, that is, the circumferential translational motion of the gear 1 axis around the cycloid, and the pendulum
  • the in-line gear 1 meshes to make a rotary motion about its own axis.
  • the output mechanism transmits the rotary motion of the cycloidal external gear 2 .
  • the transmission ratio is 39. It can be seen from Fig. 2 that almost all the teeth are in contact. Of course, in actual use, factors such as machining error and convenient installation should be considered, and the gap should be left.
  • the actual number of meshing teeth can generally reach more than 1/3.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

一种大重合度内啮合摆线齿轮机构，它由摆线内齿轮（1）和设置在摆线内齿轮（1）内并与摆线内齿轮（1）啮合设置的摆线外齿轮（2）组成，摆线内齿轮（1）和摆线外齿轮（2）的啮合线为圆弧，设啮合线的圆弧半径为r，摆线内齿轮（1）的节圆半径为r 1和摆线外齿轮（2）的节圆半径为r 2，则r 1＞r＞r 2，啮合线分别绕摆线内齿轮（1）的节圆、摆线外齿轮（2）的节圆纯滚动时，啮合线上的一点分别生成两齿轮齿顶齿廓。该齿轮机构传动中有多对齿同时参与啮合，且压力角小，机构的承载能力高，齿轮齿根部分基本不参与啮合。

Description

大重合度内啮合摆线齿轮机构 技术领域
本发明涉及齿轮机构，具体涉及一种内啮合摆线齿轮机构。
背景技术
摆线齿轮传动出现很早，应用很广，在渐开线齿轮传动出现后，许多领域被后者代替，但摆线齿轮传动仍在钟表、仪器、鼓风机、压缩机等领域占有重要甚至是主要位置。传统的摆线齿轮齿廓由圆啮合线生成，齿顶和齿根由两段不同的曲线即外摆线和内摆线组成，啮合传动时齿廓上任意一点的滑移率都相等，但对中心距误差比较敏感。
内啮合齿轮副由一个外齿轮和一个内齿轮组成，可以实现定轴或行星传动。传统的内齿轮副无论采用何种齿廓，其重合度一般不超过2，即同时啮合齿数不超过2对，为了能够承载或传递必要的扭矩，结构往往设计得很庞大。
摆线针轮传动作为行星传动的一种形式，其突出优点是摆线轮同时和所有针齿接触，传动过程中有近一半针齿同时参与啮合，刚度大，承载能力强，以之为基础开发的摆线针轮减速机在精密、重型装备领域获得广泛应用。近年来在工业机器人领域应用非常广泛的RV减速机其核心部件也是摆线针轮机构。其缺点是零件多，结构及制造工艺复杂。目前国内机器人用高端RV减速机95％依靠进口。此外，从传动原理上看，摆线轮与针齿啮合状态也不是十分理想，基本在针齿顶端一个小区域接触，压力角很大，受力不好。
发明内容
本发明的目的在于克服已有技术的缺点,提供一种零件少、结构简单、制造工艺易于实现且承载能力大幅提高的大重合度内啮合摆线齿轮机构。
本发明的技术方案是：
一种大重合度内啮合摆线齿轮机构，它由摆线内齿轮和设置在所述的摆线内齿轮内并与 摆线内齿轮啮合设置的摆线外齿轮组成，所述的摆线内齿轮和摆线外齿轮的啮合线为圆弧，设啮合线的圆弧半径为r，所述的摆线内齿轮的节圆半径为r1和摆线外齿轮的节圆半径为r2，则r1＞r＞r2,所述的啮合线分别绕摆线内齿轮的节圆、摆线外齿轮的节圆纯滚动时，所述的啮合线上的一点分别生成两齿轮齿顶齿廓。
本发明优点：
本发明传动中有多对齿同时参与啮合，且压力角小，从而使得机构的承载能力大幅提高，齿轮齿根部分基本不参与啮合，其齿廓可按照结构要求灵活设计，不存在根切等问题。本发明结构简单，零件少，制造工艺易于实现。
附图说明
图1是本发明的一种大重合度内啮合摆线齿轮机构一种实施方式的结构示意图；
图2是本发明的一种大重合度内啮合摆线齿轮机构另一种实施方式的结构示意图；
图3是图2所示的结构的分解示意图；
图4是齿轮啮合线与节圆关系示意图；
图5是齿顶齿廓形成原理，啮合线分别绕摆线内齿轮的节圆与摆线外齿轮的节圆纯滚动时，啮合线上的一点P分别生成两齿轮齿顶齿廓。
具体实施方式
下面结合附图和具体实施例加以详细说明。
如附图所示的一种大重合度内啮合摆线齿轮机构，它由摆线内齿轮1和设置在所述的摆线内齿轮1内并与摆线内齿轮1啮合设置的摆线外齿轮2组成，所述的摆线内齿轮1和摆线外齿轮2的啮合线R(也称为发生圆)为圆弧(圆心在点o)，设圆弧半径为r，所述的摆线内齿轮1的节圆R1半径为r1(圆心在点o1)和摆线外齿轮2的节圆R2半径为r2(圆心在点o2)，则r1＞r＞r2,所述的啮合线R分别绕摆线内齿轮的节圆R1和摆线外齿轮的节圆R2纯滚动时， 啮合线上的一点P分别生成摆线内齿轮1的齿顶齿廓P1和摆线外齿轮2的齿顶齿廓P2。传动中有多对齿同时参与啮合。
作为本发明的一种实施方式，所述的摆线外齿轮2为2个或多个并且结构相同，一个摆线内齿轮1同时与2个或多个相同的摆线外齿轮2啮合组成行星传动机构。
作为本发明的另外一种实施方式，所述的摆线外齿轮2为2个，两个所述的摆线外齿轮2转动配合套装在作为运动输入端的偏心轴3上，两个所述的摆线外齿轮2的轴线II、III径向对称地设置在偏心轴轴线I的两侧并且在偏心轴3上前后错开设置，在两个所述的摆线外齿轮2上对称地开有多个孔，输出机构4与偏心轴3同轴线I设置，在所述的输出机构4上与所述的多个孔分别对应地设置有多个运动传递销轴，所述的多个运动传递销轴插在两个所述的摆线外齿轮2上的多个孔内。作为本实施方式中的一种结构：所述的摆线内齿轮1为固定端，所述的输出机构4为运动输出端；或者作为本实施方式中的另一种结构：所述的摆线内齿轮1为运动输出端，所述的输出机构4为固定端。
本发明结构中可以通过调整啮合线半径，调节参与啮合的齿对数。其最大值由摆线内、外齿轮齿顶高决定。
实施例1
如图1所示。
1—摆线内齿轮，齿数z1＝45，2—摆线外齿轮，齿数z2＝37，模数m＝5，取啮合线圆弧半径r＝101.7683。从图中可以看出，无论向哪个方向传动，同时啮合齿数都达到7对。
实施例2
1齿差行星齿轮机构，如图2、3所示。
1—摆线内齿轮，齿数z1＝40，2—摆线外齿轮，齿数z2＝39，模数m＝3，取啮合线圆弧半径r＝59.25。一对相同的摆线外齿轮2对称安装，轴向错开，同时与摆线内齿轮1啮合。 图3中3—双向偏心轴，用以支撑两个外齿轮2，使其分别与内齿轮1啮合。假设摆线内齿轮1固定，偏心轴3作为输入轴，即运动从其输入，则摆线外齿轮2将作平面运动，即既绕摆线内齿轮1轴线作圆周平移运动，又因与摆线内齿轮1啮合而绕自身轴线作回转运动。4—输出机构，将摆线外齿轮2的回转运动传递出去。本实施例中，传动比为39。从图2可见，几乎所有齿都接触，当然，实际使用时还要考虑加工误差及安装方便等因素，要留有间隙，实际啮合齿数一般能达到1/3以上。

Claims (4)

  1. 一种大重合度内啮合摆线齿轮机构，它由摆线内齿轮和设置在所述的摆线内齿轮内并与摆线内齿轮啮合设置的摆线外齿轮组成，其特征在于：所述的摆线内齿轮和摆线外齿轮的啮合线为圆弧，设啮合线的圆弧半径为r，所述的摆线内齿轮的节圆半径为r1和摆线外齿轮的节圆半径为r2，则r1＞r＞r2,所述的啮合线分别绕摆线内齿轮的节圆、摆线外齿轮的节圆纯滚动时，所述的啮合线上的一点分别生成两齿轮齿顶齿廓。
  2. 根据权利要求1所述的大重合度内啮合摆线齿轮机构，其特征在于：所述的摆线外齿轮为2个或多个并且结构相同，一个摆线内齿轮同时与2个或多个相同的摆线外齿轮啮合组成行星传动机构。
  3. 根据权利要求1或2所述的大重合度内啮合摆线齿轮机构，其特征在于：所述的摆线外齿轮为2个，两个所述的摆线外齿轮转动配合套装在作为运动输入端的偏心轴上，两个所述的摆线外齿轮的轴线径向对称地设置在偏心轴轴线的两侧并且在偏心轴上前后错开设置，在两个所述的摆线外齿轮上对称地开有多个孔，输出机构与偏心轴同轴线设置，在所述的输出机构上与所述的多个孔分别对应地设置有多个运动传递销轴，所述的多个运动传递销轴插在两个所述的摆线外齿轮上的多个孔内。
  4. 根据权利要求3所述的大重合度内啮合摆线齿轮机构，其特征在于：所述的摆线内齿轮为固定端，所述的输出机构为运动输出端；或者所述的摆线内齿轮为运动输出端，所述的输出机构为固定端。
PCT/CN2016/097113 2016-01-08 2016-08-29 大重合度内啮合摆线齿轮机构 WO2017118054A1 (zh)

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CN112065950A (zh) * 2020-02-11 2020-12-11 李瑞德 一种高重合度内啮合齿轮及以其为传动核心的rv减速机

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CN105508521A (zh) * 2016-01-08 2016-04-20 贾萌 大重合度内啮合摆线齿轮机构
CN107314085A (zh) * 2017-08-21 2017-11-03 戴高楠 一种少齿差减速结构
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CN113483075B (zh) * 2021-06-30 2022-09-02 宁波中大力德智能传动股份有限公司 一种摆线外环内齿廓的设计方法、摆线外环和摆线减速机

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