WO2020140846A1 - 双内齿圈变线速行星排均衡减速器 - Google Patents

双内齿圈变线速行星排均衡减速器 Download PDF

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Publication number
WO2020140846A1
WO2020140846A1 PCT/CN2019/129367 CN2019129367W WO2020140846A1 WO 2020140846 A1 WO2020140846 A1 WO 2020140846A1 CN 2019129367 W CN2019129367 W CN 2019129367W WO 2020140846 A1 WO2020140846 A1 WO 2020140846A1
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Prior art keywords
teeth
planetary
gear
ring gear
planetary gear
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PCT/CN2019/129367
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English (en)
French (fr)
Inventor
罗灿
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罗灿
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Publication date
Application filed by 罗灿 filed Critical 罗灿
Priority to US17/418,780 priority Critical patent/US11441640B2/en
Priority to JP2021538056A priority patent/JP2022515870A/ja
Priority to KR1020217020877A priority patent/KR20210096249A/ko
Priority to CN201980006281.2A priority patent/CN111601984B/zh
Priority to EP19907441.0A priority patent/EP3904724A4/en
Publication of WO2020140846A1 publication Critical patent/WO2020140846A1/zh

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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
    • 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
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16H1/2863—Arrangements for adjusting or for taking-up backlash
    • 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
    • F16H2001/2872—Toothed gearings for conveying rotary motion with gears having orbital motion comprising three central gears, i.e. ring or sun gear, engaged by at least one common orbital gear mounted on an idling carrier
    • 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
    • F16H2001/2881—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output
    • 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
    • F16H2001/289—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two or more coaxial and identical sets of orbital gears, e.g. for distributing torque between the coaxial sets

Definitions

  • the invention relates to the technical field of planetary gear transmission equipment, in particular to a double-inner ring gear variable-speed planetary gear, the gear combination of each gear tooth matches the number of wheel sets, and can be actually equipped with a balanced operation speed reducer.
  • the ordinary planetary row is a general structure in the machinery industry, and has three parts: a sun gear, an internal ring gear, and a planetary carrier; its planetary carrier has multiple planetary shafts, and each planetary shaft has only one gear, which is an ordinary planetary gear.
  • the double internal ring gear variable-line-speed planetary row of the present invention is composed of three components: a left internal ring gear, a right internal ring gear, and a planetary carrier with planet wheels. There are no less than two planetary gear axes on the planet carrier, and the left planetary gear and the right planetary gear are arranged in the order of left and right on each planetary gear axis.
  • the double sun gear variable linear speed planetary row is called “double row external meshing planetary gear train”.
  • the double internal ring gear variable linear speed planetary gear train should be called “double row internal meshing planetary gear train”.
  • the industry does not consider the "double internal ring gear variable-speed planetary row” to be an independent planetary row. The industry believes that this planetary row is a "Ferguson's Paradox Machine” and cannot be actually assembled or operated in a balanced manner.
  • the inventor proposes to make the number of wheel sets not less than two, set the specified parameters in the value range, implement the rules of planetary gear manufacturing and assembly according to the principle of matching the number of teeth and the number of wheel sets, implement the provisions of the gear dividing circle radius, and connect with the planet carrier At the input end, one internal ring gear is connected to the locking end, and the other internal ring gear is connected to the output end.
  • the double internal ring gear variable-line-speed planetary row forms a speed reducer that can be actually assembled with a balanced operation.
  • the number of wheel sets is less than two, the planetary rows run unevenly and the running vibration is large.
  • the reducer cannot be formed.
  • the combination of the number of teeth of the left inner ring gear, right inner ring gear, left planetary gear, and right planetary gear makes the value of the specified parameter in the value range equal to 1.0, which does not meet the requirements.
  • the planetary gear with variable ring speed of the ring gear cannot be driven with deceleration.
  • the combination of the number of teeth does not match the number of wheels, the planetary row of the ring gear with variable linear speed cannot be actually assembled.
  • the combination of the number of teeth of the left inner ring gear, the right inner ring gear, the left planetary gear, and the right planetary gear is 57, 60, 20, 21.
  • the planetary gear with variable linear speed of the ring gear cannot be actually assembled. It does not meet the rules of planetary gear manufacturing and assembly, and does not meet the provisions of the gear indexing circle radius, which leads the industry to determine that the double-line gear planetary row with variable linear speed cannot be actually assembled.
  • the purpose of the present invention is to use the double inner ring gear to change the line speed planetary row so that the number of wheel sets is not less than two.
  • the wheel manufacturing and assembly rules implement the stipulation of the gear indexing circle radius, and determine the connection method of the three components with the input end, output end, and locking end to form a speed reducer that can be actually assembled and operated in a balanced manner.
  • the double-inner-ring gear variable-line-speed planetary row balanced reducer includes auxiliary devices such as double-inner-ring gear variable-line-speed planetary row, input end, output end, locking end and bearing.
  • the double-line ring gear variable-line-speed planetary row is composed of three components: a left ring gear, a right ring gear, and a planet carrier with planet wheels.
  • the left inner ring gear and the right inner ring gear are located on the outer side in the order of left and right.
  • the inner ring gear is a ring-shaped body provided with gears on the inner side.
  • the pitch radius of the two inner ring gears is different.
  • the planetary carrier with planetary wheels is located on the inner side.
  • the planetary carrier supports each planetary wheel through bearings on the planetary carrier. Each planetary wheel is the same.
  • the number of planetary wheel axes supported by the planetary carrier is the number of wheel sets K.
  • the three components have the same rotation axis called the revolution axis, so that the planetary gear axes are evenly arranged around the revolution axis, each planetary gear axis is parallel to the revolution axis, and the distance from each planetary gear axis to the revolution axis is equal, this distance is Standard center distance.
  • Each planetary gear is provided with two gears on the wheel axis in the order of left and right, which are the left planetary gear and the right planetary gear, respectively connecting each pair of left planetary gear and right planetary gear, the left planetary gear and the right planetary gear have the same speed However, the radius of the dividing circle is different.
  • the left planetary gear is meshed with the left inner ring gear
  • the right planetary gear is meshed with the right inner ring gear
  • the two inner ring gears are not connected and not meshed with each other.
  • Bearings are provided so that the three components can rotate relative to each other, so that each planetary gear can revolve around the axis of revolution along with the planet carrier and can rotate around its axis of the planetary gear; so that the three components cannot slide relatively along the direction of the axis of revolution, The planet wheel and the planet carrier cannot slide relatively in the direction parallel to the revolution axis.
  • the linear velocity of the indexing circle of the left planetary gear and the right planetary gear are not the same, and the linear velocity of the indexing circle of the left and right inner gears are also different.
  • the planet carrier supports the planetary wheels in the same way.
  • the tooth number combination is each group of four gear tooth numbers of the left inner ring gear tooth number, the right inner ring gear tooth number, the left planetary gear tooth number and the right planetary gear tooth number.
  • the "number of teeth of the right inner ring gear*the number of teeth of the left planetary gear/(the number of teeth of the left inner ring gear*the number of teeth of the right planetary gear)" is a range range specified parameter of the present invention.
  • the specified parameter of the value range is: each group of tooth number combinations must make the value of the specified parameter of the value range greater than 0.875, less than 1.142857 and not equal to 1.0.
  • the number K of the wheel set of the double inner ring gear variable-speed planetary row takes an integer not less than two.
  • the matching principle of the number of teeth combination and the number of wheel sets is: when the number of teeth of the left inner ring gear and the right inner When the absolute value of the difference between the teeth of the ring gear is a multiple of two, the number of wheel sets is 2; when the absolute value of the difference between the teeth of the left inner ring gear and the right inner gear is a multiple of three, the number of wheel sets is 3; when When the absolute value of the difference between the number of teeth of the left inner ring gear and the number of teeth of the right inner ring gear is a multiple of four, the number of wheels is one of 4, 2; when the absolute value of the difference between the number of teeth of the left inner ring gear and the right inner ring gear is For multiples of five, the number of wheelsets is 5; when the absolute value of the difference between the number of teeth of the left and right inner ring gear
  • a section perpendicular to the axis of revolution is set, tangent to each left planetary wheel, and is called a left section.
  • a section is set perpendicular to the revolution axis and tangent to each right planetary wheel, which is called the right section.
  • the profile edge curve of one tooth of the planetary gear, from this tooth root midpoint to the next tooth root midpoint is called a complete tooth, regardless of whether the shape of the tooth profile edge curve is similar to a sine
  • the graph of the curve, the phase angle value of the midpoint of this tooth root is 0, the phase angle value of the midpoint of the tooth crest is ⁇ , and the phase angle value of the next midpoint of the tooth root is 2 ⁇ ;
  • the arc is the axis of abscissa, and each point of the tooth profile edge curve has a corresponding abscissa value, that is, a phase angle value.
  • This method of giving the phase angle value to each point of the edge curve of the tooth profile is commonly used in the motor industry and should be understandably accepted in the machinery industry, see FIG. 6.
  • the midpoint of the next tooth root is a point where the phase angle value of the original tooth is 2 ⁇ , a point where the phase angle value of the adjacent previous tooth is 4 ⁇ , and also a point where the phase angle value of the adjacent next tooth is 0.
  • a radial profile is provided on each planetary gear of the double-inner ring gear variable-speed planetary row, and at the same time tangent to the left and right profiles, there must be a phase angle value of the left planetary gear teeth on the radial profile and the right planetary gear The phase angles of the teeth are equal.
  • the radial section is the isophase plane.
  • the intersection of the isophase plane and the edge curve of the tooth profile on the left profile is the left isophase point.
  • the intersection point of the isophase plane and the edge curve of the tooth profile on the right profile is the right.
  • the isophase point, the phase angle value of the left isophase point and the right isophase point are isophase angle values a, and the value of a ranges from 0 to 2 ⁇ .
  • Each planetary wheel of the present invention has at least one isophase. When the number of teeth on the left planetary gear is equal to the number of teeth on the right planetary gear, the planetary gear has countless equal-phase surfaces.
  • a double-ring gear planetary row with variable linear velocity set the number K of the wheel set, in a clockwise direction, the plane where the axis of the first planetary gear and the axis of revolution is the first mounting surface, and the axis of the second planetary gear and the axis of revolution
  • the plane where the axis line is the second installation surface
  • the plane where the axis of the third planetary gear and the revolution axis are the third installation surface, and so on to determine the fourth installation surface, the fifth installation surface, the sixth installation surface, and the seventh installation Etc. until the plane where the axis of the Kth planetary gear and the axis of revolution is the Kth mounting surface.
  • the angle between adjacent mounting surfaces is (360 degrees/K).
  • the number of teeth of the left inner ring gear is divided by the number of wheels K to obtain a remainder, which is an integer between 0 and (K-1).
  • the values of equal phase angles of adjacent planet wheels are different (2 ⁇ *residual value/K).
  • the planetary gear manufacturing and assembly rules are: when manufacturing each planetary gear, the first planetary gear selects an isophase surface, so that the isophase angle value is a, where a usually takes 0; the second planetary gear selects an isophase surface , So that the isophase angle value is (a+1*2 ⁇ *residual value/K); the third planetary gear selects an isophase surface, so that the isophase angle value is (a+2*2 ⁇ *residual value/K ); And so on, the fourth planetary gear, the fifth planetary gear, the sixth planetary gear, the seventh planetary gear, etc.
  • the Kth planetary gear selects an isophase surface to make the isophase angle value It is (a+(K-1)*2 ⁇ *remainder value/K).
  • each mounting surface is calibrated so that the isophase surface of the first planetary gear with an equal phase angle value of a coincides with the first mounting surface, Make the left and right isophase points outside the standard center distance, assemble the first planetary gear; make the isoplane of the second planetary gear equal angle value (a+1*2 ⁇ *residual value/K) and the second mounting surface Coincide, make the left and right isophase points outside the standard center distance, and assemble the second planetary gear; make the isoplane of the third planetary gear with equal phase angle value (a+2*2 ⁇ *residual value/K) and the third The mounting surface coincides, so that the left and right isophase
  • the indexing circle radius of the wheel, and the indexing circle radius of the left inner ring gear the indexing circle radius of the left planetary gear + the standard center distance.
  • the left ring gear, each left planetary gear, right ring gear, and each right planetary gear shall comply with this requirement. According to industry practice, the standard center distance and the gear's index circle radius are allowed to have a deviation range in practice.
  • connection method 1 The planet carrier is connected to the input end, the left inner ring gear is connected to the output end, and the right inner ring gear is connected to the locking end.
  • Connection method 2 The planet carrier is connected to the input end, the right inner ring gear is connected to the output end, and the left inner ring gear is connected to the locking end.
  • the speed of the input terminal is the same as the speed of the output terminal; when the value of the transmission ratio is negative, the direction of the input terminal speed is opposite to that of the output terminal.
  • the input end is connected with a power device to input power.
  • the output end is connected to the power usage device to output power.
  • the locking end is connected to a device with a zero rotation speed, such as a reducer housing, and the rotation speed of the locking end is zero. Keep the connection of the locking end unchanged, and exchange the parts connected to the input end with the parts connected to the output end, the speed reducer becomes an accelerator, and the transmission ratio of the accelerator is the reciprocal of the transmission ratio of the corresponding speed reducer.
  • connection is to connect two objects through a mechanical connection device, so that the rotation speeds of the two objects are completely the same.
  • "*" is the multiplication sign
  • "/” is the division sign
  • "-” is the minus sign
  • "+” is the plus sign
  • " ⁇ " is the pi symbol indicating the phase angle.
  • the number of wheel sets is not less than two, which is the requirement for balanced operation of the reducer of the present invention.
  • the principle of matching the number of teeth of the double linear ring gear planetary row and the number of wheel sets is unprecedented in the industry, and is the first proposed by the present invention.
  • the value range specifies the parameters and is the requirement of the present invention.
  • the present invention first proposes a double inner ring gear variable speed planetary row planetary wheel manufacturing and assembly rules .
  • the industry only has a method of setting a pair of two common gear indexing circle radii around the standard center distance; the present invention proposes for the first time to set the left inner ring gear, left planetary gear and right inner ring gear, right planetary gear both around the same standard center distance
  • the method of dividing the circle radius of the four gears that is, the provision of the gear division circle radius.
  • the auxiliary device such as the bearing adopts mature technology in the machinery industry, and the supporting function of the bearing needs to meet the requirements of the present invention.
  • the gears of the present invention include cylindrical gears, arc gears, spur gears, helical gears and other gears.
  • the core performance of the reducer is the transmission ratio and the operation is balanced.
  • the core performance of the double-inner ring gear variable-speed planetary row is the actual assembly.
  • the combination of the number of teeth, the number of wheels, and the connection method in the present invention determine the transmission ratio and determine Equilibrium operation, the rules of planetary gear manufacturing and assembly, and the provisions of gear index circle radius determine the actual assembly.
  • each part of the reducer the specific length of the standard center distance of the reducer, the specific value of the gear tooth height and tooth width displacement value, and the assembly and lubrication auxiliary materials depend on the actual needs such as mechanical properties and durability. Solved; because it has nothing to do with the transmission ratio and actual assembly, this manual does not describe it specifically.
  • the invention is beneficial in that the double inner ring gear variable-speed planetary row is used, and the number of wheel sets is not less than two, the value range specifies the parameters, the matching principle of the number of teeth and the number of wheel sets, the manufacturing and assembly rules of the planet wheels, and the gear indexing
  • the existing reducers are mainly gear reducers, ordinary planetary gear reducers, harmonic reducers, and cycloid reducers.
  • the gear ratio of the gear reducer and the ordinary planetary gear reducer is relatively small, and a complex multi-stage series reduction is required to obtain a large gear ratio.
  • the transmission ratio of harmonic reducer and cycloid pin gear reducer is large, but the structure is complicated and the cost is high, so it is not suitable for transmitting large power.
  • the gear reducer of the present invention has fewer gear engagement levels from the input end to the output end, less wear, simple structure, low cost, high transmission efficiency, and a large transmission ratio span. It is suitable for transmitting small power and high power, and can replace the existing Has a reducer.
  • FIG. 1 is a schematic structural diagram of a double-line-ring variable-speed planetary row equalizer of the present invention in which the left inner ring gear is connected to the output end and the planet carrier is a bearing.
  • FIG. 2 is a schematic structural view of a double-line-tooth-line variable-speed planetary row equalizer of the present invention with a left inner ring gear connected to the output end and a planet carrier as the shaft.
  • Fig. 3 is a schematic structural view of a double-ring gear variable-line-speed planetary row equalizer of the present invention connected to the output end of the right ring gear and the planet carrier as the bearing.
  • FIG. 4 is a schematic diagram of the structure of the double internal ring gear variable line speed planetary row equalizer of the present invention connected to the output end of the right inner ring gear and the planet carrier as the shaft.
  • FIG. 5 is a schematic diagram of the structure of a double-inner ring gear linear velocity planetary row equalizer reducer according to Embodiment 1 of the present invention.
  • 8 is a locking end that forms a variable connection with the right inner ring gear, and is a symbol of a disc brake whose brake caliper is grounded.
  • Fig. 6 is a schematic diagram of an isometric plane where the left section and the right section of the planetary gear are superimposed.
  • 1 is the midpoint of the root of the left gear
  • 2 is the midpoint of the addendum of the left gear
  • 3 is the midpoint of the next root of the left gear
  • 4 is the midpoint of the root of the right gear
  • 5 is the tooth of the right gear
  • 6 is the midpoint of the next root of the right gear
  • 7 is a radial section, that is, the isophase plane.
  • Figures 1 to 5 1 is the left ring gear, 2 is the right ring gear, 3 is the planet carrier, 4 is the left planetary gear, 5 is the right planetary gear, 6 is the input end, 7 is the output end , 8 is the locking end.
  • each planetary row is shown in a half-size structural diagram. Each part only shows the connection and structural relationship, and does not reflect the actual size.
  • the auxiliary devices such as bearings, supports, and housings are omitted.
  • the input arrow indicates the input end
  • the output arrow indicates the output end
  • the grounding symbol indicates the lock end with zero speed.
  • Embodiment 1 A double-inner ring gear linear-speed planetary row balanced reducer, including double-inner ring gear linear-speed planetary row equalizers, an input end 6, an output end 7, a locking end 8 and bearings and other auxiliary devices. As shown in Figure 5, auxiliary devices such as bearings are not shown, and the locking end is shown as a disc brake with the brake caliper grounded.
  • the double-line ring gear variable-line-speed planetary row is composed of three parts: a left ring gear 1, a right ring gear 2, and a planet carrier 3 with a planetary gear.
  • the left inner ring gear 1 and the right inner ring gear 2 are located on the outer side in the order of left and right, and the radius of the dividing circle of the two inner ring gears is different.
  • the planet carrier 3 with planet wheels is located inside, and the planet carrier 3 supports each planet wheel, which is the same.
  • the three components have the same rotation axis called the revolution axis, so that the planetary gear axes are evenly arranged around the revolution axis, each planetary gear axis is parallel to the revolution axis, and the distance from each planetary gear axis to the revolution axis is equal, this distance is Standard center distance.
  • Each planetary gear is provided with two gears on its wheel axis in order from left to right, namely left planetary gear 4 and right planetary gear 5, which connect each pair of left planetary gear 4 and right planetary gear 5, and left planetary gear 4 and The rotation speed of the right planetary gear 5 is the same but the radius of the dividing circle is different.
  • the left planetary gear 4 is meshed with the left inner ring gear 1
  • the right planetary gear 5 is meshed with the right inner ring gear 2
  • the two inner ring gears are not connected and not meshed with each other.
  • Bearings are provided so that the three parts can rotate relative to each other, so that each planetary gear can revolve around the axis of revolution along with the planet carrier 3 and can rotate around the axis of the planetary gear; make the three components not slide relatively along the direction of the axis of revolution So that the planet wheel and the planet carrier 3 cannot slide relatively in the direction parallel to the revolution axis.
  • the combination of teeth in this embodiment makes the value of the specified parameter in the value range 84/85, which is approximately equal to 0.9882352941, which meets the requirements of the specified parameter in the value range.
  • the number of teeth is set as follows: the number of teeth of the left inner ring gear 68, the number of teeth of the right inner ring gear 64, the number of teeth of the left planetary gear 21, the number of teeth of the right planetary gear 20, the number of wheels K is 4, which is in accordance with the principle of matching the number of teeth and the number of wheels .
  • the small number of wheel sets will not cause adjacent planet wheels to collide with each other.
  • This embodiment implements the planetary gear manufacturing and assembly rules.
  • the remaining value is 0.
  • the first planetary gear selects an isophase surface so that the isophase angle value is 0;
  • the second planetary gear selects an isophase surface so that the isophase angle value is 0;
  • the third planet The wheel selects an isophase surface so that the isophase angle value is 0;
  • the fourth planet wheel selects an isophase surface so that the isophase angle value is 0.
  • the two inner ring gears and the planet carrier 3 are assembled in place on the axis of revolution, and each mounting surface is calibrated so that the isophase surface of the first planetary gear with an equal phase angle value of 0 coincides with the first mounting surface So that the left and right isophase points are outside the standard center distance, and the first planetary gear is assembled; make the equal phase surface of the second planetary gear isophase angle value 0 coincide with the second installation surface, so that the left and right isophase points are at the standard center From the outside, assemble the second planetary gear; equip the third planetary gear with equal phase angle equal to 0 and the third mounting surface so that the left and right isophase points are outside the standard center distance, and assemble the third planetary gear ; Make the equal-phase surface of the fourth planetary gear with the equal-phase angle value of 0 coincide with the fourth installation surface, make the left and right equal-phase points outside the standard center distance, and assemble the fourth planetary gear.
  • the left inner ring gear indexing circle radius is 231.4893617 mm
  • the left planetary wheel indexing circle radius is 71.4893617 mm
  • the right inner ring gear indexing circle radius is 232.72727 mm
  • the right planetary wheel The radius of the dividing circle is 72.72727 mm. It meets the regulations of gear indexing circle radius.
  • connection method is used to form a reducer.
  • the planet carrier 3 is connected to the input end 6, the left inner ring gear 1 is connected to the output end 7, and the right inner ring gear 2 is connected to the locking end 8. From the planet carrier 3 to the left inner ring gear
  • the input terminal 6 is connected to a power device, that is, an engine, to input power.
  • the output end 7 is connected to the main rotor, which is a power usage device, to output power.
  • the right inner ring gear 2 is connected to the locking end 8 through a mechanical connection device, that is, a disc brake.
  • a mechanical connection device that is, a disc brake.
  • This connection is not a constant connection, but a variable connection.
  • the disc brake is a mature product in the industry, which connects the brake disc to the right inner ring gear 2, and the brake caliper to the locking end 8.
  • the brake caliper clamps the brake disc, the rotation speed of the right inner ring gear 2 is zero, and the power input from the input end 6 is completely transmitted to the output end 7; when the brake caliper releases the brake disc, the right inner ring gear 2 is free.
  • the resistance is extremely small.
  • the speed reducer of this embodiment can be used for helicopter main rotor transmission, because a variable connection is provided between the right inner ring gear 2 and the locking end 8, which is a speed reducer with a clutch function.
  • Auxiliary devices such as bearings adopt mature technologies in the machinery industry, and the supporting role of bearings needs to meet the requirements of this embodiment.
  • the motion relationship of the speed reducer in this embodiment is that the rotation direction of the planet carrier 3 is the same as the rotation direction of the left ring gear 1.
  • the total transmission ratio of the main rotor of the helicopter is about 80 to 100.
  • a two-stage planetary main reducer plus a bevel gear reducer is used to reduce the total transmission ratio in three stages to achieve such a large total transmission ratio.
  • a separate clutch is required in the main rotor transmission.
  • the gear meshing level of the speed reducer from the input end to the output end of this embodiment is only two levels, less wear, simple structure, low cost, high transmission efficiency, and no separate clutch is required.
  • the speed reducer of this embodiment can replace the existing speed reducer for the helicopter main rotor Transmission.
  • Embodiment 2 A double-inner ring gear linear-speed planetary row balanced reducer, including double-inner ring gear linear-speed planetary row equalizers, an input end 6, an output end 7, a locking end 8 and bearings and other auxiliary devices. As shown in Figure 1, auxiliary devices such as bearings are not shown.
  • the composition and structure of the double inner ring gear linear velocity planetary row are the same as those in Embodiment 1.
  • the planet carrier 3 there are two ways for the planet carrier 3 to support each planet gear. The first one is used in this embodiment. As shown in FIG. 1, the planet gear is a shaft and the planet carrier 3 is a bearing. If the second type is used, see Figure 2. Planetary wheels are bearings and planetary carriers are shafts. The two planetary carriers 3 support the planet wheels in the same way.
  • the combination of the number of teeth in this embodiment makes the value of the specified parameter in the range of 152/153, which is approximately equal to 0.9934640523, which meets the requirements of the specified parameter in the range.
  • the number of teeth is set as follows: the number of teeth of the left inner ring gear 68, the number of teeth of the right inner ring gear 64, the number of teeth of the left planetary gear 19, the number of teeth of the right planetary gear 18, the number K of the wheel set is 4, which is in accordance with the principle of matching the number combination and the number of wheel sets .
  • the small number of wheel sets will not cause adjacent planet wheels to collide with each other.
  • This embodiment implements the planetary gear manufacturing and assembly rules.
  • the remaining value is 0.
  • the first planetary gear selects an isophase surface so that the isophase angle value is 0;
  • the second planetary gear selects an isophase surface so that the isophase angle value is 0;
  • the third planet The wheel selects an isophase surface so that the isophase angle value is 0;
  • the fourth planet wheel selects an isophase surface so that the isophase angle value is 0.
  • the two inner ring gears and the planet carrier 3 are assembled in place on the axis of revolution, and each mounting surface is calibrated so that the isophase surface of the first planetary gear with an equal phase angle value of 0 coincides with the first mounting surface So that the left and right isophase points are outside the standard center distance, and the first planetary gear is assembled; make the equal phase surface of the second planetary gear isophase angle value 0 coincide with the second installation surface, so that the left and right isophase points are at the standard center From the outside, assemble the second planetary gear; equip the third planetary gear with equal phase angle equal to 0 and the third mounting surface so that the left and right isophase points are outside the standard center distance, and assemble the third planetary gear ; Make the equal-phase surface of the fourth planetary gear with the equal-phase angle value of 0 coincide with the fourth installation surface, make the left and right equal-phase points outside the standard center distance, and assemble the fourth planetary gear.
  • the left inner ring gear indexing circle radius is 55.51020408 mm
  • the left planetary wheel indexing circle radius is 15.51020408 mm
  • the right inner ring gear indexing circle radius is 55.65217391 mm
  • the right planetary wheel The radius of the dividing circle is 15.65217391 mm. It meets the regulations of gear indexing circle radius.
  • connection method is used to form a reducer.
  • the planet carrier 3 is connected to the input end 6, the left inner ring gear 1 is connected to the output end 7, and the right inner ring gear 2 is connected to the locking end 8. From the planet carrier 3 to the left inner ring gear
  • the input terminal 6 is connected to the power device to input power.
  • the output 7 is connected to the power usage device to output power.
  • the locking end 8 is connected to the reducer housing, and the rotation speed of the locking end 8 is zero.
  • Auxiliary devices such as bearings adopt mature technologies in the machinery industry, and the supporting role of bearings needs to meet the requirements of this embodiment.
  • the motion relationship of the speed reducer in this embodiment is that the rotation direction of the planet carrier 3 is the same as the rotation direction of the left ring gear 1.
  • a transmission ratio of around 150 is a commonly used transmission ratio for robot joint reducers.
  • Existing robot joint reducers are mainly one of cycloid pin wheel reducers, namely RV reducers.
  • RV reducers can achieve similar transmission ratio values, but the structure is complex and the cost is high.
  • the speed reducer of this embodiment has a simple structure and low cost, and can replace the RV speed reducer.
  • connection method 2 is used instead to form the speed reducer, the first way for the planet carrier 3 to support each planet gear is shown in FIG. 3. It is also changed to adopt the second connection method, and the second way is used for the planet carrier 3 to support each planet wheel, refer to FIG. 4.
  • the two planetary carriers 3 support the planet wheels in the same way.
  • the transmission ratio is negative, and the rotation direction of the planet carrier 3 is opposite to that of the right ring gear 2.

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Abstract

双内齿圈变线速行星排均衡减速器，包括双内齿圈变线速行星排、输入端（6）、输出端（7）、锁止端（8）和轴承等辅助装置。双内齿圈行星排有左内齿圈（1）、右内齿圈（2）、行星架（3）；在每个行星轮轴上相互连接的左行星轮（4）与右行星轮（5）转速完全相同；左行星轮（4）与左内齿圈（1）啮合，右行星轮（5）与右内齿圈（2）啮合。轮组数目不小于二，按值域规定参数、按齿数组合与轮组数目匹配原则设置齿数组合与轮组数目，执行行星轮制造装配规则，执行齿轮分度圆半径的规定。以行星架（3）连接输入端（6），一个内齿圈连接输出端（7），另一个内齿圈连接锁止端（8），形成具有相应左传动比、右传动比的可以实际装配的运转均衡的减速器。

Description

双内齿圈变线速行星排均衡减速器 技术领域
本发明涉及行星排传动设备技术领域，特别是双内齿圈变线速行星排的，各齿轮齿数组合与轮组数目相匹配的，可以实际装配的运转均衡的减速器。
背景技术
普通行星排是机械行业通用结构，有太阳轮、内齿圈、行星架这三个部件；其行星架上有多个行星轮轴，每个行星轮轴上只有一个齿轮，是普通行星轮。与普通行星排不同，本发明所述双内齿圈变线速行星排由左内齿圈、右内齿圈和带行星轮的行星架这三个部件组成。行星架上有不少于二个行星轮轴线，每个行星轮轴线上按左右顺序设置左行星轮、右行星轮。双太阳轮变线速行星排按业内命名规则称为“双排外啮合行星轮系”，按此命名方法，双内齿圈变线速行星排应该称为“双排内啮合行星轮系”。业内不把“双内齿圈变线速行星排”认定是一个独立行星排，业内认为这种行星排是“弗格森悖论机械”，无法实际装配、无法均衡运转。本发明人提出：使轮组数目不小于二，设定值域规定参数，按齿数组合与轮组数目匹配原则，执行行星轮制造装配规则，执行齿轮分度圆半径的规定，以行星架连接输入端，一个内齿圈连接锁止端，另一个内齿圈连接输出端，双内齿圈变线速行星排就形成可以实际装配的运转均衡的减速器。当轮组数目小于二时，行星排运转不均衡，运转振动大。当齿数组合不符合值域规定参数时，不能形成减速器。例如：左内齿圈、右内齿圈、左行星轮、右行星轮的齿数组合为60、80、18、24时，齿数组合使值域规定参数的值等于1.0，不符合规定，双内齿圈变线速行星排不能减速传动。当齿数组合与轮组数目不匹配时，内齿圈变线速行星排不能实际装配。例如：左内齿圈、右内齿圈、左行星轮、右行星轮的齿数组合为57、60、20、21，轮组数目为2时，齿数组合与轮组数目不匹配，该双内齿圈变线速行星排不能实际装配。不符合行星轮制造装配规则、不符合齿轮分度圆半径的规定，导致业内认定双内齿圈变线速行星排无法实际装配。本发明目的就是利用双内齿圈变线速行星排，使轮组数目不少于二，设定值域规定参数、按齿 数组合与轮组数目匹配原则设置齿数组合与轮组数目，执行行星轮制造装配规则，执行齿轮分度圆半径的规定，取定三个部件与输入端、输出端、锁止端的连接方法，形成可以实际装配的运转均衡的减速器。
发明内容
双内齿圈变线速行星排均衡减速器，包括双内齿圈变线速行星排、输入端、输出端、锁止端和轴承等辅助装置。
双内齿圈变线速行星排由左内齿圈、右内齿圈和带行星轮的行星架这三个部件组成。左内齿圈、右内齿圈按左右顺序依次位于外侧，所述内齿圈是内侧设置齿轮的圆环体，两个内齿圈的分度圆半径不同。带行星轮的行星架位于内侧，行星架通过行星架上的轴承支撑各行星轮，各行星轮相同，行星架支撑的行星轮轴线的数量为轮组数目K。三个部件拥有同一个转动轴线称为公转轴线，使各行星轮轴线均匀布置围绕在公转轴线周围，各行星轮轴线均平行于公转轴线，且各行星轮轴线到公转轴线距离相等，这距离就是标准中心距。每个行星轮在其轮轴线上按左右顺序依次设置两个齿轮，分别是左行星轮、右行星轮，分别连接每一对左行星轮与右行星轮，左行星轮与右行星轮转速相同但分度圆半径不同。左行星轮与左内齿圈啮合，右行星轮与右内齿圈啮合，两个内齿圈相互不连接不啮合。设置轴承，使三个部件之间可以相对转动，使每个行星轮可以随同行星架围绕公转轴线公转且可以围绕其行星轮轴线自转；使三个部件之间沿公转轴线方向不可以相对滑动，使行星轮与行星架之间沿平行于公转轴线方向不可以相对滑动。左行星轮与右行星轮的分度圆线速度不相同，左内齿圈与右内齿圈的分度圆线速度也不相同，一个行星排中存在两种分度圆线速度，所以称为“变线速行星排”。所述行星架支撑各行星轮的方式有两种，第一种是行星轮为轴、行星架为轴承，如图1、图3中所示。第二种是行星架为轴、行星轮为轴承，如图2、图4中所示。这两种行星架支撑各行星轮的方式运行效果相同，在其他结构相同的条件下，减速器的传动比完全一样。所述齿数组合即左内齿圈齿数、右内齿圈齿数、左行星轮齿数和右行星轮齿数这四种齿轮齿数的每一组集合。“右内齿圈齿数*左行星轮齿数/(左内齿圈齿数*右行星轮齿数)”是本发明的值域规定参数。
所述的值域规定参数为：每一组齿数组合必须使值域规定参数的值大于0.875、小于1.142857且不等于1.0。
双内齿圈变线速行星排的轮组数目K取一个不小于二的整数，设置齿数组合与轮组数目时，齿数组合与轮组数目匹配原则为：当左内齿圈齿数与右内齿圈齿数之差的绝对值为二的倍数时，轮组数目取2；当左内齿圈齿数与右内齿圈齿数之差的绝对值为三的倍数时，轮组数目取3；当左内齿圈齿数与右内齿圈齿数之差的绝对值为四的倍数时，轮组数目取4、2之一；当左内齿圈齿数与右内齿圈齿数之差的绝对值为五的倍数时，轮组数目取5；当左内齿圈齿数与右内齿圈齿数之差的绝对值为六的倍数时，轮组数目取6、3、2之一；当左内齿圈齿数与右内齿圈齿数之差的绝对值为八的倍数时，轮组数目取8、4、2之一；当左内齿圈齿数与右内齿圈齿数之差的绝对值为十的倍数时，轮组数目取5、2之一。轮组数目不能过大以避免相邻行星轮相互碰撞。
在双内齿圈行星排中垂直于公转轴线设一个剖面，与每个左行星轮相切，称为左剖面。隔一段距离，垂直于公转轴线再设一个剖面，与每个右行星轮相切，称为右剖面。在左剖面、右剖面中，行星轮的一个齿的剖面边沿曲线上，从这个齿根中点到下一个齿根中点称为一个完整的齿，无论齿剖面边沿曲线的图形是否类似于正弦曲线的图形，这个齿根中点的相位角值为0，这个齿的齿顶中点的相位角值为π，下一个齿根中点的相位角值为2π；依此类推，以分度圆弧为横坐标轴，齿剖面边沿曲线的每一个点都有对应的横坐标值即相位角值。这种赋予齿剖面边沿曲线每个点以相位角值的方法，在电机行业常用，在机械业内应该可以理解接受，参见图6。所述下一个齿根中点是本齿的相位角值为2π的点，也是相邻上一个齿的相位角值为4π的点，也是相邻下一个齿的相位角值为0的点。在双内齿圈变线速行星排的每一个行星轮上设径向剖面，同时与左剖面、右剖面相切，必有一个径向剖面上左行星轮齿的相位角值与右行星轮齿的相位角值相等，这个径向剖面就是等相面，等相面与左剖面上齿剖面边沿曲线的交点就是左等相点，等相面与右剖面上齿剖面边沿曲线的交点就是右等相点，该左等相点、该右等相点的相位角值是等相角值a,a的取值范围在0至2π。本发明的每个行星轮有至少一个等相面。当左行星轮齿数与右行星轮齿数相等时，该行星轮有无数个等相面。在双内齿圈变线速行星排中，设定轮组数目K，沿顺时针方向，第一个行星轮轴线与公转轴线所在的平面为第一安 装面，第二个行星轮轴线与公转轴线所在的平面为第二安装面，第三个行星轮轴线与公转轴线所在的平面为第三安装面，依此类推确定第四安装面、第五安装面、第六安装面、第七安装面等，直至第K个行星轮轴线与公转轴线所在的平面为第K安装面。相邻安装面之间的夹角为(360度/K)。左内齿圈齿数除以轮组数目K，得到一个余数，余数值在0至(K-1)之间，为整数。相邻行星轮的等相角值相差(2π*余数值/K)。
行星轮制造装配规则为：制造各行星轮时，第一个行星轮选取一个等相面，使该等相角值为a，这里的a通常取0；第二个行星轮选取一个等相面，使该等相角值为(a+1*2π*余数值/K)；第三个行星轮选取一个等相面，使该等相角值为(a+2*2π*余数值/K)；依此类推依次制造第四个行星轮、第五个行星轮、第六个行星轮、第七个行星轮等，直至第K个行星轮选取一个等相面，使该等相角值为(a+(K-1)*2π*余数值/K)。装配各行星轮时，两个内齿圈、行星架在公转轴线上装配到位，标定每一个安装面，使第一个行星轮等相角值为a的等相面与第一安装面重合，使左右等相点在标准中心距外侧，装配第一个行星轮；使第二个行星轮等相角值为(a+1*2π*余数值/K)的等相面与第二安装面重合，使左右等相点在标准中心距外侧，装配第二个行星轮；使第三个行星轮等相角值为(a+2*2π*余数值/K)的等相面与第三安装面重合，使左右等相点在标准中心距外侧，装配第三个行星轮；依此类推依次装配第四个行星轮、第五个行星轮、第六个行星轮、第七个行星轮等，直至使第K个行星轮等相角值为(a+(K-1)*2π*余数值/K)的等相面与第K安装面重合，使左右等相点在标准中心距外侧，装配第K个行星轮。
齿轮分度圆半径的规定为：设置左内齿圈分度圆半径与左行星轮分度圆半径，使左内齿圈齿数/左行星轮齿数＝左内齿圈分度圆半径/左行星轮分度圆半径，且使左内齿圈分度圆半径＝左行星轮分度圆半径+标准中心距。同时设置右内齿圈分度圆半径与右行星轮分度圆半径，使右内齿圈齿数/右行星轮齿数＝右内齿圈分度圆半径/右行星轮分度圆半径，且使右内齿圈分度圆半径＝右行星轮分度圆半径+标准中心距。左内齿圈、每一个左行星轮、右内齿圈、每一个右行星轮均应符合这个规定。按业内惯例，标准中心距、 齿轮的分度圆半径在实际中允许有偏差范围。
双内齿圈变线速行星排的三个部件与输入端、输出端、锁止端的连接方法有两种，取连接方法之一形成减速器，各有不同的传动比。连接方法一，行星架连接输入端，左内齿圈连接输出端，右内齿圈连接锁止端，从行星架传动到左内齿圈的传动比为左传动比；左传动比＝1/(1-右内齿圈齿数*左行星轮齿数/(左内齿圈齿数*右行星轮齿数))。连接方法二，行星架连接输入端，右内齿圈连接输出端，左内齿圈连接锁止端，从行星架传动到右内齿圈的传动比为右传动比；右传动比＝1/(1-左内齿圈齿数*右行星轮齿数/(右内齿圈齿数*左行星轮齿数))。推导可知，右传动比＝负的左传动比+1.0。连接方法一参见图1、图2，连接方法二参见图3、图4。传动比的值为正值时，输入端转速与输出端转速方向相同；传动比的值为负值时，输入端转速与输出端转速方向相反。输入端与动力装置连接，输入动力。输出端与动力使用装置连接，输出动力。锁止端与减速器外壳等转速为零的装置连接，锁止端转速为零。保持锁止端连接不变，把连接输入端的部件与连接输出端的部件互换，减速器就成为加速器，该加速器传动比是对应减速器传动比的倒数。所述连接即通过机械连接装置连接两个对象，可以使两个对象的转速完全相同。“*”为乘号，“/”为除号，“＝”为等号，“-”为减号，“+”为加号，“π”为圆周率符号表示相位角度。
轮组数目不少于二，是本发明减速器运转均衡的要求。双内齿圈变线速行星排的齿数组合与轮组数目匹配原则，业内无人提出，是本发明首次提出。值域规定参数，是本发明的要求。业内只有普通行星排行星轮的装配条件，其形式和内容都与本发明所述“行星轮制造装配规则”完全不同，本发明首次提出双内齿圈变线速行星排的行星轮制造装配规则。业内只有围绕标准中心距设置一对两个普通齿轮分度圆半径的方法；本发明首次提出围绕同一标准中心距同时设置左内齿圈、左行星轮和右内齿圈、右行星轮这两对四个齿轮分度圆半径的方法，即齿轮分度圆半径的规定。
所述轴承等辅助装置采用机械行业成熟技术，轴承的支撑作用需满足本发明要求。本发明所述齿轮包括圆柱齿轮、圆弧齿轮、正齿轮、斜齿轮等各种齿轮形式。减速器的核心性能是传动比、是运转均衡，双内齿圈变线速行星排的核心性能是可实际装配性，本发明中齿数组合、轮组数目、连接方法决定了传动比、决定了运转均衡，行星轮制造装配规则、齿轮分 度圆半径的规定决定了可实际装配性。减速器各部件各装置的材质，减速器标准中心距具体长度、齿轮齿高齿宽变位值等具体参数，以及装配、润滑辅助材取决于力学性能、耐久性能等实际需求，可用业内通用知识解决；因与传动比、可实际装配性无关，本说明书不具体描述。
本发明有益之处是利用双内齿圈变线速行星排，提出了轮组数目不少于二、值域规定参数、齿数组合与轮组数目匹配原则、行星轮制造装配规则、齿轮分度圆半径的规定；提出行星架连接输入端、一个内齿圈连接锁止端、另一个内齿圈连接输出端时，形成可以实际装配的运转平衡的减速器。现有减速器主要是齿轮减速器、普通行星排减速器、谐波减速器、摆线针轮减速器。齿轮减速器、普通行星排减速器传动比值较小，需复杂地多级串联减速才能获得大传动比值。谐波减速器、摆线针轮减速器传动比值较大，但结构复杂成本高，不适于传递大功率。本发明减速器传动时从输入端到输出端的齿轮啮合层级少，耗损少，结构简单成本低，传动效率高，传动比值跨度大，既适于传递小功率也适于传递大功率，可以替代现有减速器。
附图说明
图1为左内齿圈连接输出端、行星架为轴承的本发明双内齿圈变线速行星排均衡减速器的结构示意图。
图2为左内齿圈连接输出端、行星架为轴的本发明双内齿圈变线速行星排均衡减速器的结构示意图。
图3为右内齿圈连接输出端、行星架为轴承的本发明双内齿圈变线速行星排均衡减速器的结构示意图。
图4为右内齿圈连接输出端、行星架为轴的本发明双内齿圈变线速行星排均衡减速器的结构示意图。
图5为本发明实施例1双内齿圈变线速行星排均衡减速器的结构示意图。图中8为与右内齿圈形成可变连接的锁止端，示意为刹车钳接地的盘式制动器符号。
图6为行星轮的左剖面、右剖面叠合的等相面示意图。1为左齿轮的这个齿根中点，2为左齿轮的齿顶中点，3为左齿轮的下一个齿根中点，4为右齿轮的这个齿根中点，5为右齿轮的齿顶中点，6为右齿轮的下一个齿根中点，7为一个径向剖面即等相面。
图1至图5的各图中：1为左内齿圈，2为右内齿圈，3为行星架，4为左行星轮，5为右行星轮，6为输入端，7为输出端，8为锁止端。
图1至图5的各图中，按业内惯例各行星排均以半幅结构简图示意，各部件只示意连接与结构关系，未反映实际尺寸，轴承、支座、外壳等辅助装置省略未示意，以输入箭头示意输入端，以输出箭头示意输出端，以接地符号示意转速为零的锁止端。
具体实施方式
实施例1：双内齿圈变线速行星排均衡减速器，包括双内齿圈变线速行星排、输入端6、输出端7、锁止端8和轴承等辅助装置。如图5，图中轴承等辅助装置未画出，锁止端示意为刹车钳接地的盘式制动器。
双内齿圈变线速行星排由左内齿圈1、右内齿圈2和带行星轮的行星架3这三个部件组成。左内齿圈1、右内齿圈2按左右顺序依次位于外侧，两个内齿圈的分度圆半径不同。带行星轮的行星架3位于内侧，行星架3支撑各行星轮，各行星轮相同。三个部件拥有同一个转动轴线称为公转轴线，使各行星轮轴线均匀布置围绕在公转轴线周围，各行星轮轴线均平行于公转轴线，且各行星轮轴线到公转轴线距离相等，这距离就是标准中心距。每个行星轮在其轮轴线上按左右顺序依次设置两个齿轮，分别是左行星轮4、右行星轮5，分别连接每一对左行星轮4与右行星轮5，左行星轮4与右行星轮5转速相同但分度圆半径不同。左行星轮4与左内齿圈1啮合，右行星轮5与右内齿圈2啮合，两个内齿圈相互不连接不啮合。设置轴承，使三个部件之间可以相对转动，使每个行星轮可以随同行星架3围绕公转轴线公转且可以围绕其行星轮轴线自转；使三个部件之间沿公转轴线方向不可以相对滑动，使行星轮与行星架3之间沿平行于公转轴线方向不可以相对滑动。所述行星架3支撑各行星轮的方式有两种，本实施例采用第一种，行星轮为轴、行星架3为轴承。
本实施例的齿数组合使得值域规定参数的值为84/85，约等于0.9882352941，符合值域规定参数的要求。
本实施例设置齿数组合为：左内齿圈齿数68、右内齿圈齿数64、左行星轮齿数21、右行星轮齿数20，轮组数目K取4，符合齿数组合与轮组数目匹配原则。轮组数目不大，不会导致相邻行星轮相互碰撞。
本实施例执行行星轮制造装配规则。本实施例余数值为0。制造各行星 轮时，第一个行星轮选取一个等相面，使该等相角值为0；第二个行星轮选取一个等相面，使该等相角值为0；第三个行星轮选取一个等相面，使该等相角值为0；第四个行星轮选取一个等相面，使该等相角值为0。装配各行星轮时，两个内齿圈、行星架3在公转轴线上装配到位，标定每一个安装面，使第一个行星轮等相角值为0的等相面与第一安装面重合，使左右等相点在标准中心距外侧，装配第一个行星轮；使第二个行星轮等相角值为0的等相面与第二安装面重合，使左右等相点在标准中心距外侧，装配第二个行星轮；使第三个行星轮等相角值为0的等相面与第三安装面重合，使左右等相点在标准中心距外侧，装配第三个行星轮；使第四个行星轮等相角值为0的等相面与第四安装面重合，使左右等相点在标准中心距外侧，装配第四个行星轮。
假设本实施例标准中心距为160毫米，则左内齿圈分度圆半径为231.4893617毫米，左行星轮分度圆半径为71.4893617毫米，右内齿圈分度圆半径为232.7272727毫米，右行星轮分度圆半径为72.7272727毫米。符合齿轮分度圆半径的规定。
本实施例采用连接方法一形成减速器，行星架3连接输入端6，左内齿圈1连接输出端7，右内齿圈2连接锁止端8，从行星架3传动到左内齿圈1的传动比为左传动比；左传动比＝1/(1-右内齿圈齿数*左行星轮齿数/(左内齿圈齿数*右行星轮齿数))＝85。输入端6与动力装置即发动机连接，输入动力。输出端7与动力使用装置即主旋翼连接，输出动力。右内齿圈2通过机械连接装置即盘式制动器与锁止端8连接，这个连接不是不变连接、是可变连接。盘式制动器为业内成熟产品，使刹车盘与右内齿圈2连接、刹车钳与锁止端8连接。刹车钳钳住刹车盘时，右内齿圈2转速为零，输入端6输入的动力完全传递到输出端7；刹车钳放开刹车盘时，右内齿圈2自由。右内齿圈2自由时阻力极小，只要输出端7有一定阻力，输入端6输入的动力就传递到右内齿圈2使其空转，输出端7不能获得动力。所以本实施例减速器可用于直升机主旋翼传动，因为右内齿圈2与锁止端8之间设置了可变连接，是带有离合器功能的减速器。轴承等辅助装置采用机械行业成熟技术，轴承的支撑作用，需满足本实施例要求。
本实施例减速器工作时的运动关系是，行星架3转动方向与左内齿圈1转动方向相同。
直升机的主旋翼总传动比就是80至100左右，现有主旋翼传动中一般采用二级行星排主减速器加锥齿轮减速器共三级串联减速才能达到这么大总传动比，主减速器从输入端到输出端的齿轮啮合层级有四级，耗损多，结构复杂成本高，传动效率低，主旋翼传动中还需要另外单独设置离合器。本实施例减速器从输入端到输出端的齿轮啮合层级只有二级，耗损少，结构简单成本低，传动效率高，不用单独设置离合器，本实施例减速器可以替代现有减速器用于直升机主旋翼的传动。
实施例2：双内齿圈变线速行星排均衡减速器，包括双内齿圈变线速行星排、输入端6、输出端7、锁止端8和轴承等辅助装置。如图1，图中轴承等辅助装置未画出。
双内齿圈变线速行星排的组成、结构同实施例1。所述行星架3支撑各行星轮的方式有两种，本实施例采用第一种，如图1，行星轮为轴、行星架3为轴承。如果采用第二种，参见图2，行星轮为轴承、行星架为轴。这两种行星架3支撑各行星轮的方式运行效果相同。
本实施例的齿数组合使得值域规定参数的值为152/153，约等于0.9934640523，符合值域规定参数的要求。
本实施例设置齿数组合为：左内齿圈齿数68、右内齿圈齿数64、左行星轮齿数19、右行星轮齿数18，轮组数目K取4，符合齿数组合与轮组数目匹配原则。轮组数目不大，不会导致相邻行星轮相互碰撞。
本实施例执行行星轮制造装配规则。本实施例余数值为0。制造各行星轮时，第一个行星轮选取一个等相面，使该等相角值为0；第二个行星轮选取一个等相面，使该等相角值为0；第三个行星轮选取一个等相面，使该等相角值为0；第四个行星轮选取一个等相面，使该等相角值为0。装配各行星轮时，两个内齿圈、行星架3在公转轴线上装配到位，标定每一个安装面，使第一个行星轮等相角值为0的等相面与第一安装面重合，使左右等相点在标准中心距外侧，装配第一个行星轮；使第二个行星轮等相角值为0的等相面与第二安装面重合，使左右等相点在标准中心距外侧，装配第二个行星轮；使第三个行星轮等相角值为0的等相面与第三安装面重合，使左右等相点在标准中心距外侧，装配第三个行星轮；使第四个行星轮等相角值为0的等相面与第四安装面重合，使左右等相点在标准中心距外侧，装配第四个行星轮。
假设本实施例标准中心距为40毫米，则左内齿圈分度圆半径为55.51020408毫米，左行星轮分度圆半径为15.51020408毫米，右内齿圈分度圆半径为55.65217391毫米，右行星轮分度圆半径为15.65217391毫米。符合齿轮分度圆半径的规定。
本实施例采用连接方法一形成减速器，行星架3连接输入端6，左内齿圈1连接输出端7，右内齿圈2连接锁止端8，从行星架3传动到左内齿圈1的传动比为左传动比；左传动比＝1/(1-右内齿圈齿数*左行星轮齿数/(左内齿圈齿数*右行星轮齿数))＝153。输入端6与动力装置连接，输入动力。输出端7与动力使用装置连接，输出动力。锁止端8与减速器外壳连接，锁止端8转速为零。轴承等辅助装置采用机械行业成熟技术，轴承的支撑作用，需满足本实施例要求。
本实施例减速器工作时的运动关系是，行星架3转动方向与左内齿圈1转动方向相同。
150左右的传动比值，是机器人关节减速器常用的传动比值。现有机器人关节减速器主要是摆线针轮减速器中的一种即RV减速器，RV减速器可以达到相类似的传动比值，但结构复杂成本高。本实施例减速器结构简单成本低，可以替代RV减速器。
如果改成采用连接方法二形成减速器，行星架3支撑各行星轮的方式采用第一种，参考图3。同样改成采用连接方法二，行星架3支撑各行星轮的方式采用第二种，参考图4。这两种行星架3支撑各行星轮的方式运行效果相同。行星架3连接输入端6，右内齿圈2连接输出端7，左内齿圈1连接锁止端8，从行星架3传动到右内齿圈2的传动比为右传动比；右传动比＝1/(1-左内齿圈齿数*右行星轮齿数/(右内齿圈齿数*左行星轮齿数))＝-152。传动比为负值，行星架3转动方向与右内齿圈2转动方向相反。
以上显示和描述了本发明的基本原理、主要特征和优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等同物界定。

Claims (2)

  1. 双内齿圈变线速行星排均衡减速器，包括双内齿圈变线速行星排、输入端、输出端、锁止端和轴承辅助装置，其特征在于，双内齿圈变线速行星排由左内齿圈、右内齿圈和带行星轮的行星架组成，行星架支撑各行星轮，各行星轮轴线到公转轴线距离，即标准中心距相等；每个行星轮在其轮轴线上依次设置两个齿轮，分别是左行星轮、右行星轮；
    左内齿圈齿数、右内齿圈齿数、左行星轮齿数和右行星轮齿数四种齿轮齿数的每一组集合为齿数组合；右内齿圈齿数*左行星轮齿数/(左内齿圈齿数*右行星轮齿数)为值域规定参数；行星架支撑的行星轮轴线的数量为轮组数目K；
    所述的值域规定参数为：每一组齿数组合使值域规定参数的值大于0.875、小于1.142857且不等于1.0；
    所述轮组数目K取一个不小于二的整数，设置齿数组合与轮组数目时，齿数组合与轮组数目匹配原则为：
    (1)当左内齿圈齿数与右内齿圈齿数之差的绝对值为二的倍数时，轮组数目取2；
    (2)当左内齿圈齿数与右内齿圈齿数之差的绝对值为三的倍数时，轮组数目取3；
    (3)当左内齿圈齿数与右内齿圈齿数之差的绝对值为四的倍数时，轮组数目取4、2之一；
    (4)当左内齿圈齿数与右内齿圈齿数之差的绝对值为五的倍数时，轮组数目取5；
    (5)当左内齿圈齿数与右内齿圈齿数之差的绝对值为六的倍数时，轮组数目取6、3、2之一；
    (6)当左内齿圈齿数与右内齿圈齿数之差的绝对值为八的倍数时，轮组数目取8、4、2之一；
    (7)当左内齿圈齿数与右内齿圈齿数之差的绝对值为十的倍数时，轮组数目取5、2之一；轮组数目不能过大以避免相邻行星轮相互碰撞；
    所述的行星轮制造装配规则为：左内齿圈齿数除以轮组数目K，得到一个余数，余数值在0至(K-1)之间，为整数；制造各行星轮时，第一个行星 轮选取一个等相面，使该等相角值为a，第二个行星轮选取一个等相面，使该等相角值为(a+1*2π*余数值/K)，第三个行星轮选取一个等相面，使该等相角值为(a+2*2π*余数值/K)，依此类推依次制造第四个行星轮、第五个行星轮、第六个行星轮、第七个行星轮等，直至第K个行星轮选取一个等相面，使该等相角值为(a+(K-1)*2π*余数值/K)；装配各行星轮时，两个内齿圈、行星架在公转轴线上装配到位，标定每一个安装面，使第一个行星轮等相角值为a的等相面与第一安装面重合，使左右等相点在标准中心距外侧，装配第一个行星轮，使第二个行星轮等相角值为(a+1*2π*余数值/K)的等相面与第二安装面重合，使左右等相点在标准中心距外侧，装配第二个行星轮，使第三个行星轮等相角值为(a+2*2π*余数值/K)的等相面与第三安装面重合，使左右等相点在标准中心距外侧，装配第三个行星轮，依此类推装配第四个行星轮、第五个行星轮、第六个行星轮、第七个行星轮等，直至使第K个行星轮等相角值为(a+(K-1)*2π*余数值/K)的等相面与第K安装面重合，使左右等相点在标准中心距外侧，装配第K个行星轮；
    所述齿轮分度圆半径为：围绕标准中心距设置左内齿圈分度圆半径与左行星轮分度圆半径，使左内齿圈齿数/左行星轮齿数＝左内齿圈分度圆半径/左行星轮分度圆半径，且使左内齿圈分度圆半径＝左行星轮分度圆半径+标准中心距，同时围绕标准中心距设置右内齿圈分度圆半径与右行星轮分度圆半径，使右内齿圈齿数/右行星轮齿数＝右内齿圈分度圆半径/右行星轮分度圆半径，且使右内齿圈分度圆半径＝右行星轮分度圆半径+标准中心距。
  2. 根据权利要求1所述的双内齿圈变线速行星排均衡减速器，其特征在于，双内齿圈变线速行星排的三个部件与输入端、输出端、锁止端的连接方法有两种，取连接方法之一形成减速器，各有不同的传动比，具体是：
    连接方法一，行星架连接输入端，左内齿圈连接输出端，右内齿圈连接锁止端，从行星架传动到左内齿圈的传动比为左传动比，左传动比＝1/(1-右内齿圈齿数*左行星轮齿数/(左内齿圈齿数*右行星轮齿数))；
    连接方法二，行星架连接输入端，右内齿圈连接输出端，左内齿圈连接锁止端，从行星架传动到右内齿圈的传动比为右传动比，右传动比＝1/(1-左内齿圈齿数*右行星轮齿数/(右内齿圈齿数*左行星轮齿数))。
PCT/CN2019/129367 2018-12-30 2019-12-27 双内齿圈变线速行星排均衡减速器 WO2020140846A1 (zh)

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