WO2020238075A1 - Dispositif de transmission planétaire à faible différence de dents et à engrènement à double arc - Google Patents

Dispositif de transmission planétaire à faible différence de dents et à engrènement à double arc Download PDF

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Publication number
WO2020238075A1
WO2020238075A1 PCT/CN2019/119448 CN2019119448W WO2020238075A1 WO 2020238075 A1 WO2020238075 A1 WO 2020238075A1 CN 2019119448 W CN2019119448 W CN 2019119448W WO 2020238075 A1 WO2020238075 A1 WO 2020238075A1
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WIPO (PCT)
Prior art keywords
gear
tooth
arc
meshing
tooth profile
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PCT/CN2019/119448
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English (en)
Chinese (zh)
Inventor
李伟达
李轩
杨杰
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苏州博安捷机器人科技有限公司
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Publication of WO2020238075A1 publication Critical patent/WO2020238075A1/fr

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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
    • F16H55/08—Profiling
    • F16H55/088—Profiling with corrections on tip or foot of the teeth, e.g. addendum relief for better approach contact
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • 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
    • F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing

Definitions

  • the invention relates to the technical field of gear transmissions, in particular to a planetary transmission device with double circular arcs with clearance meshing and less tooth difference
  • the existing implementation schemes include cycloidal pin wheel few tooth difference planetary transmission, involute few tooth difference planetary transmission and so on.
  • the tooth profiles of the conjugate gears of the existing planetary transmission with small tooth difference are complex curves such as involutes and involutes, cycloids and arcs, resulting in relatively complicated manufacturing and difficult to ensure accuracy, especially the processing of cycloids. Generally, it needs to be carried out on special machine tools. The processing cost is high, and it is difficult to match the design curve with the processed curve. This high-precision modification method was once controlled by foreign companies.
  • the technical problem to be solved by the present invention is to provide a planetary transmission device with double-arc gap meshing and small tooth difference, which solves the problems of high-precision machining of complex curves and tooth profile modification, and maintains a good precision operation effect.
  • the present invention provides a double-arc gap meshing planetary transmission device with small tooth difference, comprising a box body and an eccentric shaft arranged in the box body, a first eccentric part and a second eccentric shaft of the eccentric shaft
  • Two external gears are respectively provided on the parts
  • internal gears are provided on the inner wall of the box corresponding to the external gears
  • the internal gears mesh with the external gears.
  • a plurality of driving pins are also provided between the two external gears. Both ends of the driving pin are connected with the two end plates to form a planet carrier structure and output power.
  • the tooth profile of the internal gear and the external gear are both arcs, and there is an initial meshing gap between the internal gear and the external gear.
  • both the internal gear and the external gear have gear teeth with arc-shaped tooth profiles.
  • the tooth profile of the internal gear is obtained by an inner roller needle arranged on the tooth portion, the inner roller is provided with a containing groove on the corresponding tooth portion, and the outer gear has an arc-shaped tooth profile. Gear teeth.
  • the tooth profile of the external gear is obtained by an outer roller needle arranged on the tooth portion, the outer roller is provided with a containing groove on the corresponding tooth portion, and the inner gear has a circular arc tooth profile.
  • Gear teeth are obtained by an outer roller needle arranged on the tooth portion, the outer roller is provided with a containing groove on the corresponding tooth portion, and the inner gear has a circular arc tooth profile. Gear teeth.
  • the tooth profile of the internal gear is obtained by an inner roller needle arranged on the tooth part, the inner roller is provided with a containing groove on the corresponding tooth part, and the tooth profile of the external gear is set by The outer roller needle on the tooth is obtained, and the outer roller is provided with a containing groove on the corresponding tooth.
  • box body is also provided with a needle roller limit retaining ring.
  • a method for forming a double-arc gap meshing gear pair includes the following steps:
  • Step 1) Determine the number of teeth of the external gear z 1 , the number of teeth of the internal gear z 2 and the arc radius of the external gear tooth profile r o according to the structural size and transmission ratio of the transmission device, and preliminarily determine the eccentricity e and the index circle radius of the external gear R o Range and initial value;
  • ⁇ is the arc angle variable
  • Step 2 According to the relative motion law of the internal gear and the external gear, use the arc of the external gear tooth profile to envelop the conjugate tooth profile curve of the internal gear to determine the internal gear conjugate tooth profile equation f(x 2 ,y 2 ) And the meshing equation ⁇ , the conjugate tooth profile equation is obtained as follows:
  • Step 3 Calculate the meshing limit function ⁇ t of the internal gear tooth profile and solve the meshing limit value ⁇ t simultaneously with the meshing equation.
  • the equations can be as follows:
  • Step 4) Fit the function in the range of [- ⁇ t , ⁇ t ] Solve to obtain the single-tooth arc profile radius r i and the center coordinates (x c , y c ) of the internal gear;
  • (x 2j ,y 2j ) is the coordinate value of the conjugate tooth profile of the internal gear, and n is the number of data points;
  • Step 6) Determine the size of the fitting gap and the initial meshing gap limit value c 0. If 0 ⁇ c i ⁇ c 0 , then the set of design parameters meets the design requirements, determine the design parameters R i and r i , and end the design process, and vice versa , You need to change the optimized parameters eccentricity e, external gear indexing circle radius Ro , and recalculate until the design requirements are met.
  • the double-arc tooth profile meshing can avoid the processing of complex curves, and the arc processing is less difficult; the processing technology is simple and the precision is high, and it has better processing economic precision.
  • the backlash meshing gear pair is equivalently obtained by the conjugate meshing tooth profile, and the meshing running state is good; at the same time, the number of meshing teeth is large, the meshing range is large, and the bearing capacity is high; the error equalization effect is obvious, which can reduce the transmission error and improve the transmission accuracy .
  • This method first calculates the arc tooth profile of the external gear, and derives the meshing conjugate tooth profile, arc tooth profile, tooth profile radius, and circle parameters of the internal gear according to the arc tooth profile of the external gear.
  • the transmission device does not need to be modified later, and the gap can be ensured and effectively controlled during design.
  • the transmission device adopts a simple support structure to withstand large external axial force and radial force, and can achieve coaxial dual output; it adopts oil seal for complete sealing, ensuring good lubrication conditions.
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • Figure 2 is an exploded schematic diagram of part of the structure of the present invention
  • Figure 3 is a schematic diagram of the gear pair meshing of the present invention.
  • Figure 4 is a schematic diagram of the head gap in Figure 3 of the present invention.
  • Figure 5 is a schematic diagram of the bottom gap in Figure 3 of the present invention.
  • Figure 6 is a schematic diagram of the side gap in Figure 3 of the present invention.
  • Fig. 7 is a schematic diagram of equivalent conjugate meshing of the gear pair in Fig. 3 of the present invention.
  • Figure 8 is a schematic diagram of the integral gear tooth structure of the present invention.
  • Figure 9 is a schematic diagram of the head gap in Figure 8 of the present invention.
  • Figure 10 is a schematic diagram of the bottom gap in Figure 8 of the present invention.
  • Figure 11 is a schematic diagram of the side gap in Figure 8 of the present invention.
  • Figure 12 is a schematic structural view of the present invention with an inner needle roller
  • Figure 13 is a schematic diagram of the head gap in Figure 12 of the present invention.
  • Figure 14 is a schematic diagram of the bottom gap in Figure 12 of the present invention.
  • Figure 15 is a schematic diagram of the side gap in Figure 12 of the present invention.
  • Figure 16 is a schematic view of the structure of the present invention with external needle rollers
  • Figure 17 is a schematic diagram of the head gap in Figure 16 of the present invention.
  • Figure 18 is a schematic diagram of the bottom gap in Figure 16 of the present invention.
  • Figure 19 is a schematic diagram of the side gap in Figure 16 of the present invention.
  • Fig. 20 is a flow chart of the formation of the double-arc gapped meshing gear pair of the present invention.
  • an embodiment of the double-arc gap meshing planetary transmission device with small tooth difference of the present invention includes a box body, an eccentric shaft 1 arranged in the box body, and a first eccentric portion 2 of the eccentric shaft
  • Two external gears 4 are respectively provided on the second eccentric part 3 and an internal gear 6 is provided on the inner wall of the box corresponding to the external gear.
  • the internal gear meshes with the external gear, and a plurality of drives are also provided between the two external gears.
  • Pin 7, the two ends of a plurality of driving pins are connected with two end disks 9 to form a planet carrier structure and output power; the end disks are fixed by an oil seal 10 and a bearing 11 to ensure output stability.
  • the matching relationship is shown in Fig. 1.
  • the number of end discs can be two, which are respectively arranged on both ends of the eccentric shaft in the axial direction to form a bidirectional output effect.
  • the eccentric shaft drives the outer gear to eccentrically rotate, and the outer gear meshes with the inner gear, and forms the effect of rotating output with less tooth difference.
  • the tooth profile of the internal gear teeth and the tooth profile of the external gear teeth are all circular arcs.
  • the circular arc design is adopted, that is, there is no problem of complex curve modification.
  • the circular arc is easy to prepare, and the preparation accuracy is high. After forming, the arc does not need to be modified by the arc curve, so the preparation difficulty is greatly reduced.
  • the initial meshing gap can be generated after the arc structure is assembled, and the gap is stable and controllable; and the double arc design After meshing, the number of meshing teeth can be increased. With reference to the conjugate meshing effect shown in FIG.
  • the meshing range is large, the load-bearing capacity is greatly improved, and the transmission error can be reduced and the transmission accuracy can be improved.
  • the tooth grooves between adjacent gear teeth do not participate in meshing (that is, the tooth grooves between adjacent tooth profiles).
  • the tooth profile of the internal gear mentioned above is obtained by the inner needle 41 arranged on the tooth
  • the tooth profile of the external gear is obtained by the outer needle 61 arranged on the tooth.
  • the outer surface of the needle is It is a circular arc structure.
  • a needle roller limit retaining ring 12 is also provided in the box. The needle roller limit retaining ring restricts the matching position of the inner needle and the outer needle to prevent the movement of the needle.
  • the needle roller preparation technology is mature and the cost is low; the inner gear and the two outer gears are slotted to accommodate the above inner and outer needles, which is also very convenient, that is, the outer needle Containment grooves are provided on the corresponding teeth and can be formed by conventional processing methods, with high processing accuracy and low difficulty.
  • both the inner needle roller and the outer needle roller can perform self-rotating motion. Therefore, while the outer gear drives the outer needle roller to rotate, the outer needle roller can also mesh with the inner needle roller to generate self-rotating motion, thereby reducing the time of meshing rotation.
  • the friction of the teeth reduces the meshing loss and improves the output capacity.
  • both the internal gear and the external gear have teeth with arc-shaped tooth profiles, between the internal gear and its corresponding gear teeth, and between the external gear and its corresponding gear teeth They are all integrally formed structures with stable structure, low preparation cost and low preparation difficulty.
  • the tooth profile of the internal gear is obtained by the inner roller needle arranged on the tooth portion.
  • the outer surface of the needle roller is the arc structure, and the inner roller corresponds to the tooth A containing groove is provided on the part to install and accommodate the inner needle roller.
  • the outer gear has gear teeth with an arc-shaped tooth profile.
  • the outer gear and the gear teeth are integrally formed. The preparation cost is low, the preparation difficulty is small, and the inner needle roller effectively reduces the meshing Rotation loss.
  • the tooth profile of the external gear is obtained by the outer roller needle arranged on the tooth part.
  • the outer surface of the needle roller is the arc structure, and the outer roller corresponds to the tooth A containment groove is provided on the part for mounting and accommodating the outer needle roller.
  • the inner gear has gear teeth with an arc-shaped tooth profile.
  • the inner gear and the gear teeth are integrally formed. The preparation cost is low, the preparation difficulty is small, and the outer needle roller effectively reduces the meshing Rotation loss.
  • the present application also provides a method for forming a double-arc gap meshing gear pair, which includes the following steps:
  • Step 1) Determine the number of teeth of the external gear z 1 , the number of teeth of the internal gear z 2 and the arc radius of the external gear tooth profile r o according to the structural size and transmission ratio of the transmission device, and preliminarily determine the eccentricity e and the index circle radius of the external gear R o Range and initial value;
  • ⁇ is the arc angle variable
  • Step 2 According to the relative motion law of the internal gear and the external gear, use the arc of the external gear tooth profile to envelop the conjugate tooth profile curve of the internal gear to determine the internal gear conjugate tooth profile equation f(x 2 ,y 2 ) And the meshing equation ⁇ , the conjugate tooth profile equation is obtained as follows:
  • Step 3 Calculate the meshing limit function ⁇ t of the tooth profile of the internal gear and solve the meshing limit value ⁇ t together with the meshing equation.
  • the equations can be as follows:
  • Step 4) Fit the function in the range of [- ⁇ t , ⁇ t ] Solve to obtain the single-tooth arc tooth profile radius r i and the center coordinates (x c , y c ) of the internal gear;
  • (x 2j ,y 2j ) is the coordinate value of the conjugate tooth profile of the internal gear, and n is the number of data points;
  • Step 6) Determine the size of the fitting gap and the initial meshing gap limit value c 0. If 0 ⁇ c i ⁇ c 0 , then the set of design parameters meets the design requirements, determine the design parameters R i and r i , and end the design process, and vice versa , You need to change the optimized parameters eccentricity e, external gear indexing circle radius Ro , and recalculate until the design requirements are met.
  • the modification provides a meshing gap to form a lubricating oil film and improve the lubrication conditions. After the modification, the number of meshing teeth will be reduced; the arc-shaped internal gear and external gear formed by the above method can Used directly, the gap value can exist, and because it is not a complex curve during processing, the processing accuracy is high, and it can be used directly within the designed gap value without modification.
  • the new double needle roller meshing gear with clearance is designed to replace the complex
  • the curved gear pair fundamentally solves the problems of high-precision machining of mixed curves and tooth profile modification. Reduce the manufacturing difficulty and processing cost, and at the same time ensure that in the presence of the meshing gap, the number of meshing teeth is large, the overlap is large, and the high load-bearing capacity is maintained.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)

Abstract

L'invention concerne un dispositif de transmission planétaire à faible différence de dents et à engrènement à double arc, comprenant : un corps de boîtier et un arbre excentrique (1) disposé dans le corps de boîtier, une première partie excentrique (2) et une seconde partie excentrique (3) de l'arbre excentrique étant respectivement pourvues de deux engrenages extérieurs (4) ; et un engrenage intérieur (6) disposé sur la paroi interne du corps de boîtier correspondant à l'engrenage externe, l'engrenage interne étant engrené avec les engrenages externes dans un mode d'appariement, une pluralité de broches d'entraînement (7) étant en outre disposées entre les deux engrenages extérieurs, deux extrémités de chaque broche d'entraînement étant reliées et appariées avec deux disques d'extrémité (9) pour former une structure porteuse planétaire et une puissance de sortie, le profil de dent de l'engrenage interne et le profil de dent de chaque engrenage externe étant tous les deux des arcs, et un espace d'engrènement initial existant entre l'engrenage interne et chaque engrenage externe. Ainsi, les problèmes d'usinage de haute précision de courbe complexe et de modification de profil de dent sont résolus, et un bon effet d'opération de précision est maintenu.
PCT/CN2019/119448 2019-05-29 2019-11-19 Dispositif de transmission planétaire à faible différence de dents et à engrènement à double arc WO2020238075A1 (fr)

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CN201910456583.1 2019-05-29
CN201910456583.1A CN110067833B (zh) 2019-05-29 2019-05-29 一种双圆弧有隙啮合少齿差行星传动装置

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CN110966355B (zh) * 2019-11-20 2022-03-11 苏州大学 齿针双模啮合少齿差行星齿轮副及精密减速器
CN112476476A (zh) * 2020-11-09 2021-03-12 苏州博安捷机器人科技有限公司 机器人驱动关节
CN112963505A (zh) * 2021-03-25 2021-06-15 郑州爱丁宝机电科技有限公司 一种双圆弧少齿差减速传动装置及双圆弧齿形成方法

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