WO2021036148A1 - 变速器 - Google Patents

变速器 Download PDF

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Publication number
WO2021036148A1
WO2021036148A1 PCT/CN2020/000150 CN2020000150W WO2021036148A1 WO 2021036148 A1 WO2021036148 A1 WO 2021036148A1 CN 2020000150 W CN2020000150 W CN 2020000150W WO 2021036148 A1 WO2021036148 A1 WO 2021036148A1
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WO
WIPO (PCT)
Prior art keywords
ball
transmission
gear
matched
shaped
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Application number
PCT/CN2020/000150
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English (en)
French (fr)
Inventor
莫德超
Original Assignee
莫德超
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Publication date
Application filed by 莫德超 filed Critical 莫德超
Priority to JP2022513276A priority Critical patent/JP7421637B2/ja
Priority to EP20859217.0A priority patent/EP4023907A4/en
Publication of WO2021036148A1 publication Critical patent/WO2021036148A1/zh
Priority to US17/571,653 priority patent/US11976712B2/en

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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
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/04—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion
    • F16H25/06—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion with intermediate members guided along tracks on both rotary members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • F16C33/581—Raceways; Race rings integral with other parts, e.g. with housings or machine elements such as shafts or gear 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • F16C33/583—Details of specific parts of races
    • F16C33/585—Details of specific parts of races of raceways, e.g. ribs to guide the rollers
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/08—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for interconverting rotary motion and reciprocating motion
    • F16H25/12—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for interconverting rotary motion and reciprocating motion with reciprocation along the axis of rotation, e.g. gearings with helical grooves and automatic reversal or cams
    • F16H25/125—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for interconverting rotary motion and reciprocating motion with reciprocation along the axis of rotation, e.g. gearings with helical grooves and automatic reversal or cams having the cam on an end surface of the rotating element
    • 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
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • 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
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F16H57/022—Adjustment of gear shafts or bearings
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/50—Hand tools, workshop equipment or manipulators
    • F16C2322/59—Manipulators, e.g. robot arms
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/04—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion
    • F16H25/06—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion with intermediate members guided along tracks on both rotary members
    • F16H2025/063—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion with intermediate members guided along tracks on both rotary members the intermediate members being balls engaging on opposite cam discs
    • 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
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F16H57/022—Adjustment of gear shafts or bearings
    • F16H2057/0221—Axial adjustment

Definitions

  • the invention relates to a transmission, in particular to a transmission with low backlash, long life and high mechanical properties.
  • RV cycloid transmission and harmonic transmission are the most representative.
  • the RV cycloid transmission requires extremely high manufacturing materials and precision, and the structure is complex, and the manufacturing cost is extremely high.
  • this type of transmission cannot adjust the transmission gap. After a certain period of work, the transmission gap will increase due to wear. , Exceeding the tolerance of the system will be scrapped.
  • Harmonic transmission uses flexible wheel transmission, the life of flexible components is short, and the mechanical performance is low.
  • the purpose of the present invention is to provide a long-life, low-backlash, and high-performance transmission. To this end, the present invention adopts the following technical solutions:
  • Transmission including outer shell (1), inner shell (2), drive disc (3), T-shaped gear (4), gear (5), T-shaped gear seat (6), adjustable nut (7), ball (8), inner ball (9), outer ball (10), inner guard (11), outer guard (12), roller (13), first sealing ring (14), second sealing ring ( 15), the third sealing ring (16).
  • the upper part of the housing (1) has a thread, which is matched with the adjustable nut (7), the middle part is rigidly connected with the T-shaped gear seat (6) as a whole, and the lower part is provided with a roller raceway, which is connected with the roller (13) Cooperate.
  • the upper part of the inner shell (2) is matched with the second sealing ring (15), and the lower part is fixed on the gear (5).
  • the upper part of the drive disc (3) is matched with the first sealing ring (14) and the second sealing ring (15), the middle part is provided with a ball raceway, which is matched with the balls (8), and the lower bottom surface is provided with a ball inner channel and a ball
  • a part of the ball inner race is equipped with an inner guard (11)
  • a part of the ball outer race is equipped with an outer guard (12).
  • the two guards are distributed face to face.
  • the outer race is matched with the outer race ball (10).
  • the inner protective frame (11) and the outer protective frame (12) are installed on the drive plate (3), and are characterized in that they hold the inner race ball (9) and the outer race ball (10), and prevent the ball from interacting with the T-shaped ball.
  • the teeth (4) are in contact.
  • the inner race ball (9) is matched with the drive disc (3), in the non-guard section, it is in contact with the T-shaped tooth (4), and the outer race ball (10) is matched with the drive disc (3), in the no guard section, It is in contact with the T-shaped tooth (4).
  • the upper part of the gear (5) is a cylindrical spiral tooth, which meshes with the T-shaped tooth (4).
  • the adjustable nut (7) is matched with the housing (1), the first sealing ring (14), and the ball (8).
  • the feature is that by rotating the nut, the gaps of all transmission components in the transmission can be adjusted.
  • the non-installed protective frame section of the ball raceway of the drive plate (3), the characteristic curve of the ball raceway on the T-shaped tooth (4) is a cylindrical spiral, the inner and outer races have different directions of rotation and the same pitch ,
  • the position of the ball raceway mounting bracket section of the drive disc (3) is smoothly raised, and in conjunction with the protective bracket, the balls here are smoothly raised and out of contact with the T-shaped teeth (4).
  • Fig. 1 is a cross-sectional view of the transmission in the YZ plane.
  • Figure 2 is a perspective view of the transmission.
  • the housing of the transmission is translucent.
  • Fig. 3 is a spatial composition diagram of the main components of the transmission.
  • Figure 4 is a diagram of the main components of the transmission.
  • A, B, C, and D indicate the space curve transition points of the inner ball (9) and outer ball (10) operation.
  • Figure 5 is a diagram of the main components of the transmission. This diagram is easier to understand the operating principle of the transmission.
  • Figure 6 is an actual arrangement diagram of the inner ball (9) and the outer ball (10).
  • Figure 7 is a separate display view of the main components.
  • the present invention illustrates a typical structure.
  • Transmission including outer shell (1), inner shell (2), drive disc (3), T-shaped gear (4), gear (5), T-shaped gear seat (6), adjustable nut (7), ball (8), inner ball (9), outer ball (10), inner guard (11), outer guard (12), roller (13), first sealing ring (14), second sealing ring ( 15), the third sealing ring (16).
  • the upper part of the housing (1) has a thread, which is matched with the adjustable nut (7), the middle part is rigidly connected with the T-shaped gear seat (6) as a whole, and the lower part is provided with a roller raceway, which is connected with the roller (13) Cooperate.
  • the upper part of the inner shell (2) is matched with the second sealing ring (15), and the lower part is fixed on the gear (5).
  • the upper part of the drive disc (3) is matched with the first sealing ring (14) and the second sealing ring (15), the middle part is provided with a ball raceway, which is matched with the balls (8), and the lower bottom surface is provided with a ball inner channel and a ball
  • a part of the inner ball track is equipped with an inner guard (11)
  • a part of the ball outer track is equipped with an outer guard (12).
  • the two guards are distributed face to face, and the ball inner track matches the inner ball (9).
  • the outer race is matched with the outer race ball (10).
  • the inner protective frame (11) and the outer protective frame (12) are installed on the drive plate (3), and are characterized in that they hold the inner race ball (9) and the outer race ball (10), and prevent the ball from interacting with the T-shaped ball.
  • the teeth (4) are in contact.
  • the inner race ball (9) is matched with the drive disc (3), in the non-guard section, it is in contact with the T-shaped tooth (4), and the outer race ball (10) is matched with the drive disc (3), in the no guard section, It is in contact with the T-shaped tooth (4).
  • the upper part of the gear (5) is a cylindrical spiral tooth, which meshes with the T-shaped tooth (4).
  • the adjustable nut (7) is matched with the housing (1), the first sealing ring (14), and the ball (8).
  • the feature is that by rotating the nut, the gaps of all transmission components in the transmission can be adjusted.
  • the non-installed protective frame section of the ball raceway of the drive plate (3), the characteristic curve of the ball raceway on the T-shaped tooth (4) is a cylindrical spiral, the inner and outer races have different directions of rotation and the same pitch ,
  • the position of the ball raceway mounting bracket section of the drive disc (3) is smoothly raised, and in conjunction with the protective bracket, the balls here are smoothly raised and out of contact with the T-shaped teeth (4).
  • Curve AB and curve CD are the characteristic curves of the raceway. They are all cylindrical helixes with the same pitch and opposite directions. For example, AB is right-handed and CD is left-handed.
  • the raceway curve of the cage section requires a smooth connection to the non-frame section, and it is sufficient to guide the ball out of contact with the T-shaped teeth, and there is no strict mathematical requirement.
  • the rotation directions of the two raceways on the T-shaped tooth (4) are opposite, so at any time, only one of the raceways participates in the transmission.
  • the meshing tooth surface of the T-shaped tooth (4) and the gear (5) is a cylindrical helix surface, and the meshing of the T-shaped tooth and the gear is a real surface meshing, please refer to FIG. 5.
  • the pitch of the spiral surface is equal to the product of the pitch of the cylindrical helix of the raceway on the T-shaped tooth (4) and the number of teeth of the gear (5).
  • the transmission of the present invention can press the ball (8) by adjusting the adjustable nut (7), and then the drive disc (3), and then the inner ball (9) and the outer ball (10), and then the T The profile gear (4), and then the gear (5) and the T-shaped gear seat (6), and then the roller (13), and then the housing (1) to complete the force transmission return, the transmission clearance of all components is Be eliminated.
  • the adjustable nut (7) is gradually tightened for running-in, which can improve its own accuracy through self-running-in and reduce the requirements for manufacturing accuracy.
  • the gap can be adjusted to offset the wear as needed, which means that the service life is much higher than that of other precision transmissions.
  • all the ball components mentioned can be modified into roller components when needed.
  • the T-tooth raceway and the drive plate raceway can be made into multiple rows of raceways when needed, and the transmission principle is the same.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Transmission Devices (AREA)
  • Retarders (AREA)
  • Gear Transmission (AREA)

Abstract

变速器，尤其是一种精密变速器。包括：外壳(1)、内壳(2)、驱动盘(3)、T型齿(4)、齿轮(5)、T型齿座(6)、可调螺母(7)、滚珠(8)、内道滚珠(9)、外道滚珠(10)、内护架(11)、外护架(12)、滚柱(13)、第一密封圈(14)、第二密封圈(15)、第三密封圈(16)。本变速器可以随时随意调整传动间隙，齿面接触是真正的面接触，几乎全部的齿都同时参与受力传动。因此变速器同时具备高精密度，高力学性能，长寿命的革命性特点。

Description

变速器 技术领域
本发明涉及一种变速器，尤其是一种低齿隙、长寿命、高力学性能的变速器。
背景技术
在机器人关节变速器、多轴数控机床领域，低齿隙、高力学性能的变速器是一种关键设备。现有可选择的设备中，以RV摆线轮变速器、谐波变速器最有代表性。但是RV摆线轮变速器制造材料、精度等要求极高，结构复杂，制造成本极高；除此之外，此类变速器无法调整传动间隙，在工作达到一定时长之后，由于磨损，传动间隙增大，超过系统容忍度将会报废。谐波变速器使用柔轮传动，柔性元件寿命较短，力学性能较低。
发明内容
本发明的目的是，提供一种长寿命、低齿隙、高性能的变速器。为此，本发明采用以下技术方案：
1、变速器，包括外壳(1)、内壳(2)、驱动盘(3)、T型齿(4)、齿轮(5)、T型齿座(6)、可调螺母(7)、滚珠(8)、内道滚珠(9)、外道滚珠(10)、内护架(11)、外护架(12)、滚柱(13)、第一密封圈(14)、第二密封圈(15)、第三密封圈(16)。
2、外壳(1)上部开有螺纹，此螺纹与可调螺母(7)配合，中部与T型齿座(6)刚性连接为一体，下部开有滚柱滚道，与滚柱(13)配合。
3、内壳(2)上部与第二密封圈(15)配合，下部被固定在齿轮(5)上。
4、驱动盘(3)上部与第一密封圈(14)、第二密封圈(15)配合，中部外面开有滚珠滚道，与滚珠(8)配合，下部底面开有滚珠内道和滚珠外道，滚珠内道上面有一部分安装有内护架(11)，滚珠外道上面有一部分安装有外护架(12)，两护架面对面分布，滚珠内道与内道滚珠(9)配合，滚珠外道与外道滚珠(10)配合。
5、内护架(11)、外护架(12)安装在驱动盘(3)上，其特征是：抱托住内道滚珠(9)、外道滚珠(10)，不让滚珠与T型齿(4)接触。
6、内道滚珠(9)与驱动盘(3)配合，在无护架段，与T型齿(4)接触，外道滚珠(10)与驱动盘(3)配合，在无护架段，与T型齿(4)接触。
7、T型齿(4)上面开有滚珠滚道，与内道滚珠(9)、外道滚珠(10)配合，中部穿过T型齿座(6)，与T型齿座(6)配合，下端部是圆柱螺旋面型齿，与齿轮(5)啮合。
8、齿轮(5)上面是圆柱螺旋面型齿，与T型齿(4)啮合，中部外面开有滚柱滚道，与滚柱(13)配合，下部外面与第三密封圈(16)配合。
9、可调螺母(7)与外壳(1)、第一密封圈(14)、滚珠(8)配合，其特征是：旋转螺母，变速器内部所有传动构件的间隙都可以被调整。
10、驱动盘(3)的滚珠滚道非安装护架段、T型齿(4)上面的滚珠滚道的特征曲线是圆柱螺旋线，内滚道和外滚道的旋向不同、螺距相同，驱动盘(3)的滚珠滚道安装护架段位置平滑升高，配合护架，使得此处滚珠平滑升高脱离与T型齿(4)接触。
11、设T型齿(4)的数量为n，则齿轮(5)的齿数为2n+1个或2n-1个，两种类型 都可运转，输出方向即齿轮(5)的旋向不同。
12、根据权利要求1所述的变速器，齿轮(5)、T型齿(4)的齿形相同，都是圆柱螺旋面，此螺旋面的螺距等于驱动盘(3)或T型齿(4)的滚道特征圆柱螺旋线的螺距与齿轮(5)齿数的乘积，变速器的变速倍数等于齿轮(5)的齿数。
附图说明
本发明通过下文的详细描述并结合附图将能被完全理解，下述附图并不是对本发明的限定，而仅是为了便于解释和理解。
图1是变速器YZ平面的剖面图。
图2是变速器的立体外观图，变速器的外壳做了半透明处理。
图3是变速器的主要部件的空间构图。
图4是变速器的主要部件图，A、B、C、D表示内道滚珠(9)、外道滚珠(10)运行的空间曲线转换点。
图5是变速器的主要部件图，此图比较容易理解变速器运行原理。
图6是内道滚珠(9)、外道滚珠(10)实际排列图。
图7是主要部件的分开展示图。
具体实施方式
以下结合说明书附图对本发明做进一步说明。
本发明图示的是一种典型结构。
1、变速器，包括外壳(1)、内壳(2)、驱动盘(3)、T型齿(4)、齿轮(5)、T型齿座(6)、可调螺母(7)、滚珠(8)、内道滚珠(9)、外道滚珠(10)、内护架(11)、外护架(12)、滚柱(13)、第一密封圈(14)、第二密封圈(15)、第三密封圈(16)。
2、外壳(1)上部开有螺纹，此螺纹与可调螺母(7)配合，中部与T型齿座(6)刚性连接为一体，下部开有滚柱滚道，与滚柱(13)配合。
3、内壳(2)上部与第二密封圈(15)配合，下部被固定在齿轮(5)上。
4、驱动盘(3)上部与第一密封圈(14)、第二密封圈(15)配合，中部外面开有滚珠滚道，与滚珠(8)配合，下部底面开有滚珠内道和滚珠外道，滚珠内道上面有一部分安装有内护架(11)，滚珠外道上面有一部分安装有外护架(12)，两护架面对面分布，滚珠内道与内道滚珠(9)配合，滚珠外道与外道滚珠(10)配合。
5、内护架(11)、外护架(12)安装在驱动盘(3)上，其特征是：抱托住内道滚珠(9)、外道滚珠(10)，不让滚珠与T型齿(4)接触。
6、内道滚珠(9)与驱动盘(3)配合，在无护架段，与T型齿(4)接触，外道滚珠(10)与驱动盘(3)配合，在无护架段，与T型齿(4)接触。
7、T型齿(4)上面开有滚珠滚道，与内道滚珠(9)、外道滚珠(10)配合，中部穿过T型齿座(6)，与T型齿座(6)配合，下端部是圆柱螺旋面型齿，与齿轮(5)啮合。
8、齿轮(5)上面是圆柱螺旋面型齿，与T型齿(4)啮合，中部外面开有滚柱滚道，与滚柱(13)配合，下部外面与第三密封圈(16)配合。
9、可调螺母(7)与外壳(1)、第一密封圈(14)、滚珠(8)配合，其特征是：旋转螺母，变速器内部所有传动构件的间隙都可以被调整。
10、驱动盘(3)的滚珠滚道非安装护架段、T型齿(4)上面的滚珠滚道的特征曲线是圆柱螺旋线，内滚道和外滚道的旋向不同、螺距相同，驱动盘(3)的滚珠滚道安装护架段位置平滑升高，配合护架，使得此处滚珠平滑升高脱离与T型齿(4)接触。
11、设T型齿(4)的数量为n，则齿轮(5)的齿数为2n+1个或2n-1个，两种类型都可运转，输出方向即齿轮(5)的旋向不同。
12、根据权利要求1所述的变速器，齿轮(5)、T型齿(4)的齿形相同，都是圆柱螺旋面，此螺旋面的螺距等于驱动盘(3)或T型齿(4)的滚道特征圆柱螺旋线的螺距与齿轮(5)齿数的乘积，变速器的变速倍数等于齿轮(5)的齿数。
观察以附图5为主的所有附图，驱动盘(3)以逆时针转动时，正面外道滚珠(10)有一个向下的分运动，分运动传递到T型齿(4)，T型齿(4)向下迫使齿轮(5)逆时针转动。在背面发生的则是：齿轮(5)逆时针转动，迫使T型齿(4)向上运动，迫使内道滚珠(9)向上运动靠近驱动盘(3)。为了便于观察，图5上仅显示个别滚珠，图6显示内外道全部滚珠。
观察以附图1为主的所有附图，附图1左边内护架(11)处的内道滚珠(9)，被护架托住，并不与T型齿(4)接触。此处通过外道滚珠(10)传动。右边外护架(12)处，则是由内道滚珠(9)传动，外道滚珠(10)被托起。观察附图4，T型齿(4)在啮合齿轮(5)的情况下，右边的外滚道，两个T型齿之间是平滑对齐的，左边的则是有台阶的，内滚道正好相反。所以只能用平滑对齐段，运行滚珠进行传动。为了让变速器运转更加平顺，只运用外滚道AB段、内滚道CD段进行传动，护架段不参与传动。曲线AB、曲线CD是滚道的特征曲线，它们都是圆柱螺旋线，螺距相等，旋向相反，比如AB为右旋，CD则为左旋。护架段滚道曲线要求平滑连接非护架段，并且引导滚珠与T型齿脱离接触即可，并没有严格的数学要求。T型齿(4)上面的两条滚道旋向是相反的，所以任意时刻，只会有其中一条滚道参与传动。T型齿(4)与齿轮(5)的啮合齿面是圆柱螺旋面，T型齿与齿轮的啮合是真正的面啮合，参看附图5。此螺旋面的螺距等于T型齿(4)上面滚道圆柱螺旋线的螺距与齿轮(5)齿数的乘积。
本发明变速器，可以通过调整可调螺母(7)，压紧滚珠(8)，进而压紧驱动盘(3)，进而压紧内道滚珠(9)和外道滚珠(10)，进而压紧T型齿(4)，进而压紧齿轮(5)和T型齿座(6)，进而压紧滚柱(13)，进而压紧外壳(1)，完成传力回归，所有构件的传动间隙都被消除。变速器制造完成之后，逐步调紧可调螺母(7)，进行磨合，可以通过自磨合提高自身精度，降低制造精度要求。在使用过程中，按需调整间隙抵消磨损，即可以获得比别的精密变速器高很多的使用寿命。
本发明变速器，所有构件离中心远端布置，结构简单紧凑，传力距离短刚度高。能实现大中空构造，非常方便机器人关节处布线布管。对于精密多轴机床来说，可以安装更多种形状的工件或构件。
本发明变速器，所述的所有滚珠构件，在需要的时候可以改型成滚柱构件。所述的T型齿滚道和驱动盘滚道，在需要时可以做成多排滚道，传动原理是一样的。

Claims (12)

  1. 变速器，包括外壳(1)、内壳(2)、驱动盘(3)、T型齿(4)、齿轮(5)、T型齿座(6)、可调螺母(7)、滚珠(8)、内道滚珠(9)、外道滚珠(10)、内护架(11)、外护架(12)、滚柱(13)、第一密封圈(14)、第二密封圈(15)、第三密封圈(16)。
  2. 根据权利要求1所述的变速器，外壳(1)上部开有螺纹，此螺纹与可调螺母(7)配合，中部与T型齿座(6)刚性连接为一体，下部开有滚柱滚道，与滚柱(13)配合。
  3. 根据权利要求1所述的变速器，内壳(2)上部与第二密封圈(15)配合，下部被固定在齿轮(5)上。
  4. 根据权利要求1所述的变速器，驱动盘(3)上部与第一密封圈(14)、第二密封圈(15)配合，中部外面开有滚珠滚道，与滚珠(8)配合，下部底面开有滚珠内道和滚珠外道，滚珠内道上面有一部分安装有内护架(11)，滚珠外道上面有一部分安装有外护架(12)，两护架面对面分布，滚珠内道与内道滚珠(9)配合，滚珠外道与外道滚珠(10)配合；滚珠内道、外道未安装护架段，其特征是：滚道的走向即其特征是一段圆柱螺旋线；安装有护架段，其特征是：平滑相切连接前述螺旋线，引导滚珠平滑脱离与T型齿(4)接触。
  5. 根据权利要求1所述的变速器，内护架(11)、外护架(12)安装在驱动盘(3)上，其特征是：抱托住内道滚珠(9)、外道滚珠(10)，不让滚珠与T型齿(4)接触。
  6. 根据权利要求1所述的变速器，内道滚珠(9)与驱动盘(3)配合，在无护架段，与T型齿(4)接触，外道滚珠(10)与驱动盘(3)配合，在无护架段，与T型齿(4)接触。
  7. 根据权利要求1所述的变速器，T型齿(4)上面开有滚珠滚道，与内道滚珠(9)、外道滚珠(10)配合，中部穿过T型齿座(6)，与T型齿座(6)配合，下端部是圆柱螺旋面型齿，与齿轮(5)啮合。
  8. 根据权利要求1所述的变速器，齿轮(5)上面是圆柱螺旋面型齿，与T型齿(4)啮合，中部外面开有滚柱滚道，与滚柱(13)配合，下部外面与第三密封圈(16)配合。
  9. 根据权利要求1所述的变速器，可调螺母(7)与外壳(1)、第一密封圈(14)、滚珠(8)配合，其特征是：旋转螺母，变速器内部所有传动构件的间隙都可以被调整。
  10. 根据权利要求1所述的变速器，驱动盘(3)的滚珠滚道非安装护架段、T型齿(4)上面的滚珠滚道的特征曲线是圆柱螺旋线，内滚道和外滚道的旋向不同、螺距相同，驱动盘(3)的滚珠滚道安装护架段位置平滑升高，配合护架，使得此处滚珠平滑升高脱离与T型齿(4)接触。
  11. 根据权利要求1所述的变速器，设T型齿(4)的数量为n，则齿轮(5)的齿数为2n+1个或2n-1个，两种类型都可运转，输出方向即齿轮(5)的旋向不同。
  12. 根据权利要求1所述的变速器，齿轮(5)、T型齿(4)的齿形相同，都是圆柱螺旋面，此螺旋面的螺距等于驱动盘(3)或T型齿(4)的滚道特征圆柱螺旋线的螺距与齿轮(5)齿数的乘积，变速器的变速倍数等于齿轮(5)的齿数。
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