WO2021139636A1 - Undercut cycloidal movable tooth transmission mechanism - Google Patents

Undercut cycloidal movable tooth transmission mechanism Download PDF

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WO2021139636A1
WO2021139636A1 PCT/CN2021/070226 CN2021070226W WO2021139636A1 WO 2021139636 A1 WO2021139636 A1 WO 2021139636A1 CN 2021070226 W CN2021070226 W CN 2021070226W WO 2021139636 A1 WO2021139636 A1 WO 2021139636A1
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undercut
movable
movable tooth
transmission
raceway
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PCT/CN2021/070226
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French (fr)
Chinese (zh)
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闫济东
邢鹏达
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河南烛龙高科技术有限公司
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Priority to CN202010008304.8A priority Critical patent/CN111173896B/en
Priority to CN202010008305.2A priority patent/CN111156306A/en
Priority to CN202010008305.2 priority
Priority to CN202010012686.1 priority
Priority to CN202010012354.3 priority
Priority to CN202010012686.1A priority patent/CN111188876B/en
Priority to CN202010008303.3 priority
Priority to CN202010012352.4 priority
Priority to CN202010008303.3A priority patent/CN111173895B/en
Priority to CN202010012352.4A priority patent/CN111022589B/en
Priority to CN202010012354.3A priority patent/CN111120587B/en
Priority to CN202010008302.9A priority patent/CN111173894B/en
Priority to CN202010008302.9 priority
Priority to CN202010012355.8 priority
Priority to CN202010008304.8 priority
Priority to CN202010012355.8A priority patent/CN111120588B/en
Priority to CN202010012353.9 priority
Priority to CN202010012353.9A priority patent/CN111120586B/en
Application filed by 河南烛龙高科技术有限公司 filed Critical 河南烛龙高科技术有限公司
Publication of WO2021139636A1 publication Critical patent/WO2021139636A1/en

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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed 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
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H13/00Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
    • F16H13/06Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion
    • F16H13/08Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H55/00Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02Toothed members; Worms
    • F16H55/08Profiling
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/023Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/08General details of gearing of gearings with members having orbital motion
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/12Arrangements for adjusting or for taking-up backlash not provided for elsewhere

Abstract

An undercut cycloidal movable tooth transmission mechanism, comprising a single-stage undercut cycloidal movable tooth transmission unit consisting of an undercut cycloidal wheel (1), movable teeth (2), and a movable gear (3), a multi-stage closed undercut cycloidal movable tooth transmission unit consisting of multiple single-stage undercut cycloidal movable tooth transmission units, a multi-stage nested closed undercut cycloidal movable tooth transmission unit consisting of multiple single-stage undercut cycloidal movable tooth transmission units, etc. By using the single-stage undercut cycloidal movable tooth transmission unit as the core, the undercut cycloidal movable tooth transmission meshing pair in the undercut cycloidal movable tooth transmission mechanism consists of the movable teeth (2) and an undercut cycloidal raceway (1001) or movable tooth slots (3001). The tooth profile surface of the undercut cycloidal raceway (1001) is a cycloidal tooth profile having a unilateral undercut feature.

Description

根切摆线活齿传动机构Undercut cycloid movable tooth transmission mechanism 技术领域Technical field
本发明涉及活齿传动技术领域,特别涉及根切摆线活齿传动机构。The invention relates to the technical field of movable teeth transmission, in particular to an undercut cycloid movable teeth transmission mechanism.
背景技术Background technique
活齿传动有众多分支,一般以活齿的形状和运动特性来区分,如弦线活齿传动、摆线活齿传动等。这些领域中的现有设计准则,要求活齿滚道不能发生根切。以摆线活齿传动为例,专利号为CN201721031991.5提出了《一种摆线钢球减速装置及其机器人关节》,其说明书中就明确提出了避免根切及避免根切的条件。由以上情况而来的问题是,传统的摆线钢球活齿减速器,其功率密度不高,通俗的讲,就是体积大,传动比相对小,空间利用不够充分,缺乏市场竞争力。针对此问题,另辟蹊径,打破传统的设计思维,反其道而行之,即在摆线活齿传动的设计中,不仅不避免根切现象,而且还要利用根切现象,设计的摆线齿廓就要根切的,从而得到了根切摆线活齿传动技术。根切摆线活齿传动较传统摆线活齿传动而言,相同尺寸下,活齿数量更多,传动比更大,基本达到全齿整周啮合受力,其综合性能均优于传统的摆线活齿传动结构;与摆线针轮传动结构相比,根切摆线活齿传动具有制造更简单、零部件更少、装配简单、使用寿命更长、承载能力和抗冲击能力更大等优点。将根切摆线活齿传动技术应用在减速器当中,成了亟待解决的问题。There are many branches of movable tooth transmission, which are generally distinguished by the shape and movement characteristics of movable teeth, such as string movable tooth transmission, cycloid movable tooth transmission and so on. The existing design criteria in these fields require that the movable tooth raceway cannot be undercut. Taking the cycloidal movable tooth transmission as an example, the patent number CN201721031991.5 proposed "A cycloidal steel ball reducer and its robot joint", and the specification clearly stated the conditions for avoiding undercutting and avoiding undercutting. The problem arising from the above situation is that the traditional cycloid steel ball movable tooth reducer has a low power density. Generally speaking, it is large in size, relatively small in transmission ratio, insufficient space utilization, and lack of market competitiveness. To solve this problem, break the traditional design thinking and do the opposite. In the design of the cycloidal movable tooth transmission, not only the undercutting phenomenon is not avoided, but also the undercutting phenomenon must be used to design the cycloidal teeth. The profile needs to be undercut, and the undercut cycloidal movable tooth transmission technology is obtained. Compared with the traditional cycloidal movable tooth transmission, the undercut cycloidal movable tooth transmission has more movable teeth and larger transmission ratio under the same size, which basically achieves the full-tooth full-circle meshing force, and its comprehensive performance is better than the traditional one. Cycloid movable tooth transmission structure; compared with the cycloidal pin wheel transmission structure, the undercut cycloidal movable tooth transmission has simpler manufacturing, fewer parts, simple assembly, longer service life, greater carrying capacity and impact resistance Etc. The application of undercut cycloid movable tooth transmission technology in the reducer has become an urgent problem to be solved.
发明内容Summary of the invention
针对上述问题,本发明提出根切摆线活齿传动机构,根切摆线活齿传动机构以单级根切摆线活齿传动单元为核心,可进一步分化为由单级根切摆线活齿传动单元构成的多级封闭式根切摆线活齿传动单元和多级嵌套封闭式根切摆线活齿传动单元;根切摆线活齿传动机构中的根切摆线活齿传动啮合副,由活齿与根切摆线滚道或与活齿槽构成;根切摆线滚道的齿廓面为具有单侧根切特征的摆线齿廓。In view of the above problems, the present invention proposes an undercut cycloidal movable tooth transmission mechanism. The undercut cycloidal movable tooth transmission mechanism is based on a single-stage undercut cycloidal movable tooth transmission unit, which can be further differentiated from a single-stage undercut cycloidal movable tooth transmission unit. Multi-stage closed undercut cycloidal movable tooth transmission unit and multi-stage nested closed undercut cycloidal movable tooth transmission unit composed of tooth transmission unit; undercut cycloidal movable tooth transmission in undercut cycloidal movable tooth transmission mechanism The meshing pair is composed of a movable tooth and an undercut cycloid raceway or a movable tooth groove; the tooth profile surface of the undercut cycloid raceway is a cycloidal tooth profile with a unilateral undercut feature.
本发明所使用的技术方案是:根切摆线活齿传动机构,包括由根切摆线轮、活齿和活 齿轮组成的单级根切摆线活齿传动单元,其特征在于:所述的根切摆线轮与活齿轮呈偏心布置,即根切摆线轮轴线与活齿轮轴线平行且两轴线之间的距离为偏心距;根切摆线轮与活齿轮之间有一圈关于活齿轮轴线均匀分布的活齿,每个活齿同时与根切摆线轮和活齿轮啮合,分别构成两种根切摆线活齿传动啮合副;一种根切摆线活齿传动啮合副由根切摆线轮上的根切摆线滚道和活齿构成,另一种根切摆线活齿传动啮合副由活齿轮上的活齿槽和活齿构成;根切摆线滚道为带有用于与活齿啮合的、具有单侧根切特征的摆线齿廓;活齿槽用于与活齿啮合。The technical scheme used in the present invention is: an undercut cycloidal movable tooth transmission mechanism, including a single-stage undercut cycloidal movable tooth transmission unit composed of an undercut cycloidal wheel, movable teeth and movable gears, characterized in that: The undercut cycloidal wheel and the movable gear are eccentrically arranged, that is, the axis of the undercut cycloidal wheel is parallel to the axis of the movable gear and the distance between the two axes is the eccentric distance; there is a circle of the movable gear between the undercut cycloidal wheel and the movable gear. The movable teeth evenly distributed on the gear axis, each movable tooth meshes with the undercut cycloidal wheel and the movable gear, respectively, forming two undercut cycloidal movable teeth transmission meshing pairs; one undercut cycloidal movable teeth transmission meshing pair is composed of The undercut cycloidal raceway on the undercut cycloidal wheel is composed of movable teeth. Another undercut cycloidal movable tooth transmission meshing pair is composed of movable tooth grooves and movable teeth on the movable gear; the undercut cycloidal raceway is It has a cycloidal tooth profile with a unilateral undercut feature for meshing with movable teeth; the movable tooth groove is used for meshing with movable teeth.
进一步的,根切摆线活齿传动机构,包括多级封闭式根切摆线活齿传动单元,其特征在于:多级封闭式根切摆线活齿传动单元由多个单级根切摆线活齿传动单元并联组成。Further, the undercut cycloidal movable tooth transmission mechanism includes a multi-stage closed undercut cycloidal movable tooth transmission unit, which is characterized in that: the multi-stage closed undercut cycloidal movable tooth transmission unit consists of a plurality of single-stage undercut oscillating teeth. Line movable gear transmission units are composed in parallel.
进一步的,多级封闭式根切摆线活齿传动单元包括由左侧传动轮、左侧活齿、中间传动轮、右侧活齿和右侧传动轮组成的双级封闭式根切摆线活齿传动单元,其特征在于:所述的左侧传动轮右侧有左侧活齿啮合副;中间传动轮左侧有左侧活齿啮合副,中间传动轮右侧有右侧活齿啮合副;右侧传动轮左侧有右侧活齿啮合副;一圈沿圆周均匀分布的左侧活齿全部同时与左侧传动轮和中间传动轮上的左侧活齿啮合副啮合;一圈沿圆周均匀分布的右侧活齿全部同时与右侧传动轮和中间传动轮上的右侧活齿啮合副啮合;中间传动轮轴线与左侧传动轮轴线平行且两个轴线不重合;右侧传动轮与左侧传动轮同轴线;两个左侧活齿啮合副中的一个为根切摆线活齿传动啮合副即根切摆线滚道时,另一个就是与左侧活齿数相同的均布活齿槽;两个右侧活齿啮合副中的一个为根切摆线活齿传动啮合副即根切摆线滚道时,另一个就是与右侧活齿数相同的均布活齿槽。Further, the multi-stage closed undercut cycloid movable tooth transmission unit includes a two-stage closed undercut cycloid composed of a left transmission wheel, a left movable tooth, a middle transmission wheel, a right movable tooth and a right transmission wheel. The movable tooth transmission unit is characterized in that: the left side of the left transmission wheel has a left side movable tooth meshing pair; the left side of the middle transmission wheel has a left side movable tooth meshing pair, and the right side of the middle transmission wheel has a right movable tooth meshing pair Pair; the left side of the right transmission wheel has a right movable tooth meshing pair; a circle of left movable teeth evenly distributed along the circumference meshes with the left movable tooth meshing pair on the left transmission wheel and the middle transmission wheel at the same time; one circle The right movable teeth evenly distributed along the circumference all mesh with the right movable tooth meshing pairs on the right transmission wheel and the middle transmission wheel at the same time; the axis of the middle transmission wheel is parallel to the axis of the left transmission wheel and the two axes do not coincide; the right side The driving wheel is coaxial with the left driving wheel; one of the two left movable teeth meshing pairs is the undercut cycloidal movable tooth transmission meshing pair, that is, when the undercut cycloidal raceway, the other is the same as the left side movable teeth When one of the two right-side movable teeth meshing pair is the undercut cycloidal movable tooth transmission meshing pair, that is, the undercut cycloidal raceway, the other is the uniformly distributed movable tooth with the same number of movable teeth on the right side. Cogging.
进一步的,根切摆线活齿传动机构,包括多级嵌套封闭式根切摆线活齿传动单元,其特征在于:多级嵌套封闭式根切摆线活齿传动单元由多个单级根切摆线活齿传动单元通过内外嵌套的方式并联组成。Further, the undercut cycloidal movable tooth transmission mechanism includes a multi-stage nested closed type undercut cycloidal movable tooth transmission unit, which is characterized in that: the multi-level nested closed type undercut cycloidal movable tooth transmission unit consists of a plurality of single The multi-stage undercut cycloidal movable tooth drive unit is composed in parallel by means of internal and external nesting.
进一步的,多级嵌套封闭式根切摆线活齿传动单元包括由内圈传动轮、内圈活齿、中 间传动轮、外圈活齿和外圈传动轮组成的双级嵌套封闭式根切摆线活齿传动单元,其特征在于:所述的内圈传动轮右侧有内圈活齿啮合副;中间传动轮左端面内侧有内圈活齿啮合副、外侧有外圈活齿啮合副;外圈传动轮右侧有外圈活齿啮合副;一圈沿圆周均匀分布的内圈活齿全部同时与内圈传动轮和中间传动轮上的内圈活齿啮合副啮合;一圈沿圆周均匀分布的外圈活齿全部同时与外圈传动轮和中间传动轮上的外圈活齿啮合副啮合;中间传动轮轴线与内圈传动轮轴线平行且两个轴线不重合;外圈传动轮与内圈传动轮同轴线;两个内圈活齿啮合副中的一个为根切摆线活齿传动啮合副即根切摆线滚道时,另一个就是与内圈活齿数相同的均布活齿槽;两个外圈活齿啮合副中的一个为根切摆线活齿传动啮合副即根切摆线滚道时,另一个就是与外圈活齿数相同的均布活齿槽。Further, the multi-stage nested closed type undercut cycloid movable tooth transmission unit includes a two-stage nested closed type consisting of an inner ring transmission wheel, an inner ring movable tooth, an intermediate transmission wheel, an outer ring movable tooth and an outer ring transmission wheel. The undercut cycloid movable tooth transmission unit is characterized in that: the inner ring movable tooth meshing pair is arranged on the right side of the inner ring transmission wheel; the inner ring movable tooth meshing pair is arranged on the inner side of the left end surface of the middle transmission wheel, and the outer ring movable tooth is arranged on the outer side Meshing pair; there is an outer ring movable tooth meshing pair on the right side of the outer ring transmission wheel; a ring of inner ring movable teeth evenly distributed along the circumference meshes with the inner ring movable tooth meshing pair on the inner ring transmission wheel and the intermediate transmission wheel at the same time; The outer ring movable teeth evenly distributed along the circumference of the ring all mesh with the outer ring movable teeth on the outer ring transmission wheel and the intermediate transmission wheel at the same time; the axis of the intermediate transmission wheel is parallel to the axis of the inner ring transmission wheel and the two axes do not coincide; The drive wheel of the ring is coaxial with the drive wheel of the inner ring; one of the two inner ring movable teeth meshing pairs is the undercut cycloidal movable tooth transmission meshing pair, that is, when the undercut cycloidal raceway, the other is the number of movable teeth with the inner ring The same uniformly distributed movable tooth groove; when one of the two outer ring movable teeth meshing pairs is an undercut cycloidal movable tooth transmission meshing pair, that is, an undercut cycloidal raceway, the other is a uniform distribution with the same number of outer ring movable teeth Alveolar.
进一步的,根切摆线滚道的滚道中心线为啮合曲线;根切摆线滚道的表面为根切活齿啮合齿面;活齿的表面为活齿啮合齿面;活齿啮合齿面与根切活齿啮合齿面相互啮合,即为根切活齿传动啮合副;活齿啮合齿面的几何中心点在啮合曲线上,且根切活齿啮合齿面为活齿啮合齿面的几何中心点沿着啮合曲线运动一周后得到的活齿啮合齿面的运动轨迹包络面。Further, the center line of the raceway of the undercut cycloid raceway is the meshing curve; the surface of the undercut cycloid raceway is the meshing tooth surface of the undercut movable teeth; the surface of the movable tooth is the meshing tooth surface of the movable teeth; the meshing tooth of the movable teeth The meshing surface of the undercut movable tooth meshes with each other, which is the undercut movable tooth transmission meshing pair; the geometric center point of the movable tooth surface is on the meshing curve, and the undercut movable tooth meshing tooth surface is the movable tooth meshing tooth surface The envelope surface of the moving trajectory of the meshing tooth surface of the movable tooth obtained after the geometric center point of moving along the meshing curve for a week.
进一步的,根切摆线滚道波数为Z c个;根切摆线滚道的啮合曲线为内摆线或外摆线。 Further, the wave number of the undercut cycloid raceway is Z c ; the meshing curve of the undercut cycloid raceway is an inner cycloid or an outer cycloid.
进一步的,所述的活齿为旋转体,沿其轴线做任意切面,可得到平面内左右两条互相对称的母线,该母线为平面连续曲线,其上每一点到轴线的距离为D;活齿的数量为Z bFurther, the movable tooth is a rotating body, and an arbitrary section is made along its axis to obtain two mutually symmetrical generatrixes in the plane. The generatrix is a plane continuous curve, and the distance from each point on the axis to the axis is D; The number of teeth is Z b .
进一步的,所述的活齿槽曲面形状和与活齿啮合部分的活齿曲面完全相同,且活齿槽数量与活齿数量相同,为Z b个;Z b个活齿槽在活齿轮上关于活齿轮轴线均布,每个活齿槽轴线均与活齿轮轴线平行,且每个活齿槽轴线与活齿轮轴线的距离均为R。 Further, the shape of the movable tooth groove curved surface is exactly the same as the movable tooth curved surface of the movable tooth meshing part, and the number of movable tooth grooves is the same as the number of movable teeth, which is Z b ; Z b movable tooth grooves are on the movable gear Regarding the uniform distribution of the movable gear axes, each movable tooth slot axis is parallel to the movable gear axis, and the distance between each movable tooth slot axis and the movable gear axis is R.
进一步的,所述的根切摆线滚道的啮合曲线采用内摆线时,其滚道内侧齿廓发生了根切而外侧齿廓不根切;齿廓根切处倒钝或不倒钝;此时根切摆线滚道的啮合曲线C的平面直角坐标参数方程为:Further, when the meshing curve of the undercut cycloid raceway adopts an inner cycloid, the inner tooth profile of the raceway is undercut but the outer tooth profile is not undercut; the undercut of the tooth profile is blunt or not blunt ; At this time, the plane rectangular coordinate parameter equation of the meshing curve C of the undercut cycloid raceway is:
Figure PCTCN2021070226-appb-000001
Figure PCTCN2021070226-appb-000001
以上各式中,R-活齿槽分布圆半径,即活齿槽轴心到活齿轮轴心的距离;A-根切摆线轮与活齿轮的偏心距,即根切摆线轮轴线与活齿轮轴线之间的距离;Z c-根切摆线滚道的波数。 In the above formulas, R- the radius of the movable tooth groove distribution circle, that is, the distance from the axis of the movable tooth groove to the axis of the movable gear; A- the eccentric distance between the undercut cycloidal gear and the movable gear, that is, the undercut cycloidal axis and The distance between the axes of the movable gears; Z c -the wave number of the undercut cycloid raceway.
进一步的,所述的根切摆线滚道的啮合曲线采用内摆线时,其滚道内侧齿廓发生了根切而外侧齿廓不根切;齿廓根切处倒钝或不倒钝;此时根切摆线滚道的啮合曲线C的平面直角坐标参数方程为:Further, when the meshing curve of the undercut cycloid raceway adopts an inner cycloid, the inner tooth profile of the raceway is undercut but the outer tooth profile is not undercut; the undercut of the tooth profile is blunt or not blunt ; At this time, the plane rectangular coordinate parameter equation of the meshing curve C of the undercut cycloid raceway is:
Figure PCTCN2021070226-appb-000002
Figure PCTCN2021070226-appb-000002
以上各式中,R-活齿槽分布圆半径,即活齿槽轴心到活齿轮轴心的距离;A-根切摆线轮与活齿轮的偏心距,即根切摆线轮轴线与活齿轮轴线之间的距离;Z c-根切摆线滚道的波数。 In the above formulas, R- the radius of the movable tooth groove distribution circle, that is, the distance from the axis of the movable tooth groove to the axis of the movable gear; A- the eccentric distance between the undercut cycloidal gear and the movable gear, that is, the undercut cycloidal axis and The distance between the axes of the movable gears; Z c -the wave number of the undercut cycloid raceway.
进一步的,啮合曲线采用内摆线时,所述的根切摆线滚道的波数Z c与活齿个数Z b满足关系式:Z c=Z b+1。 Further, when the meshing curve adopts a hypocycloid, the wave number Z c of the undercut cycloid raceway and the number of movable teeth Z b satisfy the relationship: Z c =Z b +1.
进一步的,啮合曲线采用外摆线时,所述的根切摆线滚道的波数Z c与活齿个数Z b满足关系式:Z c=Z b-1。 Further, when the meshing curve adopts an outer cycloid, the wave number Z c of the undercut cycloid raceway and the number of movable teeth Z b satisfy the relationship: Z c =Z b -1.
进一步的,在集合D中,与根切摆线滚道啮合的那段母线对应的子集中的最大值D max满足可以使滚道发生根切的关系式: Further, in set D, the maximum value D max in the subset corresponding to the section of bus bar meshing with the undercut cycloid raceway satisfies the relational expression that can cause undercutting of the raceway:
D maxmin D maxmin
式中,ρ min-摆线曲率半径ρ的最小值。 In the formula, ρ min -the minimum value of the cycloidal curvature radius ρ.
进一步的,所述的摆线曲率半径的计算公式为:Further, the formula for calculating the radius of curvature of the cycloid is:
Figure PCTCN2021070226-appb-000003
Figure PCTCN2021070226-appb-000003
式中,x和y为啮合曲线在平面直角坐标系中的坐标值。In the formula, x and y are the coordinate values of the meshing curve in the plane rectangular coordinate system.
进一步的,双级封闭式根切摆线活齿传动单元有多种结构组合形式,其特征在于:采用象形法取象征意义,用符号S代表根切摆线滚道,用符号O表示活齿槽,S与对应的O连在一起即为一对活齿啮合副,再加上活齿,即构成一个单级根切摆线活齿传动单元,按照啮合副从左到右排列组合的布置形式,双级封闭式根切摆线活齿传动单元共有SOSO、SOOS、OSSO和OSOS四种传动结构。Further, the two-stage closed undercut cycloid movable tooth drive unit has a variety of structural combinations, which are characterized by the use of pictograms to take symbolic meaning, the symbol S represents the undercut cycloid raceway, and the symbol O represents movable teeth Slot, S and the corresponding O are connected together to form a pair of movable teeth meshing pairs, plus the movable teeth, constitute a single-stage undercut cycloid movable tooth transmission unit, arranged according to the meshing pairs arranged and combined from left to right The two-stage closed undercut cycloid movable tooth transmission unit has four transmission structures: SOSO, SOOS, OSSO and OSOS.
进一步的,双级嵌套封闭式根切摆线活齿传动单元有多种结构组合形式,其特征在于:采用象形法取象征意义,用符号S代表根切摆线滚道,用符号O表示活齿槽,S与对应的O连在一起即为一对活齿啮合副,再加上活齿,即构成一个单级根切摆线活齿传动单元,啮合副按照内圈从左到右再到外圈从右到左的顺序,根据排列组合,双级嵌套封闭式根切摆线活齿传动单元共有SOSO、SOOS、OSSO和OSOS四种传动结构。Furthermore, the two-stage nested closed-type undercut cycloid movable tooth drive unit has a variety of structural combinations, which are characterized in that the symbolic meaning is taken by the pictograph method, and the symbol S represents the undercut cycloid raceway, and the symbol O represents The movable tooth slot, S and the corresponding O are connected together to form a pair of movable tooth meshing pairs, plus the movable teeth, constitute a single-stage undercut cycloid movable tooth transmission unit, the meshing pairs follow the inner ring from left to right Then to the order of the outer ring from right to left, according to the arrangement and combination, the two-stage nested closed undercut cycloid movable tooth transmission unit has four transmission structures: SOSO, SOOS, OSSO and OSOS.
进一步的,在SOSO、SOOS、OSSO和OSOS四种传动结构中,两个根切摆线滚道均同时采用根切内摆线滚道。Furthermore, in the four transmission structures of SOSO, SOOS, OSSO and OSOS, both undercut cycloid raceways simultaneously adopt undercut cycloid raceways.
进一步的,在SOSO、SOOS、OSSO和OSOS四种传动结构中,两个根切摆线滚道均同时采用根切外摆线滚道。Furthermore, in the four transmission structures of SOSO, SOOS, OSSO and OSOS, both undercut cycloid raceways simultaneously adopt undercut outer cycloid raceways.
进一步的,在SOSO、SOOS、OSSO和OSOS四种传动结构中,两个根切摆线滚道中,任选一个采用根切内摆线滚道,剩下的一个采用根切外摆线滚道。Furthermore, in the four transmission structures of SOSO, SOOS, OSSO and OSOS, one of the two undercut cycloid raceways can choose one to adopt an undercut inner cycloid raceway, and the remaining one adopts an undercut outer cycloid raceway. .
由于本发明采用了上述技术方案,本发明具有以下优点:(1)同尺寸情况下,相比于传统摆线活齿减速单元,本单元具备更多的活齿数目或更大的活齿尺寸,从而具备更大的减速比和更大的承载力;(2)局部根切不影响整体传动的精确性和连续性,且所有活齿参与啮合传力,抗冲击能力强;(3)结构简单紧凑,便于加工制造及装配。Because the present invention adopts the above technical solution, the present invention has the following advantages: (1) Compared with the traditional cycloid movable teeth reduction unit, this unit has more movable teeth or larger movable teeth size under the same size. , So as to have a greater reduction ratio and greater bearing capacity; (2) The local undercut does not affect the accuracy and continuity of the overall transmission, and all movable teeth participate in the meshing force transmission, which has strong impact resistance; (3) Structure Simple and compact, easy to manufacture and assemble.
附图说明Description of the drawings
图1为本发明实施例一整体装配结构的剖视图。Fig. 1 is a cross-sectional view of an overall assembly structure according to an embodiment of the present invention.
图2、图3为本发明实施例一的整体结构分解示意图。Fig. 2 and Fig. 3 are exploded schematic diagrams of the overall structure of Embodiment 1 of the present invention.
图4为本发明实施例一的整体装配结构示意图。Figure 4 is a schematic diagram of the overall assembly structure of the first embodiment of the present invention.
图5、图6为本发明实施例一的整体装配体的平面全剖示意图。Fig. 5 and Fig. 6 are a schematic plan view of the whole assembly according to the first embodiment of the present invention.
图7为本发明实施例一的根切摆线轮坐标系设置示意图。Fig. 7 is a schematic diagram of setting up an undercut cycloid coordinate system according to the first embodiment of the present invention.
图8为本发明实施例一的活齿坐标系设置示意图。Fig. 8 is a schematic diagram of the setting of a movable tooth coordinate system according to the first embodiment of the present invention.
图9为本发明实施例一的活齿轮坐标系设置示意图。Fig. 9 is a schematic diagram of the setting of a movable gear coordinate system according to the first embodiment of the present invention.
图10为本发明实施例一的内摆线柱面空间微分截线示意图。Fig. 10 is a schematic diagram of a differential section of a hypocycloid cylinder space according to the first embodiment of the present invention.
图11、图12为本发明实施例一的根切内摆线齿廓生成过程示意图。11 and 12 are schematic diagrams of the generation process of the undercut hypocycloid tooth profile in the first embodiment of the present invention.
图13为本发明实施例一的根切齿廓的根切处局部放大示意图。Fig. 13 is a partial enlarged schematic view of the undercut of the tooth profile of the undercut in the first embodiment of the present invention.
图14为本发明实施例二整体装配结构的剖视图。Figure 14 is a cross-sectional view of the overall assembly structure of the second embodiment of the present invention.
图15、图16为本发明实施例二的整体结构分解示意图。Figures 15 and 16 are schematic exploded views of the overall structure of the second embodiment of the present invention.
图17为本发明实施例二的整体装配结构示意图。Figure 17 is a schematic diagram of the overall assembly structure of the second embodiment of the present invention.
图18、图19为本发明实施例二的整体装配体的平面全剖示意图。Fig. 18 and Fig. 19 are a schematic plan view of the whole assembly according to the second embodiment of the present invention.
图20为本发明实施例二的根切摆线轮坐标系设置示意图。Fig. 20 is a schematic diagram of the setting of the undercut cycloid coordinate system according to the second embodiment of the present invention.
图21为本发明实施例二的活齿坐标系设置示意图。Fig. 21 is a schematic diagram of the setting of a movable tooth coordinate system according to the second embodiment of the present invention.
图22为本发明实施例二的活齿轮坐标系设置示意图。Fig. 22 is a schematic diagram of the setting of a movable gear coordinate system according to the second embodiment of the present invention.
图23为本发明实施例二的外摆线柱面空间微分截线示意图。FIG. 23 is a schematic diagram of the differential section of the epicycloid cylindrical space according to the second embodiment of the present invention.
图24、图25为本发明实施例二的根切外摆线齿廓生成过程示意图。Figures 24 and 25 are schematic diagrams of the generation process of the undercut epicycloid tooth profile according to the second embodiment of the present invention.
图26为本发明实施例二的根切齿廓的根切处局部放大示意图。Fig. 26 is a partial enlarged schematic view of the undercut of the tooth profile of the undercut in the second embodiment of the present invention.
图27、28为本发明根切齿廓的生成原理示意图。Figures 27 and 28 are schematic diagrams of the generation principle of the undercut tooth profile of the present invention.
图29、30为本发明实施例三的整体结构分解示意图。29 and 30 are exploded schematic diagrams of the overall structure of the third embodiment of the present invention.
图31、32为本发明实施例四的整体结构分解示意图。31 and 32 are exploded schematic diagrams of the overall structure of the fourth embodiment of the present invention.
图33为本发明实施例五的整体结构示意图。FIG. 33 is a schematic diagram of the overall structure of Embodiment 5 of the present invention.
图34为本发明实施例五的整体结构分解示意图。FIG. 34 is an exploded schematic diagram of the overall structure of Embodiment 5 of the present invention.
图35为本发明实施例六的整体结构示意图。FIG. 35 is a schematic diagram of the overall structure of the sixth embodiment of the present invention.
图36为本发明实施例六的整体结构分解示意图。Fig. 36 is an exploded schematic diagram of the overall structure of the sixth embodiment of the present invention.
图37为本发明实施例七的整体结构示意图。FIG. 37 is a schematic diagram of the overall structure of Embodiment 7 of the present invention.
图38为本发明实施例七的整体结构分解示意图。FIG. 38 is an exploded schematic diagram of the overall structure of Embodiment 7 of the present invention.
图39为本发明实施例八的整体结构示意图。FIG. 39 is a schematic diagram of the overall structure of Embodiment 8 of the present invention.
图40为本发明实施例八的整体结构分解示意图。FIG. 40 is an exploded schematic diagram of the overall structure of the eighth embodiment of the present invention.
图41为本发明实施例九的整体结构示意图。FIG. 41 is a schematic diagram of the overall structure of Embodiment 9 of the present invention.
图42为本发明实施例九的整体结构分解示意图。FIG. 42 is an exploded schematic diagram of the overall structure of the ninth embodiment of the present invention.
附图标号:1-根切摆线轮;2-活齿;3-活齿轮;1001-根切摆线滚道;3001-活齿槽;4-左侧传动轮;5-左侧活齿;6-中间传动轮;7-右侧活齿;8-右侧传动轮;9-内圈传动轮;10-内圈活齿;11-中间传动轮;12-外圈活齿;13-外圈传动轮;14-输入轴;15-圆锥滚子轴承内圈;16-第一密封圈;17-圆锥滚子;18-第一交叉滚子轴承内圈;19-等速输出轴;20-第二密封圈;21-第一交叉滚子;22-圆柱头螺钉;23-第一交叉滚子轴承外圈;24-减磨套;25-浮动传动轮;26-固定传动轮;27-钢球活齿;28-紧定螺钉;29-塞子;30-第一柱销;31-第二交叉滚子;32-第二交叉滚子轴承内圈;33-第二垫块;34-第一垫块;35-第二柱销;36-保持架;37-输入轴;38-圆锥滚子轴承内圈;39-第一密封圈;40-圆锥滚子;41-第一交叉滚子轴承内圈;42-等速输出轴;43-第二密封圈;44-第一交叉滚子;45-圆柱头螺钉;46-第一交叉滚子轴承外圈;47-减磨套;48-根切摆线轮;49-针轮;50-滚针活齿;51-紧定螺钉;52-塞子;53-塞子销;54-第一垫块;55-第二交叉滚子;56-第二交叉滚子轴承内圈;57-保持架;58-第二垫块;59-定位销;60-输入轴;61-角接触球滚子;62-第一保持架;63-第一密封圈;64-后侧传动轮;65-第二保持架;66-圆柱滚子;67-后侧钢球活齿;68-过渡传动轮;69-前侧钢球活齿;70-交叉滚子轴承外圈;71-紧定螺钉;72-塞子;73-第一柱销;74-交叉滚子;75-第二密封圈;76-前侧传动轮;77-垫块;78-圆柱头螺钉;79-第二柱销;80-输入轴;81-角接触球滚子;82-第一 保持架;83-第一密封圈;84-后侧传动轮;85-第二保持架;86-圆柱滚子;87-后侧钢球活齿;88-过渡传动轮;89-前侧钢球活齿;90-交叉滚子轴承外圈;91-紧定螺钉;92-塞子;93-第一柱销;94-交叉滚子;95-第二密封圈;96-前侧传动轮;97-垫块;98-圆柱头螺钉;99-第二柱销;100-外侧传动轮;101-第一交叉滚子轴承外圈;102-第一交叉滚子;103-第一密封圈;104-内侧传动轮;105-圆锥滚子;106-保持架;107-圆锥滚子轴承内圈;108-第二交叉滚子;109-输入轴;110-第二交叉滚子轴承内圈;111-第二垫块;112-第二密封圈;113-内侧钢球活齿;114-第一垫块;115-外侧钢球活齿;116-壳体;117-圆柱头螺钉;118-定位销;119-过渡传动轮。Attached icon number: 1-undercut cycloidal wheel; 2- movable teeth; 3- movable gear; 1001- undercut cycloidal raceway; 3001- movable tooth groove; 4-left drive wheel; 5-left movable tooth 6-Middle transmission wheel; 7-Right side movable teeth; 8-Right side transmission wheel; 9-Inner ring transmission wheel; 10-Inner ring movable teeth; 11-Middle transmission wheel; 12-Outer ring movable teeth; 13- Outer ring drive wheel; 14-input shaft; 15-tapered roller bearing inner ring; 16-first sealing ring; 17-tapered roller; 18-first crossed roller bearing inner ring; 19-constant velocity output shaft; 20-Second sealing ring; 21-First cross roller; 22-Cylinder head screw; 23-First cross roller bearing outer ring; 24-Anti-friction sleeve; 25-Floating transmission wheel; 26-Fixed transmission wheel; 27-steel ball movable teeth; 28-set screw; 29-plug; 30-first pin; 31-second cross roller; 32-second cross roller bearing inner ring; 33-second spacer; 34-first block; 35-second pin; 36-cage; 37-input shaft; 38-tapered roller bearing inner ring; 39-first sealing ring; 40-tapered roller; 41-first Crossed roller bearing inner ring; 42- constant velocity output shaft; 43- second sealing ring; 44- first crossed roller; 45- cylinder head screw; 46- first crossed roller bearing outer ring; 47- reduced wear Sleeve; 48-undercut cycloid wheel; 49-pin wheel; 50-needle roller teeth; 51-set screw; 52-plug; 53-plug pin; 54-first spacer; 55-second cross roller 56-second cross roller bearing inner ring; 57-cage; 58-second pad; 59-positioning pin; 60-input shaft; 61-angular contact ball roller; 62-first cage; 63-first sealing ring; 64-rear side transmission wheel; 65-second cage; 66-cylindrical roller; 67-rear side steel ball movable tooth; 68-transition transmission wheel; 69-front side steel ball movable tooth 70-Cross roller bearing outer ring; 71-Set screw; 72-plug; 73-first pin; 74-cross roller; 75-second seal ring; 76-front drive wheel; 77-pad Block; 78-cylinder head screw; 79-second pin; 80-input shaft; 81-angular contact ball roller; 82-first cage; 83-first sealing ring; 84-rear transmission wheel; 85 -Second cage; 86-cylindrical roller; 87-rear side steel ball movable tooth; 88-transition drive wheel; 89-front side steel ball movable tooth; 90-cross roller bearing outer ring; 91-set screw 92-plug; 93-first pin; 94-cross roller; 95-second sealing ring; 96-front drive wheel; 97-pad block; 98-cylinder head screw; 99-second pin; 100-outer transmission wheel; 101-first crossed roller bearing outer ring; 102-first crossed roller; 103-first seal ring; 104-inner transmission wheel; 105-tapered roller; 106-cage; 107 -Tapered roller bearing inner ring; 108-second cross roller; 109-input shaft; 110-second Crossed roller bearing inner ring; 111-second spacer; 112-second sealing ring; 113-inner steel ball movable tooth; 114-first spacer; 115-outer steel ball movable tooth; 116-housing; 117 -Cylinder head screws; 118-Locating pin; 119-Transition drive wheel.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
实施例:一种单级根切摆线活齿传动单元,包括根切摆线轮、活齿、活齿轮,活齿轮上均布有一圈数量为Z b的活齿槽,每个活齿槽内装有一个与之无缝贴合的活齿;根切摆线轮上有一个波数为Z c的根切摆线滚道;根切摆线轮通过根切摆线滚道同时与所有活齿啮合,与活齿轮呈偏心布置,即根切摆线轮轴线与活齿轮轴线平行且两轴线距离为A;当根切摆线轮的啮合曲线采用内摆线时,活齿个数Z b与根切摆线滚道波数Z c满足关系式:Z c=Z b+1;当根切摆线轮的啮合曲线采用外摆线时,活齿个数Z b与根切摆线滚道波数Z c满足关系式:Z c=Z b-1。 Example: A single-stage undercut cycloidal movable tooth transmission unit, including an undercut cycloidal wheel, movable teeth, and movable gears. The movable gears are evenly distributed with a circle of movable tooth grooves with a number of Z b , and each movable tooth groove It is equipped with a movable tooth that seamlessly fits with it; there is an undercut cycloidal raceway with a wave number of Z c on the undercut cycloidal wheel; the undercut cycloidal wheel passes through the undercut cycloidal raceway at the same time with all movable teeth Mesh, eccentrically arranged with the movable gear, that is, the axis of the undercut cycloid is parallel to the axis of the movable gear and the distance between the two axes is A; when the meshing curve of the undercut cycloid adopts the hypocycloid, the number of movable teeth Z b is equal to The wave number Z c of the undercut cycloid raceway satisfies the relationship: Z c =Z b +1; when the meshing curve of the undercut cycloidal wheel adopts the outer cycloid, the number of movable teeth Z b and the wave number of the undercut cycloid raceway Z c satisfies the relationship: Z c =Z b -1.
根切摆线轮包括根切摆线滚道,根切摆线滚道为内摆线滚道时,内侧齿廓发生了一定程度的根切而外侧齿廓不根切;根切摆线滚道为外摆线滚道时,外侧齿廓发生了一定程度的根切而内侧齿廓不根切;特别的,齿廓根切处可以进行倒钝处理。根切内摆线滚道的啮合曲线C的平面直角坐标参数方程为:The undercut cycloidal wheel includes an undercut cycloidal raceway. When the undercut cycloidal raceway is an inner cycloidal raceway, a certain degree of undercut occurs on the inner tooth profile but the outer tooth profile does not undercut; the undercut cycloidal roll When the track is an epicycloid raceway, a certain degree of undercut occurs on the outer tooth profile but the inner tooth profile is not undercut; in particular, the undercut of the tooth profile can be blunt. The plane rectangular coordinate parameter equation of the meshing curve C of the undercut hypocycloid raceway is:
Figure PCTCN2021070226-appb-000004
Figure PCTCN2021070226-appb-000004
根切外摆线滚道的啮合曲线C的平面直角坐标参数方程为:The plane rectangular coordinate parameter equation of the meshing curve C of the undercut outer cycloid raceway is:
Figure PCTCN2021070226-appb-000005
Figure PCTCN2021070226-appb-000005
以上各式中,R-活齿槽分布圆半径,即活齿槽轴心到活齿轮轴心的距离;A-根切摆线轮与活齿轮的偏心距,即根切摆线轮轴线与活齿轮轴线之间的距离;Z c-根切摆线滚道的波数;活齿为旋转体,沿其轴线做任意切面,可得到平面内左右两条互相对称的母线,该母线为平面连续曲线。 In the above formulas, R- the radius of the movable tooth groove distribution circle, that is, the distance from the axis of the movable tooth groove to the axis of the movable gear; A- the eccentric distance between the undercut cycloidal gear and the movable gear, that is, the undercut cycloidal axis and The distance between the axis of the movable gear; Z c -the wave number of the undercut cycloid raceway; the movable tooth is a rotating body, and an arbitrary section is made along its axis, and two mutually symmetrical generatrixes in the plane can be obtained. The generatrix is a continuous plane curve.
活齿轮包括活齿槽,活齿槽曲面形状和与活齿啮合部分的活齿曲面完全相同,Z b个活齿槽在活齿轮上关于活齿轮中心均布,每个活齿槽轴线均与活齿轮轴线平行,且每个活齿槽轴线与活齿轮轴线的距离均为R。 The movable gear includes a movable tooth groove, the shape of the movable tooth groove surface and the movable tooth surface of the meshing part with the movable tooth are exactly the same, Z b movable tooth grooves are evenly distributed on the movable gear with respect to the center of the movable gear, and each movable tooth groove axis is aligned with The axes of the movable gears are parallel, and the distance between the axis of each movable tooth groove and the axis of the movable gear is R.
下面通过实施例,并结合附图,对本发明的技术方案作进一步具体的说明。In the following, the technical solution of the present invention will be further described in detail through the embodiments and in conjunction with the accompanying drawings.
图1至图13为本发明的优选实施例一,图14至图26为本发明的优选实施例二,在该两种实施例中,活齿采用已经标准化可批量采购的作为轴承滚珠的标准球体,即采用钢球活齿,则对应的活齿槽为球碗形,对应的根切摆线滚道为球形滚道,根切齿廓处可以选择不倒钝或者倒钝,不倒钝见图2或图15,倒钝见图7或图20;采用钢球作为活齿,便于加工制造,且整个传动单元的寿命可达到传统深沟球轴承的使用寿命。Figures 1 to 13 are the first preferred embodiment of the present invention, and Figures 14 to 26 are the preferred embodiment two of the present invention. In these two embodiments, the movable teeth are standardized and can be purchased in batches as the standard for bearing balls For the sphere, that adopts steel ball movable teeth, the corresponding movable tooth groove is bowl-shaped, and the corresponding undercut cycloid raceway is a spherical raceway. The undercut tooth profile can choose not to be blunt or blunt, not to be blunt. Figure 2 or Figure 15, inverted blunt see Figure 7 or Figure 20; the use of steel balls as movable teeth is convenient for processing and manufacturing, and the life of the entire transmission unit can reach the life of traditional deep groove ball bearings.
两种优选实施例的传动参数见表1:The transmission parameters of the two preferred embodiments are shown in Table 1:
表1 结构理论参数表Table 1 Structural theory parameter table
Figure PCTCN2021070226-appb-000006
Figure PCTCN2021070226-appb-000006
实施例一和二的活齿、根切内摆线滚道及活齿槽的形成原理如下:为便于说明,首先为各元件建立统一的坐标系。如图8所示,首先建立活齿坐标系,以活齿轴线为z轴,方向沿纸面向上,然后在z轴上任意设定一个原点o,通过原点o,引出沿纸面水平向右的坐标轴y,此时,坐标轴x通过原点o,且垂直纸面向外。设z轴小于零的部分为根切内摆线轮所在区域,其坐标系设定如图7所示;设z轴大于零的区域为活齿轮所在区域,其坐标系设定如图9所示。The forming principles of the movable teeth, the undercut hypocycloid raceway and the movable tooth grooves of the first and second embodiments are as follows: For the convenience of description, a unified coordinate system is first established for each element. As shown in Figure 8, first establish the movable tooth coordinate system, with the movable tooth axis as the z-axis, and the direction is along the paper surface. Then, an origin o is arbitrarily set on the z-axis, and the origin o is drawn to the right along the horizontal plane of the paper. The coordinate axis y of, at this time, the coordinate axis x passes through the origin o, and the vertical paper faces outward. Suppose the part where the z-axis is less than zero is the area where the undercut cycloid is located, and its coordinate system is set as shown in Figure 7; the area where the z-axis is greater than zero is the area where the movable gear is located, and its coordinate system is set as shown in Figure 9. Show.
如图8所示,在zoy平面内,有一段穿过y轴正半轴而不穿过z轴的任意连续曲线y=F(z),该曲线即为活齿母线。设a、b为任意正实数,则活齿是由曲线y=F(z)、z=-a、z=b和y=0四条线组成的封闭图形绕着z轴旋转一周形成的。当根切内摆线滚道的啮合曲线方程C确定时,则造成内侧内摆线齿廓根切的临界活齿截面半径为r 1与造成外侧内摆线齿廓根切的临界活齿截面半径为r 2随之确定,设z<0时,曲线y=F(z)的最大值为f max,则f max需满足关系式r 1<f max<r 2As shown in Figure 8, in the zoy plane, there is an arbitrary continuous curve y=F(z) that passes through the positive semi-axis of the y-axis but not the z-axis, and this curve is the generatrix of the movable teeth. Assuming that a and b are any positive real numbers, the movable tooth is formed by a closed figure composed of four lines of curve y=F(z), z=-a, z=b and y=0, which rotates around the z axis once. When the meshing curve equation C of the undercut hypocycloid raceway is determined, the critical movable tooth section radius that causes the inner cycloid tooth profile undercut is r 1 and the critical movable tooth section that causes the outer hypocycloid tooth profile undercut The radius r 2 is determined accordingly. When z<0, the maximum value of the curve y=F(z) is f max , then f max needs to satisfy the relationship r 1 <f max <r 2 .
如图7所示,在z轴负半轴,xoy平面下,有一根切内摆线轮,其上根切内摆线滚道是由下述原理形成的:由前述,图7与图8同坐标系;根切内摆线滚道的啮合曲线方程C在空间直角坐标系内表示为向z轴两侧无限延展的内摆线柱面。如图10所示,由微分思想,将前述z轴上的区间[-a,0]等分成n个微小的区间,n趋于无穷大,区间长度为dz,以每个区间的左端点为基准点,可以作出n个平行于xoy平面的截面∑,设第i个截面∑ i与内摆线柱面的交线为C i,与曲线y=F(z)交点的函数值为f i,则驱动圆心在C i上且半径为f i的圆沿着C i运动一整圈,运动轨迹上所有圆的包络线,即构成了截面∑ i处的根切内摆线滚道实际截面齿廓,如图11与图12所示。最后,将所有截面∑ i上的根切内摆线滚道实际截面齿廓在区间[-a,0]上做积分,即叠加在一起得到本发明所述的根切内摆线滚道。图13为根切齿廓的根切处局部放大示意图,可见根切齿廓u处齿廓与活齿不接触。 As shown in Figure 7, on the negative half axis of the z-axis, under the xoy plane, there is a cycloid wheel whose undercut cycloid raceway is formed by the following principle: from the foregoing, Figures 7 and 8 The same coordinate system; the meshing curve equation C of the undercut hypocycloid raceway is expressed in the space rectangular coordinate system as an infinitely extending hypocycloid cylinder on both sides of the z axis. As shown in Figure 10, the interval [-a, 0] on the z-axis is equally divided into n tiny intervals based on the idea of differentiation, n tends to infinity, and the interval length is dz, based on the left end of each interval. Point, n sections ∑ parallel to the xoy plane can be made , and the intersection of the i-th section ∑ i and the hypocycloid cylinder is C i , and the function value of the intersection point with the curve y=F(z) is f i , Then the circle with the center of the drive circle on C i and the radius f i moves one full circle along C i , and the envelope of all circles on the motion trajectory constitutes the actual section of the undercut hypocycloid raceway at the section ∑ i Tooth profile, as shown in Figure 11 and Figure 12. Finally, the actual cross-section tooth profile of the undercut hypocycloid raceway on all cross-sections Σ i is integrated on the interval [-a, 0], that is, superimposed together to obtain the undercut hypocycloid raceway according to the present invention. Figure 13 is a partial enlarged schematic diagram of the undercut of the undercut tooth profile. It can be seen that the tooth profile at the undercut tooth profile u is not in contact with the movable tooth.
如图9所示,在z轴正半轴,xoy平面上,有一活齿轮,其上活齿槽是由下述原理形 成的:由前述,图9与图8同坐标系;由微分思想,将前述z轴上的区间[0,b]等分成n个微小的区间,n趋于无穷大,区间长度为dz,以每个区间的右端点为基准点,可以作出n个平行于xoy平面的截面α,设第j个截面α j与曲线y=F(z)交点的函数值为f j,以截面α j的x=R处为圆心,作半径为f j的圆,即得截面α j处的活齿槽齿廓,接着,将所有截面α j上的活齿槽齿廓在区间[0,b]上做积分,即叠加在一起得到本发明所述的活齿槽。 As shown in Figure 9, on the positive half axis of the z-axis, on the xoy plane, there is a movable gear, on which the movable tooth groove is formed by the following principle: from the foregoing, the coordinate system of Figure 9 and Figure 8 is the same; from the idea of differentiation, Divide the interval [0, b] on the aforementioned z-axis into n tiny intervals, n tends to infinity, and the interval length is dz. Taking the right end of each interval as the reference point, n parallel to the xoy plane can be made Section α, suppose that the function value of the intersection point of the j-th section α j and the curve y=F(z) is f j , and take the x=R of the section α j as the center and make a circle with the radius f j to obtain the section α The movable tooth profile at j , then, all the movable tooth profiles on the cross-section α j are integrated on the interval [0, b], that is, the movable tooth profile of the present invention is obtained by superimposing them together.
本发明的活齿、根切外摆线滚道及活齿槽的形成原理如下:为便于说明,首先为各元件建立统一的坐标系。如图21所示,首先建立活齿坐标系,以活齿轴线为z轴,方向沿纸面向上,然后在z轴上任意设定一个原点o,通过原点o,引出沿纸面水平向右的坐标轴y,此时,坐标轴x通过原点o,且垂直纸面向外。设z轴小于零的部分为根切外摆线轮所在区域,其坐标系设定如图20所示;设z轴大于零的区域为活齿轮所在区域,其坐标系设定如图22所示。The forming principle of the movable tooth, undercut epicycloid raceway and movable tooth groove of the present invention is as follows: For the convenience of description, a unified coordinate system is first established for each element. As shown in Figure 21, first establish the movable tooth coordinate system, with the movable tooth axis as the z-axis, and the direction is along the paper surface. Then, an origin o is arbitrarily set on the z-axis, and the origin o is drawn to the right along the horizontal plane of the paper. The coordinate axis y of, at this time, the coordinate axis x passes through the origin o, and the vertical paper faces outward. Suppose the part where the z-axis is less than zero is the area where the undercut epicycloid is located, and its coordinate system is set as shown in Figure 20; the area where the z-axis is greater than zero is the area where the movable gear is located, and its coordinate system is set as shown in Figure 22. Show.
如图21所示,在zoy平面内,有一段穿过y轴正半轴而不穿过z轴的任意连续曲线y=F(z),该曲线即为活齿母线。设a、b为任意正实数,则活齿是由曲线y=F(z)、z=-a、z=b和y=0四条线组成的封闭图形绕着z轴旋转一周形成的。当根切外摆线滚道的啮合曲线方程C确定时,则造成外侧外摆线齿廓根切的临界活齿截面半径为r 1与造成内侧外摆线齿廓根切的临界活齿截面半径为r 2随之确定,设z<0时,曲线y=F(z)的最大值为f max,则f max需满足关系式r 1<f max<r 2As shown in Figure 21, in the zoy plane, there is an arbitrary continuous curve y=F(z) that passes through the positive semi-axis of the y-axis but not the z-axis, and this curve is the generatrix of the movable teeth. Assuming that a and b are any positive real numbers, the movable tooth is formed by a closed figure composed of four lines of curve y=F(z), z=-a, z=b and y=0, which rotates around the z axis once. When the meshing curve equation C of the undercut outer cycloid raceway is determined, the critical movable tooth section radius that causes the outer outer cycloid tooth profile undercut is r 1 and the critical movable tooth section that causes the inner outer cycloid tooth profile undercut The radius r 2 is determined accordingly. When z<0, the maximum value of the curve y=F(z) is f max , then f max needs to satisfy the relationship r 1 <f max <r 2 .
如图20所示,在z轴负半轴,xoy平面下,有一根切外摆线轮,其上根切外摆线滚道是由下述原理形成的:由前述,图20与图21同坐标系;根切外摆线滚道的啮合曲线方程C在空间直角坐标系内表示为向z轴两侧无限延展的外摆线柱面。如图23所示,由微分思想,将前述z轴上的区间[-a,0]等分成n个微小的区间,n趋于无穷大,区间长度为dz,以每个区间的左端点为基准点,可以作出n个平行于xoy平面的截面∑,设第i个截面∑ i与外摆线柱面的交线为C i,与曲线y=F(z)交点的函数值为f i,则驱动圆心在C i上且半径为f i的圆沿着 C i运动一整圈,运动轨迹上所有圆的包络线,即构成了截面∑ i处的根切外摆线滚道实际截面齿廓,如图24与图25所示。最后,将所有截面∑ i上的根切外摆线滚道实际截面齿廓在区间[-a,0]上做积分,即叠加在一起得到本发明所述的根切外摆线滚道。图26为根切齿廓的根切处局部放大示意图,可见根切齿廓u处齿廓与活齿不接触。 As shown in Figure 20, on the negative half axis of the z-axis, under the xoy plane, there is a cut-out cycloidal wheel, and its upper undercut cycloidal raceway is formed by the following principle: from the foregoing, Figures 20 and 21 Same coordinate system; the meshing curve equation C of the undercut epicycloid raceway is expressed in the space rectangular coordinate system as an epicycloid cylinder that extends infinitely to both sides of the z-axis. As shown in Figure 23, the interval [-a, 0] on the z-axis is equally divided into n tiny intervals based on the idea of differentiation, n tends to infinity, and the interval length is dz, based on the left end of each interval. Point, n sections ∑ parallel to the xoy plane can be made, and the intersection line of the i-th section ∑ i and the epicycloid cylinder is C i , and the function value of the intersection point with the curve y=F(z) is f i , Then the circle with the center of the driving circle on C i and the radius of f i moves one full circle along C i , and the envelope of all circles on the motion trajectory constitutes the actual cross-section of the undercut epicycloid raceway at the section ∑ i Tooth profile, as shown in Figure 24 and Figure 25. Finally, the actual cross-section tooth profiles of all undercut epicycloid raceways on the cross-section Σ i are integrated on the interval [-a, 0], that is, they are superimposed to obtain the undercut epicycloid raceway according to the present invention. Figure 26 is a partial enlarged schematic diagram of the undercut of the undercut tooth profile. It can be seen that the tooth profile at the undercut tooth profile u is not in contact with the movable tooth.
如图22所示,在z轴正半轴,xoy平面上,有一活齿轮,其上活齿槽是由下述原理形成的:由前述,图22与图21同坐标系;由微分思想,将前述z轴上的区间[0,b]等分成n个微小的区间,n趋于无穷大,区间长度为dz,以每个区间的右端点为基准点,可以作出n个平行于xoy平面的截面α,设第j个截面α j与曲线y=F(z)交点的函数值为f j,以截面α j的x=R处为圆心,作半径为f j的圆,即得截面α j处的活齿槽齿廓,接着,将所有截面α j上的活齿槽齿廓在区间[0,b]上做积分,即叠加在一起得到本发明所述的活齿槽。 As shown in Figure 22, on the positive half axis of the z-axis, on the xoy plane, there is a movable gear, on which the movable tooth groove is formed by the following principle: from the foregoing, the coordinate system of Figure 22 and Figure 21 is the same; by the idea of differentiation, Divide the interval [0, b] on the z-axis into n tiny intervals, n tends to infinity, and the interval length is dz. Taking the right end of each interval as the reference point, n parallel to the xoy plane can be made Section α, suppose that the function value of the intersection point of the j-th section α j and the curve y=F(z) is f j , and take the x=R of the section α j as the center and make a circle with the radius f j to obtain the section α The movable tooth profile at j , then, all the movable tooth profiles on the cross-section α j are integrated on the interval [0, b], that is, the movable tooth profile of the present invention is obtained by superimposing them together.
特别地,在实际的传动单元中,根据上述原理得到的根切摆线轮和活齿轮,还要分别沿着z轴负向和z轴正向切除一小部分材料,以避免两轮的啮合端端面重合而在传动过程中造成摩擦损耗,从图4和图17即可看出,左侧根切摆线轮和右侧活齿轮之间有缝隙。Especially, in the actual transmission unit, the undercut cycloidal gear and the movable gear obtained according to the above principle also need to cut a small part of the material along the negative direction of the z-axis and the positive direction of the z-axis to avoid the meshing of the two wheels. The overlap of the end faces causes friction loss during the transmission process. As can be seen from Figure 4 and Figure 17, there is a gap between the left undercut cycloid and the right movable gear.
实施例一和二的齿廓生成原理可进一步参照图27和图28,由图27可以看出整个根切摆线滚道啮合齿面的根切情况,由图28将图27局部放大,可知,圆心在C i上且半径为f i的圆沿着C i运动时,其包络面实际上是时刻与啮合曲线方程垂直的直径的扫描轨迹端点包络线;区域①中,圆心在ab段运动,未发生根切;区域②中,圆心在bc段运动,发生了根切;区域③中,圆心在cd段运动,未发生根切;在发生根切的区域②中,区域A只被扫略了一次;区域B被扫略了两次;区域C被扫略了三次。故区域B和区域C中材料被完全切除,发生了根切。 For the tooth profile generation principle of the first and second embodiments, please refer to Figure 27 and Figure 28. Figure 27 shows the undercut condition of the meshing tooth surface of the entire undercut cycloid raceway. Figure 27 is partially enlarged from Figure 28, and it can be seen that , When a circle with its center on C i and a radius of f i moves along C i , its envelope surface is actually the envelope of the end point of the scanning trajectory of the diameter perpendicular to the meshing curve equation at all times; in area ①, the center of the circle is at ab Segment movement, no undercut occurred; in area ②, the center of the circle moved at segment bc, and undercut occurred; in area ③, the center of the circle moved at segment cd, no undercut occurred; in area ②, area A only Was scanned once; area B was scanned twice; area C was scanned three times. Therefore, the material in area B and area C is completely removed, and undercut has occurred.
实施例一和二的传动原理如下:当固定活齿轮时,驱动根切摆线轮轴线绕着活齿轮轴线公转,由于所有活齿所在的活齿槽在活齿轮中的相对位置是不变的,而所有活齿又都与根切摆线轮的根切摆线滚道啮合,故活齿会通过根切摆线滚道驱动根切摆线轮绕着自身轴线自 转,即,根切摆线轮轴线绕着活齿轮轴线公转的同时,会绕着自身的轴线自转,其传动规律为,根切摆线轮轴线每绕着活齿轮轴线公转一圈,则刚好沿着自身轴线自转过一个活齿,将根切摆线轮的自转速度输出,即达到减速目的;同样的,当固定根切摆线轮时,驱动活齿轮轴线绕着根切摆线轮轴线公转,由于所有活齿必须沿着根切摆线滚道移动,而所有活齿所在的活齿槽相对于活齿轮的位置又是不变的,故活齿会通过活齿槽驱动活齿轮绕着自身轴线自转,即,活齿轮轴线绕着根切摆线轮轴线公转的同时,会绕着自身的轴线自转,其传动规律为,活齿轮轴线每绕着根切摆线轮轴线公转一圈,则刚好沿着自身轴线自转过一个根切摆线滚道波数,将活齿轮的自转速度输出,即达到减速目的。The transmission principle of the first and second embodiments is as follows: when the movable gear is fixed, the axis of the undercut cycloid is driven to revolve around the axis of the movable gear, because the relative position of the movable tooth groove in the movable gear is constant. , And all the movable teeth mesh with the undercut cycloidal raceway of the undercut cycloidal wheel, so the movable teeth will drive the undercut cycloidal wheel to rotate around its own axis through the undercut cycloidal raceway, that is, the undercut pendulum While the line wheel axis revolves around the axis of the movable gear, it will rotate around its own axis. The transmission law is that every time the undercut cycloid axis revolves around the axis of the movable gear, it just rotates along its own axis. Movable teeth output the rotation speed of the undercut cycloidal wheel to achieve the purpose of deceleration. Similarly, when the undercut cycloidal wheel is fixed, the axis of the movable gear is driven to revolve around the axis of the undercut cycloidal wheel, because all movable teeth must Move along the undercut cycloidal raceway, and the position of the movable tooth groove where all the movable teeth are located is unchanged relative to the movable gear, so the movable tooth will drive the movable gear to rotate around its own axis through the movable tooth groove, that is, While the axis of the movable gear revolves around the axis of the undercut cycloidal wheel, it will rotate around its own axis. The transmission law is that every time the axis of the movable gear revolves around the axis of the undercut cycloidal wheel, it just follows its own axis. After rotating through an undercut cycloid raceway wave number, the rotation speed of the movable gear is output, that is, the purpose of deceleration is achieved.
特别的,对于采用根切内摆线滚道的根切摆线轮,根切摆线轮与活齿轮是偏心布置的,当偏心方向的一部活齿是通过根切内摆线滚道外侧传力时,偏心方向反方向的另一侧活齿就是通过根切内摆线滚道内侧传力的,从而达到了全齿啮合传力的效果。虽然根切内摆线滚道内侧两个相邻的波之间有根切,但除了根切的部分,其滚道传动是完全精确的;假设某一瞬间,一个活齿处于两个波之间的根切处,而此时这个活齿又需要根切内摆线滚道内侧传力,很明显,由于活齿与根切内摆线滚道内侧不接触,无法传力,但该活齿在这个瞬时与根切内摆线滚道外侧接触,根切内摆线滚道外侧会将该活齿带离根切处,同时,即使该活齿未贡献作用传力,但其相邻的两活齿,都在根切内摆线滚道内侧的非根切处,是精准传动受力的。由于根切处只占了很小的一个圆心角,故上述情况的单个齿非传力时间非常短,且随着不同的齿数条件,在本发明所述的传动单元里,同时出现上述的瞬态过程的齿数要么没有,要么非常少,且由此带来的传动波动很小,可忽略不计。Particularly, for the undercut cycloidal wheel adopting the undercut cycloid raceway, the undercut cycloidal wheel and the movable gear are arranged eccentrically, when a movable tooth in the eccentric direction is transmitted through the outer side of the undercut cycloid raceway. When the force is applied, the movable tooth on the opposite side of the eccentric direction transmits the force through the inner side of the undercut hypocycloid raceway, so as to achieve the effect of full-tooth meshing force transmission. Although there is an undercut between two adjacent waves on the inner side of the undercut hypocycloid raceway, except for the undercut part, the raceway transmission is completely accurate; suppose that at a certain moment, a movable tooth is between two waves. At this time, the movable tooth needs to transmit the force inside the undercut cycloid raceway. Obviously, because the movable tooth does not contact the inside of the undercut cycloid raceway, the force cannot be transmitted, but it should work. The tooth is in contact with the outside of the undercut hypocycloid raceway at this instant, and the outside of the undercut hypocycloid raceway will take the movable tooth away from the undercut. At the same time, even if the movable tooth does not contribute to the transmission force, it is adjacent Both of the two movable teeth are located in the non-undercut part inside the cycloid raceway of the undercut, which is precisely transmitted and stressed. Because the undercut occupies only a small central angle, the non-transmission time of a single tooth in the above situation is very short, and with different tooth number conditions, in the transmission unit of the present invention, the above transient occurs at the same time. The number of teeth in the state process is either no or very few, and the resulting transmission fluctuation is very small and can be ignored.
特别的,对于采用根切外摆线滚道的根切摆线轮,根切摆线轮与活齿轮是偏心布置的,当偏心方向的一部活齿是通过根切外摆线滚道内侧传力时,偏心方向反方向的另一侧活齿就是通过根切外摆线滚道外侧传力的,从而达到了全齿啮合传力的效果。虽然根切外摆线滚道外侧两个相邻的波之间有根切,但除了根切的部分,其滚道传动是完全精确的;假设某一瞬 间,一个活齿处于两个波之间的根切处,而此时这个活齿又需要根切外摆线滚道外侧传力,很明显,由于活齿与根切外摆线滚道外侧不接触,无法传力,但该活齿在这个瞬时与根切外摆线滚道内侧接触,根切外摆线滚道内侧会将该活齿带离根切处,同时,即使该活齿未贡献作用传力,但其相邻的两活齿,都在根切外摆线滚道外侧的非根切处,是精准传动受力的。由于根切处只占了很小的一个圆心角,故上述情况的单个齿非传力时间非常短,且随着不同的齿数条件,在本发明所述的传动单元里,同时出现上述的瞬态过程的齿数要么没有,要么非常少,且由此带来的传动波动很小,可忽略不计。Especially, for the undercut cycloidal wheel adopting the undercut outer cycloidal raceway, the undercut cycloidal wheel and the movable gear are arranged eccentrically, when a movable tooth in the eccentric direction is transmitted through the inner side of the undercut outer cycloidal raceway. When the force is applied, the movable tooth on the opposite side of the eccentric direction transmits the force through the outside of the undercut epicycloid raceway, so as to achieve the effect of full-tooth meshing force transmission. Although there is an undercut between two adjacent waves on the outer side of the undercut epicycloid raceway, except for the undercut part, the raceway transmission is completely accurate; suppose at a certain moment, a movable tooth is between two waves. At this time, the movable tooth needs to transmit force to the outside of the undercut epicycloid raceway. Obviously, because the movable tooth does not contact the outside of the undercut epicycloid raceway, the force cannot be transmitted, but it should work. The tooth is in contact with the inside of the undercut cycloidal raceway at this instant, and the inside of the undercut cycloidal raceway will take the movable tooth away from the undercut. At the same time, even if the movable tooth does not contribute to the transmission force, it is adjacent The two movable teeth are located at the non-undercut location on the outside of the undercut outer cycloid raceway, which is precise transmission force. Because the undercut occupies only a small central angle, the non-transmission time of a single tooth in the above situation is very short, and with different tooth number conditions, in the transmission unit of the present invention, the above transient occurs at the same time. The number of teeth in the state process is either no or very few, and the resulting transmission fluctuation is very small and can be ignored.
实施例:图29和图30为本发明的实施例三,实施例三给出了双级封闭式根切摆线活齿传动单元,包括左侧传动轮、左侧活齿、中间传动轮、右侧活齿、右侧传动轮,左侧传动轮右侧有左侧活齿啮合副;中间传动轮左侧有左侧活齿啮合副,中间传动轮右侧有右侧活齿啮合副;右侧传动轮左侧有右侧活齿啮合副;一圈沿半径为R 1的圆周均布分布的数量为Z b1的左侧活齿全部同时与左侧传动轮和中间传动轮上的左侧活齿啮合副啮合;一圈沿半径为R 2的圆周均布分布的数量为Z b2的右侧活齿全部同时与右侧传动轮和中间传动轮上的右侧活齿啮合副啮合;中间传动轮轴线与左侧传动轮轴线平行且两个轴线之间的距离为A;右侧传动轮与左侧传动轮同轴线;活齿啮合副为成对出现的根切摆线滚道与和活齿数相同的均布活齿槽;根切摆线滚道为满足根切条件尺寸的活齿沿着传动轮上的摆线扫略一周的包络面;沿着内摆线扫略一周得到的根切摆线滚道为根切内摆线滚道,其滚道内侧根切外侧不跟切,其滚道波数比对应活齿槽数多一;沿着外摆线扫略一周得到的根切摆线滚道为根切外摆线滚道,其滚道外侧根切内侧不跟切,其滚道波数比对应活齿槽数少一;活齿槽啮合面与活齿无缝贴合;当左侧传动轮右侧上的左侧活齿啮合副为根切摆线滚道时,则对应的中间传动轮左侧上的左侧活齿啮合副为活齿槽;当左侧传动轮右侧上的左侧活齿啮合副为活齿槽时,则对应的中间传动轮左侧上的左侧活齿啮合副为根切摆线滚道;当中间传动轮右侧上的右侧活齿啮合副为根切摆线滚道时,则对应的右侧传动轮左侧上的右侧活齿啮合副为活齿槽;当中间传动 轮右侧上的右侧活齿啮合副为活齿槽时,则对应的右侧传动轮左侧上的右侧活齿啮合副为根切摆线滚道。 Example: Figure 29 and Figure 30 are the third embodiment of the present invention. The third embodiment provides a two-stage closed undercut cycloid movable tooth transmission unit, including a left transmission wheel, a left movable tooth, a middle transmission wheel, Right movable teeth, right transmission wheel, left movable teeth meshing pair on the right side of the left transmission wheel; left movable teeth meshing pair on the left side of the middle transmission wheel, right movable teeth meshing pair on the right side of the middle transmission wheel; There is a right movable tooth meshing pair on the left side of the right transmission wheel; a circle of the left movable teeth of Z b1 distributed uniformly along the circumference of the radius R 1 are all simultaneously with the left driving wheel and the left driving wheel on the middle transmission wheel. The side movable teeth meshing pairs mesh; a circle of the right movable teeth with the number Z b2 evenly distributed along the circumference of the radius R 2 meshes with the right movable tooth meshing pairs on the right transmission wheel and the middle transmission wheel at the same time; The axis of the middle transmission wheel is parallel to the axis of the left transmission wheel and the distance between the two axes is A; the right transmission wheel and the left transmission wheel are coaxial; the movable tooth meshing pair is a pair of undercut cycloid raceways The uniformly distributed movable tooth grooves with the same number of movable teeth; the undercut cycloid raceway is the envelope surface of the movable teeth that meet the size of the undercut condition and sweeps a circle along the cycloid on the transmission wheel; sweeps along the hypocycloid The undercut cycloid raceway obtained in one week is an undercut hypocycloid raceway, the inner side of the raceway is not undercut and the outer side of the raceway does not follow the cut, and its raceway wave number is one more than the corresponding number of movable tooth grooves; sweep along the outer cycloid for a week The obtained undercut cycloidal raceway is an undercut outer cycloidal raceway, the outer undercut of the raceway does not follow the inner undercut, and its raceway wave number is one less than the corresponding number of movable tooth grooves; the movable tooth groove meshing surface and movable tooth have no Seam fit; when the left movable tooth engagement pair on the right side of the left transmission wheel is an undercut cycloid raceway, the left movable tooth engagement pair on the left side of the corresponding middle transmission wheel is a movable tooth groove; When the left movable tooth engagement pair on the right side of the left transmission wheel is a movable tooth groove, the left movable tooth engagement pair on the left side of the corresponding middle transmission wheel is an undercut cycloid raceway; when the right side of the middle transmission wheel When the right movable tooth engagement pair on the upper side is an undercut cycloidal raceway, the right movable tooth engagement pair on the left side of the corresponding right transmission wheel is a movable tooth groove; when the right movable tooth pair on the right side of the middle transmission wheel is a movable tooth groove; When the tooth engagement pair is a movable tooth groove, the right movable tooth engagement pair on the left side of the corresponding right transmission wheel is an undercut cycloid raceway.
根切内摆线滚道的理论内摆线啮合曲线在平面直角坐标系中的参数方程为:The parameter equation of the theoretical hypocycloid meshing curve of the undercut hypocycloid raceway in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000007
Figure PCTCN2021070226-appb-000007
以上各式中,R-活齿槽分布圆半径,即活齿槽轴心到活齿槽所在传动轮轴心的距离;A-根切内摆线滚道所在传动轮轴线与对应活齿槽所在传动轮轴线之间的距离;Z c-根切内摆线滚道的波数; Among the above formulas, R- the radius of the distribution circle of the movable tooth groove, that is, the distance from the axis of the movable tooth groove to the axis of the transmission wheel where the movable tooth groove is located; A- the axis of the transmission wheel where the undercut inner cycloid raceway is located and the corresponding movable tooth groove The distance between the axes of the driving wheels; Z c -the wave number of the undercut cycloid raceway;
根切外摆线滚道的理论外摆线啮合曲线在平面直角坐标系中的参数方程为:The parameter equation of the theoretical epicycloid meshing curve of the undercut epicycloid raceway in the plane Cartesian coordinate system is:
Figure PCTCN2021070226-appb-000008
Figure PCTCN2021070226-appb-000008
以上各式中,R-活齿槽分布圆半径,即活齿槽轴心到活齿槽所在传动轮轴心的距离;A-根切外摆线滚道所在传动轮轴线与对应活齿槽所在传动轮轴线之间的距离;Z c-根切外摆线滚道的波数。 In the above formulas, R- the radius of the distribution circle of the movable tooth groove, that is, the distance from the axis of the movable tooth groove to the axis of the transmission wheel where the movable tooth groove is located; A- the axis of the transmission wheel where the undercut epicycloid raceway is located and the corresponding movable tooth groove The distance between the axes of the transmission wheels; Z c -the wave number of the undercut epicycloid raceway.
实施例三采用象形法取象征意义,用符号S代表根切摆线滚道,用符号O表示活齿槽,S与对应的O连在一起即为一对活齿啮合副,再加上活齿,即构成一个单级根切摆线活齿传动单元。由前述可知,左侧传动轮右侧有一个活齿啮合副,中间传动轮两侧各有一个活齿啮合副,右侧传动轮左侧有一个活齿啮合副,按照从左到右的顺序,一共四个即两组活齿啮合副,分别与左侧活齿和右侧活齿一起构成了本发明的双级封闭式根切摆线活齿传动单元。按照从左往右的顺序,左侧传动单元为一级传动单元,右侧传动单元为二级传动单元,按照前述的符号表达,本发明按照啮合副排列组合的布置形式,共有SOSO、SOOS、OSSO和OSOS四种传动形式,针对其中任意一种传动结构,又分为双级均为根切内摆线滚道、双级均为根切外摆线滚道、一级为根切内摆线滚道二级为根切外摆线滚道、一级为根切外摆线滚道二级为根切内摆线滚道四种情况,共计十六种传动结构。The third embodiment adopts the pictographic method to take the symbolic meaning. The symbol S represents the undercut cycloid raceway, and the symbol O represents the movable tooth groove. S and the corresponding O are connected together to form a pair of movable teeth meshing pair, plus the movable tooth. The teeth constitute a single-stage undercut cycloid movable tooth transmission unit. It can be seen from the foregoing that there is a movable tooth meshing pair on the right side of the left transmission wheel, a movable tooth meshing pair on each side of the middle transmission wheel, and a movable tooth meshing pair on the left side of the right transmission wheel, in the order from left to right , A total of four, namely, two groups of movable teeth meshing pairs, respectively, together with the left movable teeth and the right movable teeth constitute the two-stage closed undercut cycloid movable tooth transmission unit of the present invention. According to the order from left to right, the left transmission unit is the first-level transmission unit, and the right transmission unit is the second-level transmission unit. According to the aforementioned symbols, the present invention is arranged according to the arrangement of the meshing pair. There are SOSO, SOOS, OSSO and OSOS four types of transmission, for any of the transmission structure, it is divided into two-stage undercut inner cycloid raceway, two-stage undercut outer cycloid raceway, and one-stage undercut inner pendulum. There are four types of undercut outer cycloid raceway for the linear raceway, the first level is the undercut outer cycloid raceway, the second level is the undercut inner cycloid raceway, and a total of 16 transmission structures.
在实施例三中,活齿均采用尺寸相同的标准球体。其传动参数见表2:In the third embodiment, the movable teeth all adopt standard spheres of the same size. The transmission parameters are shown in Table 2:
表2 结构理论参数表Table 2 Structural theory parameter table
Figure PCTCN2021070226-appb-000009
Figure PCTCN2021070226-appb-000009
实施例三的工作原理:由前述,实施例三的结构按照啮合副排列组合的布置形式,共有SOSO、SOOS、OSSO和OSOS四种传动形式,SOSO反过来就是OSOS,OSOS反过来就是SOSO,而SOOS与OSSO反过来还是自身,故统一按照左端固定来说明其传动原理及减速比计算公式,即可涵盖所有情况。The working principle of the third embodiment: From the foregoing, the structure of the third embodiment is arranged according to the arrangement of the meshing pair, and there are four transmission forms: SOSO, SOOS, OSSO and OSOS. SOSO in turn is OSOS, and OSOS in turn is SOSO. SOOS and OSSO are in turn themselves, so the principle of transmission and the calculation formula of reduction ratio are explained in accordance with the fixed left end, which can cover all situations.
当左侧传动轮固定时,驱动中间传动轮的轴线绕着左侧传动轮的轴线公转,此时沿圆周均布的左侧活齿同时与左侧传动轮的右侧活齿啮合副以及中间传动轮的左侧活齿啮合副同时啮合,由于左侧传动轮的右侧活齿啮合副与左侧传动轮固连而固定不动,故左侧活齿在与左侧传动轮的右侧活齿啮合副啮合的同时,通过中间传动轮的左侧活齿啮合副,推动中间传动轮沿着自身轴线自转,故中间传动轮的运动为绕着左侧传动轮轴线的公转以及绕着自身轴线的自转,在中间传动轮以上述规律运动的同时,其上右侧的右侧活齿啮合副,推动与之啮合的右侧活齿,进而通过推动与右侧活齿啮合的右侧传动轮的左侧活齿啮合副,而推动右侧传动轮沿着自身轴线自转,由于右侧传动轮与左侧传动轮同轴线,故运动经由左侧输入,最终由右侧减速输出。When the left transmission wheel is fixed, the axis of the driving middle transmission wheel revolves around the axis of the left transmission wheel. At this time, the left movable teeth evenly distributed along the circumference mesh with the right movable teeth of the left transmission wheel and the middle The left movable tooth meshing pair of the driving wheel meshes at the same time. Because the right movable tooth meshing pair of the left driving wheel is fixedly connected with the left driving wheel and is fixed, the left movable tooth is on the right side of the left driving wheel. While the movable tooth meshing pair is meshing, the left side movable tooth meshing pair of the middle transmission wheel pushes the middle transmission wheel to rotate along its own axis, so the movement of the middle transmission wheel is the revolution around the axis of the left transmission wheel and around itself Rotation of the axis, while the intermediate transmission wheel moves in the above-mentioned law, the right movable tooth meshing pair on the upper right side pushes the right movable tooth meshing with it, and then pushes the right driving tooth meshing with the right movable tooth. The left side of the wheel engages with a pair of movable teeth and pushes the right transmission wheel to rotate along its own axis. Since the right transmission wheel is coaxial with the left transmission wheel, the movement is input through the left side, and finally decelerated and output by the right side.
四种传动形式的减速比计算公式分别对应如下:The calculation formulas for the reduction ratios of the four transmission forms are as follows:
对于SOSO型,其减速比计算公式为:For SOSO type, its reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000010
Figure PCTCN2021070226-appb-000010
对于SOOS型,其减速比计算公式为:For SOOS type, its reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000011
Figure PCTCN2021070226-appb-000011
对于OSSO型,其减速比计算公式为:For OSSO type, the reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000012
Figure PCTCN2021070226-appb-000012
对于OSOS型,其减速比计算公式为:For OSOS type, the reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000013
Figure PCTCN2021070226-appb-000013
实施例:图31和图32为本发明的实施例四,实施例四给出了双级嵌套封闭式根切摆线活齿传动单元,包括包括内圈传动轮、内圈活齿、中间传动轮、外圈活齿、外圈传动轮,内圈传动轮右侧有内圈活齿啮合副;中间传动轮左端面内圈有内圈活齿啮合副,中间传动轮左端面外圈有外圈活齿啮合副;外圈传动轮右侧有外圈活齿啮合副;一圈沿半径为R 1的圆周均布分布的数量为Z b1的内圈活齿全部同时与内圈传动轮和中间传动轮上的内圈活齿啮合副啮合;一圈沿半径为R 2的圆周均布分布的数量为Z b2的外圈活齿全部同时与外圈传动轮和中间传动轮上的外圈活齿啮合副啮合;中间传动轮轴线与内圈传动轮轴线平行且两个轴线之间的距离为A;外圈传动轮与内圈传动轮同轴线;活齿啮合副为成对出现的根切摆线滚道与和活齿数相同的均布活齿槽;根切摆线滚道为满足根切条件尺寸的活齿沿着传动轮上的摆线扫略一周的包络面;沿着内摆线扫略一周得到的根切摆线滚道为根切内摆线滚道,其滚道内侧根切外侧不跟切,其滚道波数比对应活齿槽数多一;沿着外摆线扫略一周得到的根切摆线滚道为根切外摆线滚道,其滚道外侧根切内侧不跟切,其滚道波数比对应活齿槽数少一;活齿槽啮合面与活齿无缝贴合;当内圈传动轮右侧上的内圈活齿啮合副为根切摆线滚道时,则对 应的中间传动轮左端面内圈上的内圈活齿啮合副为活齿槽;当内圈传动轮右侧上的内圈活齿啮合副为活齿槽时,则对应的中间传动轮左端面内圈上的内圈活齿啮合副为根切摆线滚道;当中间传动轮左端面外圈上的外圈活齿啮合副为根切摆线滚道时,则对应的外圈传动轮右侧上的外圈活齿啮合副为活齿槽;当中间传动轮左端面外圈上的外圈活齿啮合副为活齿槽时,则对应的外圈传动轮右侧上的外圈活齿啮合副为根切摆线滚道。采用象形法取象征意义,用符号S代表根切摆线滚道,用符号O表示活齿槽,S与对应的O连在一起即为一对活齿啮合副,再加上活齿,即构成一个单级根切摆线活齿传动单元,按照啮合副排列组合的布置形式,共有SOSO、SOOS、OSSO和OSOS四种传动形式,针对其中任意一种传动结构,又分为双级均为根切内摆线滚道、双级均为根切外摆线滚道、一级为根切内摆线滚道二级为根切外摆线滚道、一级为根切外摆线滚道二级为根切内摆线滚道四种情况,共计十六种传动结构。 Example: Figures 31 and 32 are the fourth embodiment of the present invention. The fourth embodiment provides a two-stage nested closed undercut cycloid movable tooth transmission unit, including an inner ring transmission wheel, an inner ring movable tooth, and a middle ring. Transmission wheel, outer ring movable teeth, outer ring transmission wheel, inner ring movable tooth meshing pair on the right side of inner ring transmission wheel; inner ring movable tooth meshing pair on the left end face of the middle transmission wheel, inner ring movable tooth engagement pair on the left end face of the middle transmission wheel, and outer ring on the left end face of the middle transmission wheel Outer ring movable teeth engagement pair; outer ring movable teeth engagement pair on the right side of the outer ring transmission wheel; a ring of movable teeth of Z b1 distributed uniformly along the circumference of the radius R 1 all simultaneously with the inner ring transmission wheel It meshes with the inner ring movable teeth meshing pair on the intermediate transmission wheel; a circle of the outer ring movable teeth distributed uniformly along the circumference of the radius R 2 and the number of Z b2 are all simultaneously with the outer ring transmission wheel and the outer ring on the intermediate transmission wheel. The meshing pair of movable teeth meshes; the axis of the middle transmission wheel is parallel to the axis of the inner ring transmission wheel and the distance between the two axes is A; the transmission wheel of the outer ring and the inner ring transmission wheel are coaxial; the meshing pairs of movable teeth appear in pairs The undercut cycloidal raceway and the uniformly distributed movable tooth grooves with the same number of movable teeth; the undercut cycloidal raceway is the envelope surface of the movable teeth that meet the size of the undercut condition and sweeps a circle along the cycloidal line on the transmission wheel; The undercut cycloid raceway obtained by sweeping along the hypocycloid for one week is the undercut hypocycloid raceway. The inner side of the raceway does not follow the outer side of the undercut, and the raceway wave number is one more than the corresponding number of movable tooth grooves; The undercut cycloidal raceway obtained by sweeping the outer cycloid for a week is the undercut cycloidal raceway. The outer undercut of the raceway does not follow the inner side of the undercut, and the raceway wave number is one less than the corresponding number of movable teeth; The groove meshing surface is seamlessly fitted with the movable teeth; when the inner ring movable tooth meshing pair on the right side of the inner ring transmission wheel is an undercut cycloidal raceway, the inner ring on the inner ring of the left end surface of the corresponding intermediate transmission wheel is movable The tooth meshing pair is a movable tooth groove; when the inner ring movable tooth meshing pair on the right side of the inner ring transmission wheel is a movable tooth groove, the inner ring movable tooth meshing pair on the inner ring of the left end surface of the corresponding intermediate transmission wheel is an undercut Cycloid raceway; when the outer ring movable tooth meshing pair on the outer ring of the left end face of the intermediate transmission wheel is an undercut cycloid raceway, the outer ring movable tooth meshing pair on the right side of the corresponding outer ring transmission wheel is movable tooth Groove; when the outer ring movable tooth engagement pair on the outer ring of the left end face of the intermediate transmission wheel is a movable tooth groove, the outer ring movable tooth engagement pair on the right side of the corresponding outer ring transmission wheel is an undercut cycloidal raceway. The symbolic meaning is taken by the pictographic method. The symbol S represents the undercut cycloid raceway, and the symbol O represents the movable tooth groove. S and the corresponding O are connected together to form a pair of movable teeth meshing pair, plus movable teeth, namely It constitutes a single-stage undercut cycloid movable tooth transmission unit. According to the arrangement form of the meshing pair arrangement, there are four transmission forms: SOSO, SOOS, OSSO and OSOS. For any of the transmission structures, it is divided into two-stage transmission. Undercut inner cycloid raceway, double-stage are undercut outer cycloid raceway, first level is undercut inner cycloid raceway, second level is undercut outer cycloid raceway, and first stage is undercut outer cycloid raceway There are four types of undercut inner cycloid raceways in the second stage, with a total of sixteen transmission structures.
根切内摆线滚道,根切内摆线滚道的理论内摆线啮合曲线在平面直角坐标系中的参数方程为:The parameter equation of the undercut hypocycloid raceway and the theoretical hypocycloid meshing curve of the undercut hypocycloid raceway in the plane Cartesian coordinate system is:
Figure PCTCN2021070226-appb-000014
Figure PCTCN2021070226-appb-000014
以上各式中,R-活齿槽分布圆半径,即活齿槽轴心到活齿槽所在传动轮轴心的距离;A-根切内摆线滚道所在传动轮轴线与对应活齿槽所在传动轮轴线之间的距离;Z c-根切内摆线滚道的波数。 Among the above formulas, R- the radius of the distribution circle of the movable tooth groove, that is, the distance from the axis of the movable tooth groove to the axis of the transmission wheel where the movable tooth groove is located; A- the axis of the transmission wheel where the undercut inner cycloid raceway is located and the corresponding movable tooth groove The distance between the axes of the transmission wheels; Z c -the wave number of the undercut hypocycloid raceway.
根切外摆线滚道,根切外摆线滚道的理论外摆线啮合曲线在平面直角坐标系中的参数方程为:The parameter equation of the undercut epicycloid raceway, the theoretical epicycloid meshing curve of the undercut epicycloid raceway in the plane Cartesian coordinate system is:
Figure PCTCN2021070226-appb-000015
Figure PCTCN2021070226-appb-000015
以上各式中,R-活齿槽分布圆半径,即活齿槽轴心到活齿槽所在传动轮轴心的距离;A-根切外摆线滚道所在传动轮轴线与对应活齿槽所在传动轮轴线之间的距离;Z c-根切外摆线滚道的波数。 In the above formulas, R- the radius of the distribution circle of the movable tooth groove, that is, the distance from the axis of the movable tooth groove to the axis of the transmission wheel where the movable tooth groove is located; A- the axis of the transmission wheel where the undercut epicycloid raceway is located and the corresponding movable tooth groove The distance between the axes of the transmission wheels; Z c -the wave number of the undercut epicycloid raceway.
实施例四采用象形法取象征意义,用符号S代表根切摆线滚道,用符号O表示活齿槽,S与对应的O连在一起即为一对活齿啮合副,再加上活齿,即构成一个单级根切摆线活齿传动单元。由前述可知,内圈传动轮右侧有一个活齿啮合副,中间传动轮左端面内外圈各有一个活齿啮合副,外圈传动轮右侧有一个活齿啮合副,按照内圈从左到右再到外圈从右到左的顺序,一共四个即两组活齿啮合副,分别与内圈活齿和外圈活齿一起构成了本发明的双级封闭式根切摆线活齿传动单元。按照内圈从左到右再到外圈从右到左的顺序,内圈传动单元为一级传动单元,外圈传动单元为二级传动单元,按照前述的符号表达,本发明按照啮合副排列组合的布置形式,共有SOSO、SOOS、OSSO和OSOS四种传动形式,针对其中任意一种传动结构,又分为双级均为根切内摆线滚道、双级均为根切外摆线滚道、一级为根切内摆线滚道二级为根切外摆线滚道、一级为根切外摆线滚道二级为根切内摆线滚道四种情况,共计十六种传动结构。The fourth embodiment adopts pictographic method to take the symbolic meaning. The symbol S represents the undercut cycloid raceway, and the symbol O represents the movable tooth groove. S and the corresponding O are connected together to form a pair of movable tooth meshing pairs, plus the movable tooth. The teeth constitute a single-stage undercut cycloid movable tooth transmission unit. From the foregoing, it can be seen that there is a movable tooth meshing pair on the right side of the inner ring transmission wheel, the inner and outer rings of the left end of the middle transmission wheel each have a movable tooth meshing pair, and the right side of the outer ring transmission wheel has a movable tooth meshing pair. To the right and then to the outer ring from right to left, there are a total of four groups of movable teeth meshing pairs, which together with the movable teeth of the inner ring and the movable teeth of the outer ring form the two-stage closed undercut cycloid activity of the present invention. Gear transmission unit. According to the order of the inner ring from left to right to the outer ring from right to left, the inner ring transmission unit is a first-level transmission unit, and the outer ring transmission unit is a second-level transmission unit. According to the aforementioned symbols, the present invention is arranged according to the meshing pair The combined layout form has four transmission forms: SOSO, SOOS, OSSO and OSOS. For any of the transmission structures, it is divided into two-stage undercut inner cycloid raceways and two-stage undercut outer cycloids. There are four cases: raceway, first level is undercut inner cycloid raceway, second level is undercut outer cycloid raceway, first level is undercut outer cycloid raceway, and second level is undercut inner cycloid raceway, totaling ten Six transmission structures.
在实施例四中,活齿均采用尺寸相同的标准球体。其传动参数见表3:In the fourth embodiment, the movable teeth all adopt standard spheres of the same size. The transmission parameters are shown in Table 3:
表3 结构理论参数表Table 3 Parameter table of structural theory
Figure PCTCN2021070226-appb-000016
Figure PCTCN2021070226-appb-000016
实施例四的工作原理:由前述,实施例四的结构按照啮合副排列组合的布置形式,共有SOSO、SOOS、OSSO和OSOS四种传动形式,SOSO反过来就是OSOS,OSOS反过来就是SOSO,而SOOS与OSSO反过来还是自身,故统一按照左端固定来说明其传动原理及减 速比计算公式,即可涵盖所有情况。The working principle of the fourth embodiment: from the foregoing, the structure of the fourth embodiment is arranged in accordance with the arrangement and combination of the meshing pair. There are four transmission forms: SOSO, SOOS, OSSO and OSOS. SOSO in turn is OSOS, and OSOS in turn is SOSO. SOOS and OSSO are in turn themselves, so the principle of transmission and the calculation formula of reduction ratio are explained in accordance with the fixed left end, which can cover all situations.
当内圈传动轮固定时,驱动中间传动轮的轴线绕着内圈传动轮的轴线公转,此时沿圆周均布的内圈活齿同时与内圈传动轮的内圈活齿啮合副以及中间传动轮的内圈活齿啮合副同时啮合,由于内圈传动轮的内圈活齿啮合副与内圈传动轮固连而固定不动,故内圈活齿在与内圈传动轮的内圈活齿啮合副啮合的同时,通过中间传动轮的内圈活齿啮合副,推动中间传动轮沿着自身轴线自转,故中间传动轮的运动为绕着内圈传动轮轴线的公转以及绕着自身轴线的自转,在中间传动轮以上述规律运动的同时,其上左端面外圈的外圈活齿啮合副,推动与之啮合的外圈活齿,进而通过推动与外圈活齿啮合的外圈传动轮的外圈活齿啮合副,而推动外圈传动轮沿着自身轴线自转,由于外圈传动轮与内圈传动轮同轴线,故运动经由内圈轴线输入,最终由外圈减速输出。When the inner ring transmission wheel is fixed, the axis of the drive intermediate transmission wheel revolves around the axis of the inner ring transmission wheel. At this time, the inner ring movable teeth evenly distributed along the circumference mesh with the inner ring movable teeth of the inner ring transmission wheel and the middle The inner ring movable tooth meshing pair of the transmission wheel meshes at the same time. Because the inner ring movable tooth meshing pair of the inner ring transmission wheel is fixedly connected with the inner ring transmission wheel, the inner ring movable tooth is in the inner ring of the inner ring transmission wheel. While the movable tooth meshing pair is meshing, the inner ring movable tooth meshing pair of the middle transmission wheel pushes the middle transmission wheel to rotate along its own axis, so the movement of the middle transmission wheel is the revolution around the inner ring transmission wheel axis and around itself The rotation of the axis, while the intermediate transmission wheel moves in the above-mentioned law, the outer ring movable tooth meshing pair of the outer ring on its upper left end surface pushes the outer ring movable tooth that meshes with it, and then pushes the outer ring movable tooth meshing with the outer ring movable tooth. The outer ring movable teeth meshing pair of the outer ring drive wheel pushes the outer ring drive wheel to rotate along its own axis. Because the outer ring drive wheel and the inner ring drive wheel are coaxial, the movement is input through the inner ring axis, and finally decelerated by the outer ring Output.
四种传动形式的减速比计算公式分别对应如下:The calculation formulas for the reduction ratio of the four transmission forms are as follows:
对于SOSO型,其减速比计算公式为:For SOSO type, its reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000017
Figure PCTCN2021070226-appb-000017
对于SOOS型,其减速比计算公式为:For SOOS type, its reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000018
Figure PCTCN2021070226-appb-000018
对于OSSO型,其减速比计算公式为:For OSSO type, the reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000019
Figure PCTCN2021070226-appb-000019
对于OSOS型,其减速比计算公式为:For OSOS type, the reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000020
Figure PCTCN2021070226-appb-000020
实施例:图33和图34为本发明的实施例五,实施例五给出了一种中心对称单级根切摆线活齿减速器,包括输入轴、圆锥滚子轴承内圈、第一密封圈、圆锥滚子、第一交叉滚子 轴承内圈、等速输出轴、第二密封圈、第一交叉滚子、圆柱头螺钉、第一交叉滚子轴承外圈、减磨套、浮动传动轮、固定传动轮、钢球活齿、紧定螺钉、塞子、第一柱销、第二交叉滚子、第二交叉滚子轴承内圈、第二垫块、第一垫块、第二柱销、保持架,两个第一交叉滚子轴承外圈分别通过八个均布的圆柱头螺钉固定安装在固定传动轮两端;每个第一交叉滚子轴承外圈各通过四个均布的第二柱销插进固定传动轮,用于和固定传动轮之间的定位;每个第一交叉滚子轴承外圈上均有一个通过第一柱销固定安装的塞子,每个塞子里有一个紧定螺钉用于紧定第一柱销;每个第一交叉滚子轴承外圈上均固定安装有一个第二密封圈;每个第一交叉滚子轴承外圈内均铰接有一个第一交叉滚子轴承内圈,且二者之间装配有一排交叉分布的第一交叉滚子,每两个第一交叉滚子之间均装配有一个第一垫块;每个第一交叉滚子轴承内圈内均装配有一圈在保持架内均布安装的圆锥滚子,圆锥滚子的内侧与铰接在第一交叉滚子轴承内圈内的圆锥滚子轴承内圈配合;每个第一交叉滚子轴承内圈上固定安装有一个第一密封圈;输入轴左右两端各铰接在一个圆锥滚子轴承内圈上;第二交叉滚子轴承内圈有两个,分别套在输入轴两侧,并通过圆锥滚子轴承内圈轴向压紧在输入轴上;每个第二交叉滚子轴承内圈上各铰接有一个浮动传动轮;每个浮动传动轮与第二交叉滚子轴承内圈之间均有一圈交叉分布的第二交叉滚子,且每两个第二交叉滚子之间装配有一个第二垫块;左右两侧各有一圈关于中间平面中心对称的、均布分布的数量为Z b的钢球活齿分别与其两侧的浮动传动轮和固定传动轮啮合,构成两个关于中间平面呈中心对称的单级根切摆线活齿传动单元;当浮动传动轮上为根切摆线滚道时,固定传动轮上就是活齿槽;当浮动传动轮上为活齿槽时,固定传动轮上就是根切摆线滚道;八个均匀分布的等速输出轴两端分别固定安装在两侧的第一交叉滚子轴承内圈上,且每个等速输出轴分别穿过两个浮动传动轮;每个等速输出轴上左右两侧各铰接有一个减磨套,减磨套与浮动传动轮直接接触。 Example: Figures 33 and 34 show the fifth embodiment of the present invention. The fifth embodiment shows a centrally symmetric single-stage undercut cycloidal movable tooth reducer, including an input shaft, a tapered roller bearing inner ring, and a first Seal ring, tapered roller, first cross roller bearing inner ring, constant velocity output shaft, second seal ring, first cross roller, cylindrical head screw, first cross roller bearing outer ring, anti-friction sleeve, floating Transmission wheel, fixed transmission wheel, steel ball movable teeth, set screw, plug, first pin, second cross roller, second cross roller bearing inner ring, second spacer, first spacer, second Column pins, cage, and two first cross roller bearing outer rings are fixed and installed on both ends of the fixed transmission wheel by eight uniformly distributed cylinder-head screws; each first cross roller bearing outer ring passes through four equal The second pin of the cloth is inserted into the fixed transmission wheel for positioning with the fixed transmission wheel; each first cross roller bearing outer ring has a plug fixedly installed by the first pin, and each plug There is a set screw for tightening the first pin; each first cross roller bearing outer ring is fixedly installed with a second sealing ring; each first cross roller bearing outer ring is hinged with A first cross-roller bearing inner ring, and a row of first cross-distributed cross rollers are fitted between the two, and a first spacer block is fitted between every two first cross-rollers; The inner ring of the crossed roller bearing is equipped with a ring of tapered rollers uniformly installed in the cage, and the inner side of the tapered roller is matched with the inner ring of the tapered roller bearing hinged in the inner ring of the first crossed roller bearing; A first sealing ring is fixedly installed on the inner ring of a first crossed roller bearing; the left and right ends of the input shaft are hinged on a tapered roller bearing inner ring; the second crossed roller bearing has two inner rings, which are respectively sleeved. On both sides of the input shaft, the tapered roller bearing inner ring is axially compressed on the input shaft; each second cross roller bearing inner ring is hinged with a floating transmission wheel; each floating transmission wheel and the second There is a circle of second cross rollers intersectingly distributed between the inner rings of the cross roller bearing, and a second spacer is installed between every two second cross rollers; there is a circle on the left and right sides that is symmetric about the center of the middle plane. The steel ball movable teeth with a uniformly distributed number of Z b mesh with the floating transmission wheels and fixed transmission wheels on both sides respectively to form two single-stage undercut cycloidal movable tooth transmission units that are symmetric about the center plane; When the floating transmission wheel is an undercut cycloidal raceway, the fixed transmission wheel is a movable tooth groove; when the floating transmission wheel is a movable tooth groove, the fixed transmission wheel is an undercut cycloidal raceway; eight evenly distributed The two ends of the constant velocity output shaft are fixedly installed on the inner ring of the first cross roller bearing on both sides, and each constant velocity output shaft passes through two floating transmission wheels; the left and right sides of each constant velocity output shaft Each hinge has a wear reducing sleeve, which is in direct contact with the floating transmission wheel.
输入轴包括第一轴段、第一偏心轴段、第一滚道、第二偏心轴段、第三偏心轴段、第二滚道、第四偏心轴段、第二轴段、第一螺纹孔、内花键,第一轴段和第二轴段分别与圆锥 滚子轴承内圈配合,且轴端各有一圈六个均布的第一螺纹孔,轴内各有一个内花键;第一偏心轴段和第四偏心轴段分别与第二交叉滚子轴承内圈配合;第二偏心轴段和第三偏心轴段上分别有第一滚道和第二滚道;第一滚道和第二滚道用于与前述第二交叉滚子的配合;整个输入轴关于其中间平面呈完全的中心对称布置,可达到动平衡效果。The input shaft includes a first shaft section, a first eccentric shaft section, a first raceway, a second eccentric shaft section, a third eccentric shaft section, a second raceway, a fourth eccentric shaft section, a second shaft section, and a first thread Hole, inner spline, the first shaft section and the second shaft section are respectively matched with the inner ring of the tapered roller bearing, and the shaft end has a circle of six uniformly distributed first threaded holes, and each shaft has an inner spline; The first eccentric shaft section and the fourth eccentric shaft section are respectively matched with the inner ring of the second cross roller bearing; the second eccentric shaft section and the third eccentric shaft section are respectively provided with a first raceway and a second raceway; the first roller The track and the second raceway are used to cooperate with the aforementioned second cross roller; the entire input shaft is arranged completely center-symmetrically about its middle plane, which can achieve the effect of dynamic balance.
第一交叉滚子轴承内圈包括第二螺纹孔、第三滚道、第一传动孔、第四滚道,八个均布的第二螺纹孔用于外接零部件;第三滚道用于与第一交叉滚子配合;八个均布的第一传动孔用于与等速输出轴的配合;第四滚道用于与圆锥滚子的配合。The inner ring of the first cross roller bearing includes a second threaded hole, a third raceway, a first transmission hole, and a fourth raceway. Eight evenly distributed second threaded holes are used for external parts; the third raceway is used for Cooperate with the first cross roller; eight uniformly distributed first transmission holes are used for cooperating with the constant velocity output shaft; the fourth raceway is used for cooperating with the tapered roller.
等速输出轴,包括第三轴段、第四轴段、第五轴段、第六轴段、第七轴段,第三轴段和第七轴段分别用于与第一传动孔配合;第四轴段和第六轴段用于与减磨套配合;第五轴段不与任何零件接触;等速输出轴关于其中间平面左右对称。The constant velocity output shaft includes the third shaft section, the fourth shaft section, the fifth shaft section, the sixth shaft section, and the seventh shaft section. The third shaft section and the seventh shaft section are respectively used to cooperate with the first transmission hole; The fourth shaft section and the sixth shaft section are used to cooperate with the wear reducing sleeve; the fifth shaft section is not in contact with any parts; the constant velocity output shaft is symmetrical about the middle plane.
浮动传动轮,包括第二传动孔、第五滚道、第一根切摆线活齿啮合副,第二传动孔用于与装配在等速输出轴上的减磨套接触配合;第五滚道用于与第二交叉滚子的配合;第一根切摆线活齿啮合副用于与钢球活齿的啮合,特别的,当第一根切摆线活齿啮合副为根切摆线滚道时,则根切摆线滚道既可以是根切内摆线滚道,也可以是根切外摆线滚道;根切内摆线滚道是钢球活齿球心绕着滚道啮合曲线扫略一周的啮合面的包络面,其滚道内侧发生一定程度的根切而外侧不根切;根切外摆线滚道是钢球活齿球心绕着滚道啮合曲线扫略一周的啮合面的包络面,其滚道外侧发生一定程度的根切而内侧不根切;当根切摆线滚道采用根切内摆线滚道时,其滚道波数比钢球活齿数多一,其啮合曲线在平面直角坐标系中的参数方程为:The floating transmission wheel includes a second transmission hole, a fifth raceway, and a first undercut cycloid movable tooth meshing pair. The second transmission hole is used to contact and cooperate with the wear reducing sleeve assembled on the constant velocity output shaft; the fifth roller The track is used to cooperate with the second cross roller; the first undercut cycloid movable tooth meshing pair is used for meshing with the steel ball movable tooth, especially when the first undercut cycloid movable tooth meshing pair is an undercut pendulum In the case of linear raceway, the undercut cycloid raceway can be either an undercut inner cycloid raceway or an undercut outer cycloid raceway; the undercut inner cycloid raceway is the center of the steel ball with movable teeth. The meshing curve of the raceway sweeps the enveloping surface of the meshing surface, and a certain degree of undercut occurs on the inside of the raceway and no undercut on the outside; the undercut cycloidal raceway is a steel ball with a movable tooth sphere that meshes around the raceway. The enveloping surface of the meshing surface where the curve sweeps a circle, a certain degree of undercut occurs on the outer side of the raceway and no undercut on the inner side; when the undercut cycloid raceway adopts the undercut cycloid raceway, the wave number ratio of the raceway is The number of movable teeth of the steel ball is one more, and the parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000021
Figure PCTCN2021070226-appb-000021
当根切摆线滚道采用根切外摆线滚道时,其滚道波数比钢球活齿数少一,其啮合曲线在平面直角坐标系中的参数方程为:When the undercut cycloid raceway adopts the undercut outer cycloid raceway, the wave number of the raceway is one less than the number of movable teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000022
Figure PCTCN2021070226-appb-000022
以上各式中,R-钢球活齿分布圆半径;A-浮动传动轮与固定传动轮轮的偏心距,即浮动传动轮轴线与固定传动轮轴线之间的距离;Z c-根切摆线滚道的波数。当第一根切摆线活齿啮合副为活齿槽时,其每个槽面与钢球活齿无缝贴合。 In the above formulas, R- the radius of the distribution circle of the movable teeth of the steel ball; A- the eccentricity of the floating transmission wheel and the fixed transmission wheel, that is, the distance between the axis of the floating transmission wheel and the axis of the fixed transmission wheel; Z c -undercut pendulum The wave number of the line raceway. When the first root cut cycloid movable tooth engagement pair is a movable tooth groove, each groove surface is seamlessly attached to the steel ball movable tooth.
均匀分布的十六个第三螺纹孔用于与圆柱头螺钉的配合;八个均布的销孔用于与第二柱销的配合;指示槽用于装配时便于分辨安装相位;第二根切摆线活齿啮合副可以是根切摆线滚道也可以是活齿槽,具体是哪个受第一根切摆线活齿啮合副的影响,当第一根切摆线活齿啮合副为活齿槽时,第二根切摆线活齿啮合副为根切摆线滚道;当第一根切摆线活齿啮合副为根切摆线滚道时,第二根切摆线活齿啮合副为活齿槽。Sixteen evenly distributed third threaded holes are used to cooperate with cylinder head screws; eight evenly distributed pin holes are used to cooperate with the second pin; the indicating groove is used to distinguish the installation phase during assembly; the second The meshing pair of cycloidal movable teeth can be an undercut cycloidal raceway or a movable tooth groove, which is affected by the first undercut cycloidal movable tooth meshing pair. When the first root cycloidal movable tooth meshing pair When it is a movable tooth groove, the second undercut cycloid movable tooth engagement pair is an undercut cycloidal raceway; when the first undercut cycloidal movable tooth engagement pair is an undercut cycloidal raceway, the second root cut cycloid The movable tooth meshing pair is a movable tooth groove.
第二交叉滚子轴承内圈,包括第六滚道,其特征在于:第六滚道用于与第二交叉滚子的配合。The inner ring of the second crossed roller bearing includes a sixth raceway, which is characterized in that the sixth raceway is used to cooperate with the second crossed roller.
在实施例五中,第一根切摆线活齿啮合副采用了根切内摆线滚道、第二根切摆线活齿啮合副采用了活齿槽,整机传动参数见表4。In the fifth embodiment, the first undercut cycloidal movable tooth engagement pair adopts an undercut inner cycloidal raceway, and the second undercut cycloidal movable tooth engagement pair adopts a movable tooth groove. The transmission parameters of the whole machine are shown in Table 4.
表4 结构理论参数表Table 4 Structural theory parameter table
Figure PCTCN2021070226-appb-000023
Figure PCTCN2021070226-appb-000023
若在上述优选实施例五中采用根切外摆线滚道,则其根切外摆线滚道波数为60个。If the undercut outer cycloid raceway is adopted in the above preferred embodiment 5, the wave number of the undercut outer cycloid raceway is 60.
实施例五的工作原理:实施例五由于采用了中心对称式结构,两个相同的浮动传动轮呈180°相位差中心对称式分布,浮动传动轮上的第一根切摆线活齿啮合副可以采用根切摆线滚道或活齿槽,而根切摆线滚道又可选用根切内摆线滚道或根切外摆线滚道,故本发明的中心对称单级根切摆线活齿减速器共有四种构型。进一步地,减速器两端主体为两个交叉滚子轴承,由交叉滚子轴承的特性可知,两侧两个第一交叉滚子轴承内圈之间的轴向相对位置 是始终不变的,故本发明省去了相比于传动摆线针轮减速器或典型的RV减速器那种两侧输出端零件靠几个均布的套筒加螺钉两侧夹紧的结构设计方式,一方面降低了加工制造与装配难度,另一方面,省去了大量的空间,将原本留给夹紧结构的空间让给了等速输出轴使用,即可以布置更多的均布等速输出轴,达到更好的传力效果。其次,输入轴的轴系结构依托于两侧的第一交叉滚子轴承内圈,轴系零件功能高度集成化,使整机结构更加简单、空间利用更加充分。The working principle of the fifth embodiment: the fifth embodiment adopts a centrally symmetric structure, two identical floating transmission wheels are distributed in a 180° phase difference center symmetrically, and the first root tangent cycloid movable tooth meshing pair on the floating transmission wheel The undercut cycloidal raceway or the movable tooth groove can be used, and the undercut cycloidal raceway can also choose the undercut inner cycloidal raceway or the undercut outer cycloidal raceway, so the centrally symmetrical single-stage undercut pendulum of the present invention There are four configurations of linear movable gear reducer. Furthermore, the main bodies at both ends of the reducer are two crossed roller bearings. From the characteristics of the crossed roller bearings, it can be seen that the axial relative position between the inner rings of the two first crossed roller bearings on both sides is always the same. Therefore, the present invention omits the structural design method that the output end parts on both sides of the transmission cycloid reducer or the typical RV reducer are clamped on both sides by a few evenly distributed sleeves and screws. On the one hand, It reduces the difficulty of manufacturing and assembly. On the other hand, it saves a lot of space. The space originally reserved for the clamping structure is given to the constant velocity output shaft, that is, more uniformly distributed constant velocity output shafts can be arranged. Achieve better transmission effect. Secondly, the shafting structure of the input shaft relies on the inner rings of the first cross-roller bearings on both sides, and the functions of shafting parts are highly integrated, making the whole machine structure simpler and more space-utilizing.
实施例五所述的减速器有多种安装使用方式,总得来说,在输入轴、第一交叉滚子轴承内圈和第一交叉滚子外圈三个零件中,任选一个作为固定件,在剩下的两个件中任选一个当做动力输入件,则剩下的那个件就为动力输出件,由上述方法排列组合得到的安装使用方式中,除了输入轴作为输出件时是增速运动,其他情况均为减速运动,现就其中一种减速情况,即第一交叉滚子轴承外圈固定、输入轴输入、第一交叉滚子轴承内圈输出的情况做传动原理说明:转动输入轴,铰接在第二偏心轴段和第三偏心轴段上的两个呈180°相位差分布的浮动传动轮会绕着输入轴轴线公转,同时,浮动传动轮上的第一根切摆线活齿啮合副与其上一圈均布的钢球活齿啮合,由于每个钢球活齿还与固定在固定传动轮上的第二根切摆线活齿啮合副啮合,故钢球活齿会迫使浮动传动轮绕着自身轴线自转;输入轴每转动一周时,且当第一根切摆线活齿啮合副为根切摆线滚道时,浮动传动轮自转角度为两个相邻钢球活齿球心之间关于输入轴轴线的圆心角;另一种情况,当第一根切摆线活齿啮合副为活齿槽时,浮动传动轮自转角度为根切摆线滚道上一个波关于输入轴轴线的圆心角;由于浮动传动轮的自转运动与输入轴不同轴线,故需要将其自转运动通过等速输出机构转化至于输入轴同轴线的两个第一交叉滚子轴承内圈上,具体方法为,在第一交叉滚子轴承内圈上开数量为n的均布第一传动孔,在本发明的优选实施例中,n为8,同样的,在浮动传动轮上开数量为n的均布第二传动孔,数量为n的等速输出轴,两端分别插入两端的第一交叉滚子轴承内圈上的第一传动孔中,且每个等速输出轴均穿过浮动传动轮的第二传动孔,安装在每个等速输出轴上的 两个减磨套分别与两个浮动传动轮上的第二传动孔相切啮合,第二传动孔内径比减磨套外径大两倍的偏心距,即2A,此时,由于两侧的浮动传动轮相位差180°,故左侧的减磨套均与左侧浮动传动轮上的第二传动孔下侧相切,右侧的减磨套均与右侧浮动传动轮上的第二传动孔上侧相切,当浮动传动轮运动时,第二传动孔会迫使减磨套绕着第二传动孔的轴线公转,由于两个轴线之间的距离刚好为偏心距A,故可将浮动传动轮的偏心运动,通过减磨套,进而通过等速输出轴,传递给两侧的第一交叉滚子轴承内圈,最终由第一交叉滚子轴承内圈输出运动。The reducer described in the fifth embodiment can be installed and used in many ways. In general, choose one of the three parts of the input shaft, the first cross roller bearing inner ring and the first cross roller outer ring as a fixed part , Choose one of the remaining two parts as the power input part, then the remaining part is the power output part. In the installation and use mode obtained by the above method permutation and combination, except for the input shaft as the output part, it is an increase Speed motion, other conditions are deceleration motion. Now we will explain the transmission principle of one of the deceleration conditions, that is, the first cross roller bearing outer ring is fixed, the input shaft is input, and the first cross roller bearing inner ring is output: Input shaft. Two floating transmission wheels with 180° phase difference distribution hinged on the second eccentric shaft section and the third eccentric shaft section will revolve around the axis of the input shaft. At the same time, the first undercut pendulum on the floating transmission wheel The meshing pair of linear movable teeth meshes with the evenly distributed steel ball movable teeth. Because each steel ball movable tooth also meshes with the second undercut cycloid movable tooth meshing pair fixed on the fixed transmission wheel, the steel ball is movable The teeth will force the floating transmission wheel to rotate around its own axis; every time the input shaft rotates once, and when the first undercut cycloidal tooth meshing pair is an undercut cycloidal raceway, the floating transmission wheel rotates at two adjacent angles The center angle between the sphere centers of the steel balls with respect to the axis of the input shaft; in the other case, when the first undercut cycloidal movable tooth meshing pair is the movable tooth groove, the rotation angle of the floating transmission wheel is the undercut cycloidal raceway The central angle of a wave with respect to the axis of the input shaft; since the rotation motion of the floating transmission wheel is different from the axis of the input shaft, the rotation motion of the floating transmission wheel needs to be converted to the two first cross roller bearings on the input shaft coaxial line through the constant velocity output mechanism On the inner ring, the specific method is to open a number n of uniformly distributed first transmission holes on the inner ring of the first cross-roller bearing. In the preferred embodiment of the present invention, n is 8. Similarly, in the floating transmission wheel Open the second transmission hole with a number of n and the constant velocity output shaft with a number of n. The two ends are respectively inserted into the first transmission hole on the inner ring of the first cross roller bearing at both ends, and each constant velocity output The shafts pass through the second transmission hole of the floating transmission wheel, and the two wear reducing sleeves installed on each constant velocity output shaft respectively mesh with the second transmission holes on the two floating transmission wheels. The inner diameter of the second transmission hole The eccentricity is twice larger than the outer diameter of the wear reducing sleeve, that is, 2A. At this time, because the floating transmission wheels on both sides are 180° out of phase, the wear reducing sleeve on the left is both the same as the second transmission on the left floating transmission wheel. The lower side of the hole is tangent, and the wear reducing sleeve on the right is tangent to the upper side of the second transmission hole on the right floating transmission wheel. When the floating transmission wheel moves, the second transmission hole will force the friction reduction sleeve to go around the second The axis of the transmission hole revolves, because the distance between the two axes is just the eccentricity A, so the eccentric movement of the floating transmission wheel can be transmitted to the first intersection on both sides through the wear reducing sleeve, and then through the constant velocity output shaft. The inner ring of the roller bearing is finally output by the inner ring of the first crossed roller bearing.
输入轴采用了中空设计,且两侧端面有均布的第一螺纹孔,内孔还有内花键,其外接动力元件的方式灵活多样。The input shaft adopts a hollow design, and there are evenly distributed first threaded holes on both sides of the end surface, and the inner hole also has internal splines, and its external power components are flexible and diverse.
实施例:图35和图36为本发明的实施例六,实施例六给出了一种中心对称单级根切摆线滚针减速器,包括输入轴、圆锥滚子轴承内圈、第一密封圈、圆锥滚子、第一交叉滚子轴承内圈、等速输出轴、第二密封圈、第一交叉滚子、圆柱头螺钉、第一交叉滚子轴承外圈、减磨套、根切摆线轮、针轮、滚针活齿、紧定螺钉、塞子、塞子销、第一垫块、第二交叉滚子、第二交叉滚子轴承内圈、保持架、第二垫块、定位销,第一交叉滚子轴承外圈和针轮各有两个,左侧的第一交叉滚子轴承外圈和针轮通过八个均布的圆柱头螺钉固定安装在右侧的针轮上;右侧的第一交叉滚子轴承外圈通过八个均布的圆柱头螺钉固定安装在左侧的针轮上;左侧四个均布的定位销插进左侧的第一交叉滚子轴承外圈和左侧的针轮内,用于两者间的定位;右侧四个均布的定位销插进右侧的第一交叉滚子轴承外圈和右侧的针轮内,用于两者间的定位;每个第一交叉滚子轴承外圈上均有一个通过塞子销固定安装的塞子,每个塞子里有一个紧定螺钉用于紧定塞子销;每个第一交叉滚子轴承外圈上均固定安装有一个第二密封圈;每个第一交叉滚子轴承外圈内均铰接有一个第一交叉滚子轴承内圈,且二者之间装配有一排交叉分布的第一交叉滚子,每两个第一交叉滚子之间均装配有一个第一垫块;每个第一交叉滚子轴承内圈内均装配有一圈在保持架内均布安装的圆锥滚子,圆锥滚子的内侧与铰接在第 一交叉滚子轴承内圈内的圆锥滚子轴承内圈配合;每个第一交叉滚子轴承内圈上固定安装有一个第一密封圈;输入轴左右两端各铰接在一个圆锥滚子轴承内圈上;第二交叉滚子轴承内圈有两个,分别套在输入轴两侧,并通过圆锥滚子轴承内圈轴向压紧在输入轴上;每个第二交叉滚子轴承内圈上各铰接有一个根切摆线轮;每个根切摆线轮与第二交叉滚子轴承内圈之间均有一圈交叉分布的第二交叉滚子,且每两个第二交叉滚子之间装配有一个第二垫块;一圈均布分布的数量为Z b的滚针活齿铰接在两个针轮内,两侧外伸端分别与两侧的根切摆线轮啮合;八个均匀分布的等速输出轴两端分别固定安装在两侧的第一交叉滚子轴承内圈上,且每个等速输出轴分别穿过两个根切摆线轮;每个等速输出轴上左右两侧各铰接有一个减磨套,减磨套与根切活齿轮直接接触。 Example: Figures 35 and 36 show the sixth embodiment of the present invention. The sixth embodiment provides a center-symmetric single-stage undercut cycloidal needle roller reducer, which includes an input shaft, a tapered roller bearing inner ring, and a first Seal ring, tapered roller, first cross roller bearing inner ring, constant velocity output shaft, second seal ring, first cross roller, cylindrical head screw, first cross roller bearing outer ring, anti-friction sleeve, root Cycloidal gear, needle wheel, movable needle roller teeth, set screws, plugs, plug pins, first spacer, second cross roller, second cross roller bearing inner ring, cage, second spacer, There are two positioning pins, the first cross roller bearing outer ring and the needle wheel. The first cross roller bearing outer ring and the needle wheel on the left are fixed and installed on the needle wheel on the right by eight uniformly distributed cylinder-head screws. On; the outer ring of the first cross roller bearing on the right is fixed and installed on the pin wheel on the left by eight uniformly distributed cylinder-head screws; the four uniformly distributed positioning pins on the left are inserted into the first cross roller on the left The outer ring of the sub-bearing and the pin wheel on the left are used for positioning between the two; the four evenly distributed positioning pins on the right are inserted into the outer ring of the first cross roller bearing on the right and the pin wheel on the right. Used for positioning between the two; each first cross roller bearing outer ring has a plug fixedly installed by a plug pin, and each plug has a set screw for tightening the plug pin; A second sealing ring is fixedly installed on the outer ring of the crossed roller bearing; a first crossed roller bearing inner ring is hinged in the outer ring of each first crossed roller bearing, and a row of crosses is assembled between the two The distributed first cross rollers are equipped with a first spacer block between every two first cross rollers; each first cross roller bearing inner ring is equipped with a ring uniformly installed in the cage For tapered rollers, the inner side of the tapered roller is matched with the inner ring of the tapered roller bearing hinged on the inner ring of the first crossed roller bearing; a first sealing ring is fixedly installed on the inner ring of each first crossed roller bearing; The left and right ends of the input shaft are each hinged on a tapered roller bearing inner ring; the second cross roller bearing has two inner rings, which are sleeved on both sides of the input shaft, and are axially compressed by the tapered roller bearing inner ring. On the input shaft; each second cross-roller bearing inner ring is hinged with an undercut cycloid; each undercut cycloid and the second cross-roller bearing inner ring have a cross-distributed first ring Two crossed rollers, and a second spacer is installed between every two second crossed rollers; a circle of evenly distributed needle rollers with a number of Z b are hinged in the two needle wheels, and the outside on both sides The extension ends are meshed with the undercut cycloids on both sides; the ends of the eight uniformly distributed constant velocity output shafts are respectively fixedly installed on the inner ring of the first cross roller bearing on both sides, and each constant velocity output shaft is separately Pass through two undercut cycloidal wheels; each constant velocity output shaft is hinged on the left and right sides with a wear reducing sleeve, which is in direct contact with the undercut movable gear.
输入轴包括第一轴段、第一偏心轴段、第一滚道、第二偏心轴段、第三偏心轴段、第二滚道、第四偏心轴段、第二轴段、第一螺纹孔、内花键,第一轴段和第二轴段分别与圆锥滚子轴承内圈配合,且轴端各有一圈六个均布的第一螺纹孔,轴内各有一个内花键;第一偏心轴段和第四偏心轴段分别与第二交叉滚子轴承内圈配合;第二偏心轴段和第三偏心轴段上分别有第一滚道和第二滚道;第一滚道和第二滚道用于与前述第二交叉滚子的配合;整个输入轴关于其中间平面呈完全的中心对称布置,可达到动平衡效果。The input shaft includes a first shaft section, a first eccentric shaft section, a first raceway, a second eccentric shaft section, a third eccentric shaft section, a second raceway, a fourth eccentric shaft section, a second shaft section, and a first thread Hole, inner spline, the first shaft section and the second shaft section are respectively matched with the inner ring of the tapered roller bearing, and the shaft end has a circle of six uniformly distributed first threaded holes, and each shaft has an inner spline; The first eccentric shaft section and the fourth eccentric shaft section are respectively matched with the inner ring of the second cross roller bearing; the second eccentric shaft section and the third eccentric shaft section are respectively provided with a first raceway and a second raceway; the first roller The track and the second raceway are used to cooperate with the aforementioned second cross roller; the entire input shaft is arranged completely center-symmetrically about its middle plane, which can achieve the effect of dynamic balance.
第一交叉滚子轴承内圈包括第二螺纹孔、第三滚道、第一传动孔、第四滚道,八个均布的第二螺纹孔用于外接零部件;第三滚道用于与第一交叉滚子配合;八个均布的第一传动孔用于与等速输出轴的配合;第四滚道用于与圆锥滚子的配合。The inner ring of the first cross roller bearing includes a second threaded hole, a third raceway, a first transmission hole, and a fourth raceway. Eight evenly distributed second threaded holes are used for external parts; the third raceway is used for Cooperate with the first cross roller; eight uniformly distributed first transmission holes are used for cooperating with the constant velocity output shaft; the fourth raceway is used for cooperating with the tapered roller.
等速输出轴包括第三轴段、第四轴段、第五轴段、第六轴段、第七轴段,第三轴段和第七轴段分别用于与第一传动孔配合;第四轴段和第六轴段用于与减磨套配合;第五轴段不与任何零件接触;等速输出轴关于其中间平面左右对称。The constant velocity output shaft includes a third shaft section, a fourth shaft section, a fifth shaft section, a sixth shaft section, and a seventh shaft section. The third shaft section and the seventh shaft section are respectively used to cooperate with the first transmission hole; The four shaft section and the sixth shaft section are used to cooperate with the wear reducing sleeve; the fifth shaft section is not in contact with any parts; the constant velocity output shaft is symmetrical about the middle plane.
根切摆线轮包括第二传动孔、第五滚道、根切摆线滚道,第二传动孔用于与装配在等速输出轴上的减磨套接触配合;第五滚道用于与第二交叉滚子的配合;根切摆线滚道用于与 滚针活齿的啮合,特别的,根切摆线滚道既可以是根切内摆线滚道,也可以是根切外摆线滚道;根切内摆线滚道是滚针活齿的第一啮合面绕着滚道啮合曲线扫略一周的包络面,其滚道内侧发生根切而外侧不根切;根切外摆线滚道是滚针活齿的第一啮合面绕着滚道啮合曲线扫略一周的包络面,其滚道外侧发生根切而内侧不根切;当根切摆线滚道采用根切内摆线滚道时,其滚道波数比滚针活齿数多一,其啮合曲线在平面直角坐标系中的参数方程为:The undercut cycloidal wheel includes a second transmission hole, a fifth raceway, and an undercut cycloidal raceway. The second transmission hole is used to contact and cooperate with the wear reducing sleeve assembled on the constant velocity output shaft; the fifth raceway is used for Cooperate with the second cross roller; the undercut cycloidal raceway is used for meshing with the movable teeth of the needle roller. In particular, the undercut cycloidal raceway can be either an undercut inner cycloid raceway or an undercut cycloidal raceway. Outer cycloid raceway; undercut inner cycloid raceway is the envelope surface where the first meshing surface of the movable needle of the needle roller sweeps around the meshing curve of the raceway, undercut occurs on the inner side of the raceway, but not on the outer side; The undercut cycloidal raceway is the envelope surface where the first meshing surface of the movable needle of the needle roller sweeps around the meshing curve of the raceway. Undercutting occurs on the outside of the raceway but not on the inside; when the undercutting cycloidal rolling When the track adopts an undercut hypocycloid raceway, its raceway wave number is one more than the number of needle roller teeth. The parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000024
Figure PCTCN2021070226-appb-000024
当根切摆线滚道采用根切外摆线滚道时,其滚道波数比滚针活齿数少一,其啮合曲线在平面直角坐标系中的参数方程为:When the undercut cycloid raceway adopts the undercut outer cycloid raceway, the wave number of the raceway is one less than the number of movable teeth of the needle roller, and the parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000025
Figure PCTCN2021070226-appb-000025
以上各式中,R-滚针活齿分布圆半径,即滚针活齿轴心到针轮轴心的距离;A-根切摆线轮与针轮的偏心距,即根切摆线轮轴线与针轮轴线之间的距离;Z c-根切摆线滚道的波数。 In the above formulas, R- the radius of the distribution circle of the movable needle roller, that is, the distance from the axis of the movable needle roller to the axis of the needle wheel; A- the eccentricity of the undercut cycloidal wheel and the needle wheel, that is, the axis of the undercut cycloidal wheel The distance from the axis of the pin wheel; Z c -the wave number of the undercut cycloid raceway.
针轮包括第三螺纹孔、销孔、第一滚针啮合面、第二滚针啮合面、光孔,均匀分布的十六个第三螺纹孔用于与圆柱头螺钉的配合;八个均布的销孔用于与定位销的配合;第一滚针啮合面和第二滚针啮合面分别用于与滚针活齿的啮合,其曲面形状与滚针活齿齿面形状无缝贴合;光孔不与滚针活齿啮合,其直径尺寸大于滚针活齿的截面直径,以避免加工误差导致的滚针活齿运动卡死现象。The needle wheel includes a third threaded hole, a pin hole, a first needle roller engagement surface, a second roller needle engagement surface, and a smooth hole. Sixteen third threaded holes are evenly distributed for cooperation with cylinder-head screws; eight are The pin hole of the cloth is used to cooperate with the positioning pin; the first needle roller meshing surface and the second needle roller meshing surface are respectively used for meshing with the movable needle roller tooth, and the curved surface shape is seamlessly attached to the tooth surface shape of the needle roller movable tooth. The light hole does not mesh with the movable needle roller tooth, and its diameter is larger than the cross-sectional diameter of the movable needle roller tooth to avoid the phenomenon of jamming of the movable needle roller tooth movement caused by machining errors.
滚针活齿包括第一啮合面、第二啮合面、非啮合面、第三啮合面、第四啮合面,第一啮合面和第四啮合面分别与第一滚针啮合面啮合,且第一啮合面和第四啮合面均关于滚针活齿中间平面对称,其形状不仅限于柱面,也可是锥面或者波浪面,只需保证可装配在针轮上且与之啮合的根切摆线滚道存在单侧根切现象即可;第二啮合面和第三啮合面用于与第二滚针啮合面啮合,且第二啮合面和第三啮合面均关于滚针活齿中间平面对称,其形状不仅限于锥面,也可是波浪面,如球面;非啮合面不与针轮接触,便于滚针活齿的加工制造。The movable needle roller tooth includes a first meshing surface, a second meshing surface, a non-meshing surface, a third meshing surface, and a fourth meshing surface. The first meshing surface and the fourth meshing surface respectively mesh with the first needle roller meshing surface, and the first meshing surface The first meshing surface and the fourth meshing surface are symmetrical about the middle plane of the movable needle roller teeth, and the shape is not limited to a cylindrical surface, but also a conical surface or a wavy surface. It is only necessary to ensure that the undercut pendulum can be assembled on the pin wheel and meshed with it. There is only one side undercut phenomenon in the raceway; the second meshing surface and the third meshing surface are used to mesh with the second needle roller meshing surface, and the second meshing surface and the third meshing surface are both symmetrical about the middle plane of the needle roller movable tooth , Its shape is not limited to a conical surface, but also a wavy surface, such as a spherical surface; the non-meshing surface is not in contact with the pin wheel, which is convenient for the processing and manufacturing of movable needle teeth.
第二交叉滚子轴承内圈包括第六滚道,第六滚道用于与第二交叉滚子的配合。The inner ring of the second crossed roller bearing includes a sixth raceway, which is used to cooperate with the second crossed roller.
在实施例六中,根切摆线滚道采用了根切内摆线滚道;第一啮合面采用了圆柱面;第二啮合面采用了圆锥面;整机传动参数见表5。In the sixth embodiment, the undercut cycloid raceway adopts the undercut cycloid raceway; the first meshing surface uses a cylindrical surface; the second meshing surface uses a conical surface; see Table 5 for the transmission parameters of the whole machine.
表5 结构理论参数表Table 5 Structural theory parameter table
Figure PCTCN2021070226-appb-000026
Figure PCTCN2021070226-appb-000026
若在上述优选实施例中采用根切外摆线滚道,则其根切外摆线滚道波数为59个。If the undercut outer cycloid raceway is adopted in the above-mentioned preferred embodiment, the wave number of the undercut outer cycloid raceway is 59.
实施例六由于采用了中心对称式结构,两个相同的根切摆线轮呈180°相位差中心对称式分布,而滚针活齿又居于减速器正中间,故其个数Z b只能是偶数个;而采用该种结构的减速器只能有两种构型,第一种是带有根切内摆线滚道的根切摆线轮,第二种是带有根切外摆线滚道的根切摆线轮。进一步的,减速器两端主体为两个交叉滚子轴承,由交叉滚子轴承的特性可知,两侧两个第一交叉滚子轴承内圈之间的轴向相对位置是始终不变的,故本发明省去了相比于传动摆线针轮减速器或典型的RV减速器那种两侧输出端零件靠几个均布的套筒加螺钉两侧夹紧的结构设计方式,一方面降低了加工制造与装配难度,另一方面,省去了大量的空间,将原本留给夹紧结构的空间让给了等速输出轴使用,即可以布置更多的均布等速输出轴,达到更好的传力效果。其次,输入轴的轴系结构依托于两侧的第一交叉滚子轴承内圈,轴系零件功能高度集成化,使整机结构更加简单、空间利用更加充分。 The sixth embodiment adopts a centrally symmetrical structure, two identical undercut cycloids are distributed in a 180° phase difference centrally symmetrically, and the movable needle teeth are in the middle of the reducer, so the number Z b can only be It is an even number; and the reducer with this structure can only have two configurations, the first is an undercut cycloidal wheel with an undercut inner cycloid raceway, the second is an undercut outer pendulum The undercut cycloidal wheel of the wire raceway. Furthermore, the main bodies at both ends of the reducer are two crossed roller bearings. From the characteristics of the crossed roller bearings, it can be seen that the axial relative position between the inner rings of the two first crossed roller bearings on both sides is always the same. Therefore, the present invention omits the structural design method that the output end parts on both sides of the transmission cycloid reducer or the typical RV reducer are clamped on both sides by a few evenly distributed sleeves and screws. On the one hand, It reduces the difficulty of manufacturing and assembly. On the other hand, it saves a lot of space. The space originally reserved for the clamping structure is given to the constant velocity output shaft. That is, more uniformly distributed constant velocity output shafts can be arranged. Achieve better transmission effect. Secondly, the shafting structure of the input shaft relies on the inner rings of the first cross-roller bearings on both sides, and the functions of shafting parts are highly integrated, making the whole machine structure simpler and more space-utilizing.
实施例六所述的减速器有多种安装使用方式,总得来说,在输入轴、第一交叉滚子轴承内圈和第一交叉滚子外圈三个零件中,任选一个作为固定件,在剩下的两个件中任选一个当做动力输入件,则剩下的那个件就为动力输出件,由上述方法排列组合得到的安装使用方式中,除了输入轴作为输出件时是增速运动,其他情况均为减速运动,现就其中一种减速情 况,即第一交叉滚子轴承外圈固定、输入轴输入、第一交叉滚子轴承内圈输出的情况做传动原理说明:转动输入轴,铰接在第二偏心轴段和第三偏心轴段上的两个呈180°相位差分布的根切活齿轮会绕着输入轴轴线公转,同时,根切摆线轮上的根切摆线滚道与铰接在两个固定的针轮上的滚针活齿啮合,由于每个滚针活齿只会绕着自身轴线自转,而空间位置不会发生改变,故滚针活齿会迫使根切摆线轮绕着自身轴线自转,且输入轴每转动一周时,根切摆线轮自转角度为两个相邻滚针活齿轴线之间关于输入轴轴线的圆心角,由于根切摆线轮的自转运动与输入轴不同轴线,故需要将其自转运动通过等速输出机构转化至于输入轴同轴线的两个第一交叉滚子轴承内圈上,具体方法为,在第一交叉滚子轴承内圈上开数量为n的均布第一传动孔,在本发明的优选实施例中,n为8,同样的,在根切摆线轮上开数量为n的均布第二传动孔,数量为n的等速输出轴,两端分别插入两端的第一交叉滚子轴承内圈上的第一传动孔中,且每个等速输出轴均穿过根切摆线轮的第二传动孔,安装在每个等速输出轴上的两个减磨套分别与两个根切摆线轮上的第二传动孔相切啮合,第二传动孔内径比减磨套外径大两倍的偏心距,即2A,此时,由于两侧的根切摆线轮相位差180°,故左侧的减磨套均与左侧根切摆线轮上的第二传动孔下侧相切,右侧的减磨套均与右侧根切摆线轮上的第二传动孔上侧相切,当根切摆线轮运动时,第二传动孔会迫使减磨套绕着第二传动孔的轴线公转,由于两个轴线之间的距离刚好为偏心距A,故可将根切摆线轮的偏心运动,通过减磨套,进而通过等速输出轴,传递给两侧的第一交叉滚子轴承内圈,最终由第一交叉滚子轴承内圈输出运动。The reducer described in the sixth embodiment can be installed and used in many ways. In general, choose one of the three parts of the input shaft, the first cross roller bearing inner ring and the first cross roller outer ring as a fixed part , Choose one of the remaining two parts as the power input part, then the remaining part is the power output part. In the installation and use mode obtained by the above method permutation and combination, except for the input shaft as the output part, it is an increase Speed motion, other conditions are deceleration motion. Now we will explain the transmission principle of one of the deceleration conditions, that is, the first cross roller bearing outer ring is fixed, the input shaft is input, and the first cross roller bearing inner ring is output: Input shaft, two undercut movable gears with 180° phase difference distribution hinged on the second eccentric shaft section and the third eccentric shaft section will revolve around the axis of the input shaft, and at the same time, undercut the undercut on the cycloidal wheel The cycloidal raceway meshes with the movable needle roller teeth hinged on two fixed needle wheels. Since each movable needle roller can only rotate around its own axis, and the spatial position will not change, the movable needle roller teeth will The undercut cycloid is forced to rotate around its own axis, and the rotation angle of the undercut cycloid is the central angle between the axes of two adjacent needle roller teeth about the axis of the input shaft every time the input shaft rotates one revolution. The rotation motion of the cycloidal wheel is on a different axis from the input shaft, so it needs to be converted to the two first cross roller bearing inner rings on the coaxial line of the input shaft through a constant velocity output mechanism. The specific method is as follows: In the inner ring of the crossed roller bearing, there are n uniformly distributed first transmission holes. In the preferred embodiment of the present invention, n is 8. Similarly, the number of uniformly distributed first transmission holes is n on the undercut cycloid. Two transmission holes, the number of constant velocity output shafts is n, the two ends are respectively inserted into the first transmission holes on the inner ring of the first cross roller bearing at both ends, and each constant velocity output shaft passes through the undercut cycloid The second transmission hole of the second transmission hole, the two anti-friction sleeves installed on each constant velocity output shaft respectively mesh with the second transmission holes on the two undercut cycloids, and the inner diameter of the second transmission hole is larger than the outer diameter of the anti-friction sleeve. The eccentricity is twice as large as the diameter, that is, 2A. At this time, because the undercut cycloid on both sides is 180° out of phase, the wear reducing sleeve on the left is aligned with the second drive hole on the left undercut cycloid. The lower side is tangent, and the wear reducing sleeve on the right is tangent to the upper side of the second drive hole on the right undercut cycloid. When the undercut cycloid moves, the second drive hole will force the wear reducing sleeve to go around The axis of the second transmission hole revolves, because the distance between the two axes is just the eccentricity A, the eccentric movement of the undercut cycloid can be transmitted to the two through the wear reducing sleeve and then through the constant velocity output shaft. The first crossed roller bearing inner ring on the side is finally output by the first crossed roller bearing inner ring.
输入轴采用了中空设计,且两侧端面有均布的第一螺纹孔,内孔还有内花键,其外接动力元件的方式灵活多样。The input shaft adopts a hollow design, and there are evenly distributed first threaded holes on both sides of the end surface, and the inner hole also has internal splines, and its external power components are flexible and diverse.
实施例:图37和图38为本发明的实施例七,实施例七给出了一种双级封闭式根切摆线活齿减速器,包括输入轴、角接触球滚子、第一保持架、第一密封圈、后侧传动轮、第二保持架、圆柱滚子、后侧钢球活齿、过渡传动轮、前侧钢球活齿、交叉滚子轴承外圈、紧定 螺钉、塞子、第一柱销、交叉滚子、第二密封圈、前侧传动轮、垫块、圆柱头螺钉、第二柱销,交叉滚子轴承外圈分别通过八个均布的圆柱头螺钉固定安装在后侧传动轮上;交叉滚子轴承外圈与后侧传动轮之间通过四个均布的第二柱销定位;交叉滚子轴承外圈内铰接有一个前侧传动轮,前侧传动轮和交叉滚子轴承外圈之间装配有一圈交叉排列的交叉滚子,每两个交叉滚子之间有一个垫块;交叉滚子轴承外圈上有一个通过第一柱销固定安装的塞子,塞子内有一个紧定螺钉用于紧定第一柱销;前侧传动轮内和后侧传动轮内各固定安装有一个第一密封圈;交叉滚子轴承外圈上固定安装有一个第二密封圈;输入轴两端各自通过一组在第一保持架上均布的角接触球滚子铰接在前侧传动轮与后侧传动轮上;过渡传动轮通过一组在第二保持架上均布的圆柱滚子铰接在输入轴上;过渡传动轮与后侧传动轮之间啮合有一圈均布的数量为Z b1的后侧钢球活齿;过渡传动轮与前侧传动轮之间啮合有一圈均布的数量为Z b2的前侧钢球活齿。 Example: Figures 37 and 38 show the seventh embodiment of the present invention. The seventh embodiment provides a two-stage closed undercut cycloidal movable tooth reducer, including an input shaft, an angular contact ball roller, and a first retainer. Frame, first sealing ring, rear transmission wheel, second cage, cylindrical roller, rear steel ball movable teeth, transition transmission wheel, front steel ball movable teeth, cross roller bearing outer ring, set screws, The plug, the first pin, the cross roller, the second seal ring, the front transmission wheel, the spacer, the cylinder head screw, the second pin, and the outer ring of the cross roller bearing are fixed by eight uniformly distributed cylinder head screws. Installed on the rear drive wheel; the cross roller bearing outer ring and the rear drive wheel are positioned by four evenly distributed second pins; the cross roller bearing outer ring is hinged with a front drive wheel, the front side Between the transmission wheel and the outer ring of the cross-roller bearing is assembled a circle of cross-arranged cross-rollers, and there is a spacer between every two cross-rollers; the outer ring of the cross-roller bearing is fixedly installed by the first pin The plug, there is a set screw in the plug for tightening the first pin; a first sealing ring is fixedly installed in the front transmission wheel and the rear transmission wheel; the outer ring of the cross roller bearing is fixedly installed A second sealing ring; both ends of the input shaft are hinged on the front transmission wheel and the rear transmission wheel through a set of angular contact ball rollers uniformly distributed on the first cage; the transition transmission wheel is connected to the second transmission wheel through a set of holder uniform cylindrical roller hinge on the input shaft; number of engagement with a ring of uniform transition between the drive wheel and the rear drive wheel is a rear ball Z b1 movable teeth; transition front wheel drive side transmission There is a ring of evenly distributed front steel ball movable teeth with the number Z b2 meshed between the wheels.
输入轴包括第一轴段、第二轴段、第一滚道、第三轴段、偏心轴段、第二滚道、第四轴段、第三滚道、第五轴段、第六轴段、第一螺纹孔、内花键,输入轴左右两侧内孔均有一个内花键用于外接零部件;输入轴左右两端面上各有一组均布的第一螺纹孔,用于外接零部件;第一轴段与第六轴段用于与第一密封圈的配合;第二轴段、第三轴段、第四轴段与第五轴段不与任何零件接触;第一滚道和第三滚道用于与角接触球滚子配合;偏心轴段与用于与过渡传动轮的铰接,其上有第二滚道,第二滚道用于和圆柱滚子的配合。The input shaft includes the first shaft section, the second shaft section, the first raceway, the third shaft section, the eccentric shaft section, the second raceway, the fourth shaft section, the third raceway, the fifth shaft section, and the sixth shaft. Segment, first threaded hole, internal spline, the left and right sides of the input shaft have an internal spline for external parts; there are a set of evenly distributed first threaded holes on the left and right ends of the input shaft for external connections Parts; the first shaft section and the sixth shaft section are used to cooperate with the first sealing ring; the second shaft section, the third shaft section, the fourth shaft section and the fifth shaft section are not in contact with any parts; the first roller The raceway and the third raceway are used to cooperate with the angular contact ball rollers; the eccentric shaft section is used for hinged connection with the transition transmission wheel, and there is a second raceway on it, and the second raceway is used for cooperation with the cylindrical roller.
后侧传动轮包括第二螺纹孔、销孔、第一根切摆线活齿啮合副、第四滚道、第一卡槽,十六个均布的第二螺纹孔用于连接圆柱头螺钉;销孔用于连接第二柱销;第四滚道用于与角接触球滚子配合;第一卡槽用于与第一密封圈的配合;第一根切摆线活齿啮合副可以是活齿槽,也可以是根切摆线滚道,根切摆线滚道包括根切内摆线滚道和根切外摆线滚道;根切内摆线滚道是钢球活齿啮合面绕着滚道啮合曲线扫略一周的包络面,其滚道内侧发生一定程度的根切而外侧不根切;根切外摆线滚道是钢球活齿啮合面绕着滚道啮合曲线扫略一周的包络 面,其滚道外侧发生一定程度的根切而内侧不根切;当根切摆线滚道采用根切内摆线滚道时,其滚道波数比钢球活齿数多一,其啮合曲线在平面直角坐标系中的参数方程为:The rear transmission wheel includes a second threaded hole, a pin hole, a first undercut cycloid movable tooth engagement pair, a fourth raceway, a first slot, and sixteen evenly distributed second threaded holes for connecting cylinder head screws ; The pin hole is used to connect the second pin; the fourth raceway is used to cooperate with the angular contact ball roller; the first slot is used to cooperate with the first sealing ring; the first undercut cycloid movable tooth engagement pair can It is a movable tooth groove or an undercut cycloidal raceway. The undercut cycloidal raceway includes an undercut inner cycloidal raceway and an undercut outer cycloidal raceway; the undercut inner cycloidal raceway is a steel ball movable tooth The meshing surface sweeps the envelope surface around the meshing curve of the raceway. A certain degree of undercut occurs on the inner side of the raceway and no undercut on the outer side; the undercut cycloidal raceway is the meshing surface of the steel ball with movable teeth around the raceway The meshing curve sweeps the envelope surface for a week, and a certain degree of undercut occurs on the outside of the raceway, but not on the inside; when the undercut cycloid raceway adopts the undercut cycloid raceway, the wave number of the raceway is higher than that of a steel ball. The number of movable teeth is one more, and the parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000027
Figure PCTCN2021070226-appb-000027
当根切摆线滚道采用根切外摆线滚道时,其滚道波数比钢球活齿数少一,其啮合曲线在平面直角坐标系中的参数方程为:When the undercut cycloid raceway adopts the undercut outer cycloid raceway, the wave number of the raceway is one less than the number of movable teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000028
Figure PCTCN2021070226-appb-000028
以上各式中,R 1-后侧钢球活齿分布圆半径;A-过渡传动轮与固定传动轮的偏心距,即过渡传动轮轴线与固定传动轮轴线之间的距离;Z c1-后侧根切摆线滚道的波数。 Among the above formulas, R 1 -the radius of the distribution circle of the movable teeth of the steel ball on the rear side; A-the eccentricity of the transitional transmission wheel and the fixed transmission wheel, that is, the distance between the axis of the transitional transmission wheel and the axis of the fixed transmission wheel; Z c1 -rear Wave number of the side undercut cycloid raceway.
过渡传动轮,包括第二根切摆线活齿啮合副、第三根切摆线活齿啮合副,第二根切摆线活齿啮合副与后侧钢球活齿以及第一根切摆线活齿啮合副构成一个单机传动单元,当第一根切摆线活齿啮合副采用活齿槽时,第二根切摆线活齿啮合副就采用根切摆线滚道;当第一根切摆线活齿啮合副采用根切摆线滚道时,第二根切摆线活齿啮合副就采用活齿槽;第三根切摆线活齿啮合副既可以采用活齿槽,也可以采用根切摆线滚道,当根切摆线滚道采用根切内摆线滚道时,其滚道波数比钢球活齿数多一,其啮合曲线在平面直角坐标系中的参数方程为:Transition transmission wheel, including the second undercut cycloidal movable tooth meshing pair, the third undercut cycloidal movable tooth meshing pair, the second undercut cycloidal movable tooth meshing pair and the rear steel ball movable teeth and the first undercut pendulum The meshing pair of linear movable teeth constitutes a single-machine transmission unit. When the first undercut cycloidal movable tooth engagement pair adopts the movable tooth groove, the second undercut cycloidal movable tooth engagement pair adopts the undercut cycloidal raceway; When the undercut cycloidal movable tooth engagement pair adopts the undercut cycloidal raceway, the second undercut cycloidal movable tooth engagement pair adopts movable tooth groove; the third undercut cycloidal movable tooth engagement pair can adopt movable tooth groove. The undercut cycloid raceway can also be used. When the undercut cycloid raceway adopts the undercut cycloid raceway, the wave number of the raceway is one more than the number of movable teeth of the steel ball, and the meshing curve is the parameter in the rectangular coordinate system. The equation is:
Figure PCTCN2021070226-appb-000029
Figure PCTCN2021070226-appb-000029
当根切摆线滚道采用根切外摆线滚道时,其滚道波数比钢球活齿数少一,其啮合曲线在平面直角坐标系中的参数方程为:When the undercut cycloid raceway adopts the undercut outer cycloid raceway, the wave number of the raceway is one less than the number of movable teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000030
Figure PCTCN2021070226-appb-000030
以上各式中,R 2-前侧钢球活齿分布圆半径;A——过渡传动轮与固定传动轮的偏心距,即过渡传动轮轴线与固定传动轮轴线之间的距离;Z c2-前侧根切摆线滚道的波数。 In the above formulas, R 2 -the radius of the distribution circle of the movable teeth of the front steel ball; A-the eccentricity between the transitional transmission wheel and the fixed transmission wheel, that is, the distance between the axis of the transitional transmission wheel and the axis of the fixed transmission wheel; Z c2- The wave number of the front undercut cycloid raceway.
前侧传动轮,包括交叉滚子滚道、第四根切摆线活齿啮合副、第五滚道、第二卡槽、第三螺纹孔、第三卡槽,交叉滚子滚道用于与交叉滚子的配合;第五滚道用于与角接触球滚子的配合;第二卡槽用于与第一密封圈的配合,第三卡槽用于与第二密封圈的配合;均布的第三螺纹孔用于外接零部件;当第三根切摆线活齿啮合副为活齿槽时,第四根切摆线活齿啮合副为根切摆线滚道;当第三根切摆线活齿啮合副为根切摆线滚道时,第四根切摆线活齿啮合副为活齿槽。The front drive wheel includes a cross roller raceway, the fourth undercut cycloidal movable tooth engagement pair, the fifth raceway, the second slot, the third threaded hole, and the third slot. The cross roller raceway is used for Cooperating with the cross roller; the fifth raceway is used for cooperating with the angular contact ball roller; the second groove is used for cooperating with the first sealing ring, and the third groove is used for cooperating with the second sealing ring; The uniformly distributed third threaded holes are used for external parts; when the third undercut cycloidal movable tooth engagement pair is a movable tooth groove, the fourth undercut cycloidal movable tooth engagement pair is an undercut cycloidal raceway; When the three root cut cycloid movable teeth engagement pair is an undercut cycloid raceway, the fourth root cut cycloid movable teeth engagement pair is a movable tooth groove.
实施例七采用象形法取象征意义,用符号S代表根切摆线滚道,用符号O表示活齿槽,S与对应的O连在一起即为一对活齿啮合副,再加上活齿,即构成一个单级根切摆线活齿传动单元。由前述可知,第一根切摆线活齿啮合副、第二根切摆线活齿啮合副、第三根切摆线活齿啮合副与第四根切摆线活齿啮合副,一共四个即两组活齿啮合副,分别与后侧钢球活齿和前侧钢球活齿一起构成了本发明的双级封闭式根切摆线活齿减速器。按照从后往前的顺序,后侧传动单元为一级传动单元,前侧传动单元为二级传动单元,按照前述的符号表达,本发明按照啮合副排列组合的布置形式,共有SOSO、SOOS、OSSO和OSOS四种传动形式,针对其中任意一种传动结构,又分为双级均为根切内摆线滚道、双级均为根切外摆线滚道、一级为根切内摆线滚道二级为根切外摆线滚道、一级为根切外摆线滚道二级为根切内摆线滚道四种情况,共计十六种传动结构。The seventh embodiment uses the pictogram method to take the symbolic meaning. The symbol S represents the undercut cycloid raceway, and the symbol O represents the movable tooth groove. S and the corresponding O are connected together to form a pair of movable teeth meshing pair, plus the movable tooth. The teeth constitute a single-stage undercut cycloid movable tooth transmission unit. It can be seen from the foregoing that the first undercut cycloidal movable tooth engagement pair, the second undercut cycloidal movable tooth engagement pair, the third undercut cycloidal movable tooth engagement pair and the fourth undercut cycloidal movable tooth engagement pair, a total of four One is two groups of movable teeth meshing pairs, which together with the rear steel ball movable teeth and the front steel ball movable teeth respectively constitute the two-stage closed undercut cycloid movable tooth reducer of the present invention. According to the order from back to front, the rear transmission unit is a primary transmission unit, and the front transmission unit is a secondary transmission unit. According to the aforementioned symbol expression, the present invention is arranged according to the arrangement of the meshing pair. There are SOSO, SOOS, OSSO and OSOS four types of transmission, for any of the transmission structure, it is divided into two-stage undercut inner cycloid raceway, two-stage undercut outer cycloid raceway, and one-stage undercut inner pendulum. There are four types of undercut outer cycloid raceway for the linear raceway, the first level is the undercut outer cycloid raceway, the second level is the undercut inner cycloid raceway, and a total of 16 transmission structures.
实施例七采用了OSSO型且双级均为内摆线滚道,活齿均采用尺寸相同的标准球体。其传动参数见表6:The seventh embodiment adopts the OSSO type and the two-stage are both hypocycloid raceways, and the movable teeth all adopt standard spheres of the same size. The transmission parameters are shown in Table 6:
表6 结构理论参数表Table 6 Parameter table of structural theory
Figure PCTCN2021070226-appb-000031
Figure PCTCN2021070226-appb-000031
Figure PCTCN2021070226-appb-000032
Figure PCTCN2021070226-appb-000032
实施例七的工作原理:由前述,实施例七的结构按照啮合副排列组合的布置形式,共有SOSO、SOOS、OSSO和OSOS四种传动形式,SOSO反过来就是OSOS,OSOS反过来就是SOSO,而SOOS与OSSO反过来还是自身,故统一按照后侧传动轮固定来说明其传动原理及减速比计算公式,即可涵盖所有情况。The working principle of the seventh embodiment: from the foregoing, the structure of the seventh embodiment is arranged in accordance with the arrangement and combination of the meshing pair. There are four transmission modes: SOSO, SOOS, OSSO and OSOS. SOSO in turn is OSOS, and OSOS in turn is SOSO. SOOS and OSSO are in turn themselves. Therefore, the transmission principle and reduction ratio calculation formula are explained in accordance with the fixed rear transmission wheel, which can cover all situations.
当后侧传动轮固定时,驱动输入轴,使得过渡传动轮的轴线绕着输入轴的轴线公转,此时沿圆周均布的后侧钢球活齿同时与后侧传动轮的第一根切摆线活齿啮合副以及中间传动轮的第二根切摆线活齿啮合副同时啮合,由于后侧传动轮的第一根切摆线活齿啮合副与后侧传动轮固连而固定不动,故后侧钢球活齿在与后侧传动轮的第一根切摆线活齿啮合副啮合的同时,通过过渡传动轮的第二根切摆线活齿啮合副,推动过渡传动轮沿着自身轴线自转,故过渡传动轮的运动为绕着输入轴轴线的公转以及绕着自身轴线的自转,在过渡传动轮以上述规律运动的同时,其上的第三根切摆线活齿啮合副,推动与之啮合的前侧钢球活齿,进而通过推动与前侧钢球活齿啮合的前传动轮上的第四根切摆线活齿啮合副,而推动前侧传动轮沿着自身轴线自转,由于前侧传动轮与输入轴同轴线,故运动经由输入轴输入,最终由前侧传动轮减速输出。When the rear transmission wheel is fixed, drive the input shaft so that the axis of the transition transmission wheel revolves around the axis of the input shaft. At this time, the movable teeth of the rear steel ball evenly distributed along the circumference are at the same time as the first undercut of the rear transmission wheel The cycloidal movable tooth engagement pair and the second undercut cycloidal movable tooth engagement pair of the intermediate transmission wheel mesh at the same time. Because the first undercut cycloidal movable tooth engagement pair of the rear transmission wheel is fixedly connected to the rear transmission wheel, it is not fixed. Therefore, the rear steel ball movable teeth mesh with the first undercut cycloidal movable teeth meshing pair of the rear transmission wheel, and at the same time, they push the transition transmission wheel through the second undercut cycloidal movable teeth meshing pair of the transition transmission wheel. It rotates along its own axis, so the movement of the transitional transmission wheel is the revolution around the axis of the input shaft and the rotation around its own axis. While the transitional transmission wheel moves in the above-mentioned law, the third root tangent cycloidal movable tooth on it The meshing pair pushes the front steel ball movable tooth that meshes with it, and then pushes the front driving wheel along the fourth undercut cycloid movable tooth meshing pair on the front transmission wheel that meshes with the front steel ball movable tooth. It rotates on its own axis. Because the front transmission wheel is coaxial with the input shaft, the motion is input through the input shaft, and finally the front transmission wheel is decelerated and output.
四种传动形式的减速比计算公式分别对应如下:The calculation formulas for the reduction ratio of the four transmission forms are as follows:
对于SOSO型,其减速比计算公式为:For SOSO type, its reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000033
Figure PCTCN2021070226-appb-000033
对于SOOS型,其减速比计算公式为:For SOOS type, its reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000034
Figure PCTCN2021070226-appb-000034
对于OSSO型,其减速比计算公式为:For OSSO type, the reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000035
Figure PCTCN2021070226-appb-000035
对于OSOS型,其减速比计算公式为:For OSOS type, the reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000036
Figure PCTCN2021070226-appb-000036
实施例七所述的减速器有多种安装使用方式,在输入轴、后侧传动轮与前侧传动轮三者之中,任选一个作为固定件,在剩下的两个中任选一个做输入件,则剩下的那个就是输出件;特别的,当选用输入轴作为输出件时,其减速比小于1,即为增速运动,是增速器,不具备减速效果。The reducer described in the seventh embodiment can be installed and used in multiple ways. Among the input shaft, the rear drive wheel and the front drive wheel, choose one as a fixed part, and choose one of the remaining two As the input part, the remaining one is the output part; in particular, when the input shaft is selected as the output part, the reduction ratio is less than 1, that is, the speed-increasing movement is the speed-increasing device, and it does not have the deceleration effect.
图39和图40为本发明的实施例八,实施例八给出了一种中心对称双级差动根切摆线活齿减速器,包括输入轴、角接触球滚子、第一保持架、第一密封圈、后侧传动轮、第二保持架、圆柱滚子、后侧钢球活齿、过渡传动轮、前侧钢球活齿、交叉滚子轴承外圈、紧定螺钉、塞子、第一柱销、交叉滚子、第二密封圈、前侧传动轮、垫块、圆柱头螺钉、第二柱销,两个交叉滚子轴承外圈分别通过八个均布的圆柱头螺钉固定安装在后侧传动轮两端;每个交叉滚子轴承外圈与后侧传动轮之间通过四个均布的第二柱销定位;每个交叉滚子轴承外圈内铰接有一个前侧传动轮,每个前侧传动轮和交叉滚子轴承外圈之间装配有一圈交叉排列的交叉滚子,每两个交叉滚子之间有一个垫块;每个交叉滚子轴承外圈上有一个通过第一柱销固定安装的塞子,每个塞子内有一个紧定螺钉用于紧定第一柱销;每个前侧传动轮内固定安装有一个第一密封圈;每个交叉滚子轴承外圈上固定安装有一个第二密封圈;输入轴两端各自通过一组在第一保持架上均布的角接触球滚子铰接在两侧的前侧传动轮上;两个过渡传动轮各自通过一组在第二保持架上均布的圆柱滚子铰接在输入轴上;每个过渡传动轮与后侧传动轮之间啮合有一圈均布的数量为Z b1的后侧钢球活齿;每个过渡传动轮与前侧传动轮之间啮合有一圈均布的数量为Z b2的前侧钢球活齿。 Figures 39 and 40 show the eighth embodiment of the present invention. The eighth embodiment shows a centrally symmetrical two-stage differential undercut cycloidal movable tooth reducer, including an input shaft, angular contact ball rollers, and a first cage , The first sealing ring, the rear transmission wheel, the second cage, the cylindrical roller, the rear steel ball movable teeth, the transition transmission wheel, the front steel ball movable teeth, the outer ring of the cross roller bearing, the set screw, the plug , The first pin, the cross roller, the second seal ring, the front drive wheel, the spacer, the cylinder head screw, the second pin, the outer rings of the two cross roller bearings pass through eight uniformly distributed cylinder head screws respectively Fixedly installed at both ends of the rear drive wheel; each cross roller bearing outer ring and the rear drive wheel are positioned by four evenly distributed second pin pins; each cross roller bearing outer ring is hinged with a front Side drive wheels, each front drive wheel and the outer ring of the crossed roller bearing are equipped with a circle of crossed rollers arranged in a cross arrangement, and there is a spacer between every two crossed rollers; the outer ring of each crossed roller bearing There is a plug fixedly installed by the first pin, and each plug has a set screw for tightening the first pin; each front transmission wheel is fixedly installed with a first sealing ring; each cross A second sealing ring is fixedly installed on the outer ring of the roller bearing; both ends of the input shaft are hinged on the front transmission wheels on both sides through a set of angular contact ball rollers evenly distributed on the first cage; two The transitional transmission wheels are each hinged on the input shaft through a set of uniformly distributed cylindrical rollers on the second cage; each transitional transmission wheel engages with the rear side transmission wheel and has a circle of uniformly distributed rear side of Z b1 Steel ball movable teeth: There is a ring of evenly distributed front steel ball movable teeth with a number of Z b2 meshed between each transition transmission wheel and the front transmission wheel.
输入轴包括内花键、第一螺纹孔、第一轴段、第二轴段、第一滚道、第三轴段、第一偏心轴段、第二滚道、第四轴段、第二偏心轴段、第三滚道、第五轴段、第四滚道、第六轴段、第七轴段,输入轴左右两侧内孔均有一个内花键用于外接零部件;输入轴左右两端面上各有一组均布的第一螺纹孔,用于外接零部件;第一轴段与第七轴段用于与第一密封圈的配合;第二轴段、第三轴段、第四轴段、第五轴段与第六轴段不与任何零件接触;第一滚道和第四滚道用于与角接触球滚子配合;第一偏心轴段与第二偏心轴段用于与过渡传动轮的铰接,其上分别有第二滚道和第三滚道;第二滚道和第三滚道用于和圆柱滚子的配合。The input shaft includes an internal spline, a first threaded hole, a first shaft section, a second shaft section, a first raceway, a third shaft section, a first eccentric shaft section, a second raceway, a fourth shaft section, and a second shaft section. The eccentric shaft section, the third raceway, the fifth shaft section, the fourth raceway, the sixth shaft section, the seventh shaft section, and the left and right sides of the input shaft have an internal spline for external parts; input shaft There are a set of evenly distributed first threaded holes on each of the left and right ends for external parts; the first shaft section and the seventh shaft section are used to cooperate with the first sealing ring; the second shaft section, the third shaft section, The fourth shaft section, the fifth shaft section and the sixth shaft section are not in contact with any parts; the first raceway and the fourth raceway are used to cooperate with the angular contact ball roller; the first eccentric shaft section and the second eccentric shaft section It is used for hinged connection with the transition drive wheel, on which there are a second raceway and a third raceway respectively; the second raceway and the third raceway are used to cooperate with the cylindrical rollers.
后侧传动轮,包括第二螺纹孔、销孔、第一根切摆线活齿啮合副,十六个均布的第二螺纹孔用于连接圆柱头螺钉;销孔用于连接第二柱销;第一根切摆线活齿啮合副可以是活齿槽,也可以是根切摆线滚道,根切摆线滚道包括根切内摆线滚道和根切外摆线滚道;根切内摆线滚道是钢球活齿啮合面绕着滚道啮合曲线扫略一周的包络面,其滚道内侧发生一定程度的根切而外侧不根切;根切外摆线滚道是钢球活齿啮合面绕着滚道啮合曲线扫略一周的包络面,其滚道外侧发生一定程度的根切而内侧不根切;当根切摆线滚道采用根切内摆线滚道时,其滚道波数比钢球活齿数多一,其啮合曲线在平面直角坐标系中的参数方程为:The rear transmission wheel includes a second threaded hole, a pin hole, the first undercut cycloid movable tooth engagement pair, sixteen evenly distributed second threaded holes are used to connect cylinder head screws; pin holes are used to connect the second column Pin; the first undercut cycloidal movable tooth engagement pair can be a movable tooth groove or an undercut cycloidal raceway. The undercut cycloidal raceway includes an undercut inner cycloidal raceway and an undercut outer cycloidal raceway. The undercut inner cycloid raceway is the envelope surface where the meshing surface of the movable teeth of the steel ball sweeps around the meshing curve of the raceway. A certain degree of undercut occurs on the inside of the raceway but not on the outside; undercut outer cycloid The raceway is the envelope surface where the meshing surface of the movable teeth of the steel ball sweeps around the meshing curve of the raceway. A certain degree of undercut occurs on the outer side of the raceway and no undercut on the inner side; when the undercut cycloidal raceway adopts the inner undercut In the case of a cycloidal raceway, the wave number of the raceway is one more than the number of movable teeth of the steel ball. The parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000037
Figure PCTCN2021070226-appb-000037
当根切摆线滚道采用根切外摆线滚道时,其滚道波数比钢球活齿数少一,其啮合曲线在平面直角坐标系中的参数方程为:When the undercut cycloid raceway adopts the undercut outer cycloid raceway, the wave number of the raceway is one less than the number of movable teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000038
Figure PCTCN2021070226-appb-000038
以上各式中,R 1-后侧钢球活齿分布圆半径;A-过渡传动轮与固定传动轮的偏心距,即过渡传动轮轴线与固定传动轮轴线之间的距离;Z c1-后侧根切摆线滚道的波数。 Among the above formulas, R 1 -the radius of the distribution circle of the movable teeth of the steel ball on the rear side; A-the eccentricity of the transitional transmission wheel and the fixed transmission wheel, that is, the distance between the axis of the transitional transmission wheel and the axis of the fixed transmission wheel; Z c1 -rear Wave number of the side undercut cycloid raceway.
过渡传动轮包括第二根切摆线活齿啮合副、第三根切摆线活齿啮合副,第二根切摆线活齿啮合副与后侧钢球活齿以及第一根切摆线活齿啮合副构成一个单机传动单元,当第一根 切摆线活齿啮合副采用活齿槽时,第二根切摆线活齿啮合副就采用根切摆线滚道;当第一根切摆线活齿啮合副采用根切摆线滚道时,第二根切摆线活齿啮合副就采用活齿槽;第三根切摆线活齿啮合副既可以采用活齿槽,也可以采用根切摆线滚道,当根切摆线滚道采用根切内摆线滚道时,其滚道波数比钢球活齿数多一,其啮合曲线在平面直角坐标系中的参数方程为:The transition transmission wheel includes the second undercut cycloidal movable tooth engagement pair, the third undercut cycloidal movable tooth engagement pair, the second undercut cycloidal movable tooth engagement pair and the rear side steel ball movable tooth and the first root cut cycloid The movable tooth engagement pair constitutes a single-machine transmission unit. When the first undercut cycloid movable tooth engagement pair adopts the movable tooth groove, the second undercut cycloid movable tooth engagement pair adopts the undercut cycloidal raceway; When the undercut cycloidal raceway is adopted for the undercut cycloidal tooth engagement pair, the second undercut cycloidal movable tooth engagement pair adopts the movable tooth groove; the third undercut cycloidal movable tooth engagement pair can adopt either the movable tooth groove or The undercut cycloid raceway can be used. When the undercut cycloid raceway adopts the undercut cycloid raceway, its raceway wave number is one more than the number of movable teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system for:
Figure PCTCN2021070226-appb-000039
Figure PCTCN2021070226-appb-000039
当根切摆线滚道采用根切外摆线滚道时,其滚道波数比钢球活齿数少一,其啮合曲线在平面直角坐标系中的参数方程为:When the undercut cycloid raceway adopts the undercut outer cycloid raceway, the wave number of the raceway is one less than the number of movable teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000040
Figure PCTCN2021070226-appb-000040
以上各式中,R 2-前侧钢球活齿分布圆半径;A-过渡传动轮与固定传动轮的偏心距,即过渡传动轮轴线与固定传动轮轴线之间的距离;Z c2-前侧根切摆线滚道的波数。 In the above formulas, R 2 -the radius of the distribution circle of the movable teeth of the front steel ball; A-the eccentricity of the transitional transmission wheel and the fixed transmission wheel, that is, the distance between the axis of the transitional transmission wheel and the axis of the fixed transmission wheel; Z c2 -front Wave number of the side undercut cycloid raceway.
前侧传动轮包括交叉滚子滚道、第四根切摆线活齿啮合副、第五滚道、第一卡槽、第三螺纹孔、第二卡槽,交叉滚子滚道用于与交叉滚子的配合;第五滚道用于与角接触球滚子的配合;第一卡槽用于与第一密封圈的配合,第二卡槽用于与第二密封圈的配合;均布的第三螺纹孔用于外接零部件;当第三根切摆线活齿啮合副为活齿槽时,第四根切摆线活齿啮合副为根切摆线滚道;当第三根切摆线活齿啮合副为根切摆线滚道时,第四根切摆线活齿啮合副为活齿槽。The front transmission wheel includes a cross roller raceway, a fourth root trochoidal movable tooth engagement pair, a fifth raceway, a first slot, a third threaded hole, and a second slot. The cross roller raceway is used for The fit of the cross roller; the fifth raceway is used for the fit with the angular contact ball roller; the first slot is used for the fit with the first seal ring, and the second slot is used for the fit with the second seal ring; both The third threaded hole of the cloth is used for external parts; when the third root cut cycloidal movable tooth engagement pair is a movable tooth groove, the fourth root cut cycloidal movable tooth engagement pair is an undercut cycloidal raceway; When the undercut cycloidal movable tooth engagement pair is an undercut cycloidal raceway, the fourth undercut cycloidal movable tooth engagement pair is a movable tooth groove.
实施例采用象形法取象征意义,用符号S代表根切摆线滚道,用符号O表示活齿槽,S与对应的O连在一起即为一对活齿啮合副,再加上活齿,即构成一个单级根切摆线活齿传动单元。由前述可知,第一根切摆线活齿啮合副、第二根切摆线活齿啮合副、第三根切摆线活齿啮合副与第四根切摆线活齿啮合副,一共四个即两组活齿啮合副,分别与后侧钢球活齿和前侧钢球活齿一起构成了本发明的双级差动根切摆线活齿减速单元,两个减速单元呈中心对称布置,即构成了本发明的双级差动根切摆线活齿减速器。按照从后往前的顺序,后侧传 动单元为一级传动单元,前侧传动单元为二级传动单元,按照前述的符号表达,本发明按照啮合副排列组合的布置形式,共有SOSO、SOOS、OSSO和OSOS四种传动形式,针对其中任意一种传动结构,又分为双级均为根切内摆线滚道、双级均为根切外摆线滚道、一级为根切内摆线滚道二级为根切外摆线滚道、一级为根切外摆线滚道二级为根切内摆线滚道四种情况,共计十六种传动结构。The embodiment adopts pictographic method to take the symbolic meaning. The symbol S represents the undercut cycloid raceway, and the symbol O represents the movable tooth groove. S and the corresponding O are connected together to form a pair of movable teeth meshing pair, plus movable teeth , Which constitutes a single-stage undercut cycloid movable tooth transmission unit. It can be seen from the foregoing that the first undercut cycloidal movable tooth engagement pair, the second undercut cycloidal movable tooth engagement pair, the third undercut cycloidal movable tooth engagement pair and the fourth undercut cycloidal movable tooth engagement pair, a total of four One is two groups of movable teeth meshing pairs, which together with the rear steel ball movable teeth and the front steel ball movable teeth respectively constitute the two-stage differential undercut cycloid movable tooth reduction unit of the present invention, and the two reduction units are centrally symmetrical The arrangement constitutes the two-stage differential undercut cycloidal movable tooth reducer of the present invention. According to the order from back to front, the rear transmission unit is a primary transmission unit, and the front transmission unit is a secondary transmission unit. According to the aforementioned symbol expression, the present invention is arranged according to the arrangement of the meshing pair. There are SOSO, SOOS, OSSO and OSOS four types of transmission, for any of the transmission structure, it is divided into two-stage undercut inner cycloid raceway, two-stage undercut outer cycloid raceway, and one-stage undercut inner pendulum. There are four types of undercut outer cycloid raceway for the linear raceway, the first level is the undercut outer cycloid raceway, the second level is the undercut inner cycloid raceway, and a total of 16 transmission structures.
实施例八采用了OSSO型且双级均为内摆线滚道,活齿均采用尺寸相同的标准球体。其传动参数见表7:The eighth embodiment adopts the OSSO type and the two stages are all hypocycloid raceways, and the movable teeth all adopt standard spheres of the same size. The transmission parameters are shown in Table 7:
表7 结构理论参数表Table 7 Parameter table of structural theory
Figure PCTCN2021070226-appb-000041
Figure PCTCN2021070226-appb-000041
实施例八的工作原理:由前述,实施例八的结构按照啮合副排列组合的布置形式,共有SOSO、SOOS、OSSO和OSOS四种传动形式,SOSO反过来就是OSOS,OSOS反过来就是SOSO,而SOOS与OSSO反过来还是自身,故统一按照后侧传动轮固定来说明其传动原理及减速比计算公式,即可涵盖所有情况。The working principle of the eighth embodiment: From the foregoing, the structure of the eighth embodiment is arranged according to the arrangement of the meshing pair. There are four transmission modes: SOSO, SOOS, OSSO and OSOS. SOSO in turn is OSOS, and OSOS in turn is SOSO. SOOS and OSSO are in turn themselves. Therefore, the transmission principle and reduction ratio calculation formula are explained in accordance with the fixed rear transmission wheel, which can cover all situations.
当后侧传动轮固定时,驱动输入轴,使得过渡传动轮的轴线绕着输入轴的轴线公转,此时沿圆周均布的后侧钢球活齿同时与后侧传动轮的第一根切摆线活齿啮合副以及中间传动轮的第二根切摆线活齿啮合副同时啮合,由于后侧传动轮的第一根切摆线活齿啮合副与后侧传动轮固连而固定不动,故后侧钢球活齿在与后侧传动轮的第一根切摆线活齿啮合副啮合的 同时,通过过渡传动轮的第二根切摆线活齿啮合副,推动过渡传动轮沿着自身轴线自转,故过渡传动轮的运动为绕着输入轴轴线的公转以及绕着自身轴线的自转,在过渡传动轮以上述规律运动的同时,其上的第三根切摆线活齿啮合副,推动与之啮合的前侧钢球活齿,进而通过推动与前侧钢球活齿啮合的前传动轮上的第四根切摆线活齿啮合副,而推动前侧传动轮沿着自身轴线自转,由于前侧传动轮与输入轴同轴线,故运动经由输入轴输入,最终由前侧传动轮减速输出。When the rear transmission wheel is fixed, drive the input shaft so that the axis of the transition transmission wheel revolves around the axis of the input shaft. At this time, the movable teeth of the rear steel ball evenly distributed along the circumference are at the same time as the first undercut of the rear transmission wheel The cycloidal movable tooth engagement pair and the second undercut cycloidal movable tooth engagement pair of the intermediate transmission wheel mesh at the same time. Because the first undercut cycloidal movable tooth engagement pair of the rear transmission wheel is fixedly connected to the rear transmission wheel, it is not fixed. Therefore, the rear steel ball movable teeth mesh with the first undercut cycloidal movable teeth meshing pair of the rear transmission wheel, and at the same time, they push the transition transmission wheel through the second undercut cycloidal movable teeth meshing pair of the transition transmission wheel. It rotates along its own axis, so the movement of the transitional transmission wheel is the revolution around the axis of the input shaft and the rotation around its own axis. While the transitional transmission wheel moves in the above-mentioned law, the third root tangent cycloidal movable tooth on it The meshing pair pushes the front steel ball movable tooth that meshes with it, and then pushes the front driving wheel along the fourth undercut cycloid movable tooth meshing pair on the front transmission wheel that meshes with the front steel ball movable tooth. It rotates on its own axis. Because the front transmission wheel is coaxial with the input shaft, the motion is input through the input shaft, and finally the front transmission wheel is decelerated and output.
四种传动形式的减速比计算公式分别对应如下:The calculation formulas for the reduction ratio of the four transmission forms are as follows:
对于SOSO型,其减速比计算公式为:For SOSO type, its reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000042
Figure PCTCN2021070226-appb-000042
对于SOOS型,其减速比计算公式为:For SOOS type, its reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000043
Figure PCTCN2021070226-appb-000043
对于OSSO型,其减速比计算公式为:For OSSO type, the reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000044
Figure PCTCN2021070226-appb-000044
对于OSOS型,其减速比计算公式为:For OSOS type, the reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000045
Figure PCTCN2021070226-appb-000045
由于整机关于中间平面v中心对称,故解决了传统双级差动摆线活齿减速器的动不平衡问题,整机达到了动平衡效果。Since the whole machine is symmetrical about the middle plane v, the dynamic unbalance problem of the traditional two-stage differential cycloid movable tooth reducer is solved, and the whole machine achieves the dynamic balance effect.
实施例八所述的减速器有多种安装使用方式,在输入轴、后侧传动轮与前侧传动轮三者之中,任选一个作为固定件,在剩下的两个中任选一个做输入件,则剩下的那个就是输出件;特别的,当选用输入轴作为输出件时,其减速比小于1,即为增速运动,是增速器,不具备减速效果。The reducer described in the eighth embodiment can be installed and used in multiple ways. Among the input shaft, the rear drive wheel and the front drive wheel, choose one as a fixed part, and choose one of the remaining two. As the input part, the remaining one is the output part; in particular, when the input shaft is selected as the output part, the reduction ratio is less than 1, that is, the speed-increasing movement is the speed-increasing device, and it does not have the deceleration effect.
实施例:图41和图42为本发明的实施例九,实施例九给出了一种中心对称双级嵌套式根切摆线活齿减速器,包括外侧传动轮、第一交叉滚子轴承外圈、第一交叉滚子、第一密封圈、内侧传动轮、圆锥滚子、保持架、圆锥滚子轴承内圈、第二交叉滚子、输入轴、第二交叉滚子轴承内圈、第二垫块、第二密封圈、内侧钢球活齿、第一垫块、外侧钢球活齿、壳体、圆柱头螺钉、定位销、过渡传动轮,两个外侧传动轮各自通过一个第一交叉滚子轴承外圈并由一圈均布的圆柱头螺钉及定位销固定安装在壳体两侧;每个第一交叉滚子轴承外圈上固定安装有一个第一密封圈;每个第一交叉滚子和外侧传动轮内有一个通过一圈交叉分布的第一交叉滚子铰接的内侧传动轮;每两个第一交叉滚子之间装配有一个第一垫块;每个内侧传动轮内固定安装有一个第二密封圈;输入轴两侧装配有两个中心对称的第二交叉滚子轴承内圈和圆锥滚子轴承内圈,每个第二交叉滚子轴承内圈靠圆锥滚子轴承内圈轴向压紧在输入轴上,每个圆锥滚子内圈通过其上均布于保持架中的一圈圆锥滚子铰接在内侧传动轮上;两个中心对称的过渡传动轮各自通过一圈交叉分布的第二交叉滚子铰接在第二交叉滚子轴承内圈和输入轴上;每两个第二交叉滚子之间装配有一个第二垫块;每个过渡传动轮与内侧传动轮之间啮合有一圈均布的数量为Z b1的内侧钢球活齿;每个过渡传动轮与外侧传动轮之间啮合有一圈均布的数量为Z b2的外侧钢球活齿。 Example: Figures 41 and 42 show the ninth embodiment of the present invention. The ninth embodiment shows a centrally symmetrical two-stage nested undercut cycloid movable tooth reducer, which includes an outer transmission wheel and a first cross roller Bearing outer ring, first cross roller, first seal ring, inner drive wheel, tapered roller, cage, tapered roller bearing inner ring, second cross roller, input shaft, second cross roller bearing inner ring , The second spacer, the second sealing ring, the inner steel ball movable tooth, the first spacer, the outer steel ball movable tooth, the shell, the cylinder head screw, the positioning pin, the transition transmission wheel, the two outer transmission wheels each pass one The outer ring of the first crossed roller bearing is fixedly installed on both sides of the shell by a ring of uniformly distributed cylinder-head screws and locating pins; a first sealing ring is fixedly installed on the outer ring of each first crossed roller bearing; In the first cross rollers and the outer transmission wheel, there is an inner transmission wheel which is hinged by a circle of first cross rollers which are distributed crosswise; a first pad is installed between every two first cross rollers; each A second sealing ring is fixedly installed in the inner transmission wheel; two symmetrical second cross roller bearing inner rings and tapered roller bearing inner rings are mounted on both sides of the input shaft, and each second cross roller bearing inner ring The inner ring of the tapered roller bearing is axially pressed on the input shaft, and each inner ring of tapered roller is hinged on the inner transmission wheel through a ring of tapered rollers evenly distributed in the cage; two symmetrical centers The transition transmission wheels are each hinged on the inner ring of the second cross roller bearing and the input shaft through a circle of second cross rollers distributed across each other; a second spacer is fitted between every two second cross rollers; each There is a ring of evenly distributed inner steel ball movable teeth between the transitional transmission wheel and the inner transmission wheel, and the number of Z b1 inner steel balls is meshed; each transitional transmission wheel and the outer transmission wheel are meshed with a ring of uniformly distributed outer steel balls of Z b2 Ball live teeth.
外侧传动轮包括第一光孔、第二光孔、第三光孔、第一滚道、第四根切摆线活齿啮合副、标记槽,第一光孔和第三光孔用于通过圆柱头螺钉;第二光孔用于通过定位销;第一滚道用于与第一交叉滚子的配合;标记槽用于装配提示;第四根切摆线活齿啮合副可以是活齿槽或根切摆线滚道,当第四根切摆线活齿啮合副是活齿槽时,第三根切摆线活齿啮合副就是根切摆线滚道;当第四根切摆线活齿啮合副是根切摆线滚道时,第三根切摆线活齿啮合副就是活齿槽;根切摆线滚道包括根切内摆线滚道和根切外摆线滚道;根切内摆线滚道是钢球活齿啮合面绕着滚道啮合曲线扫略一周的包络面,其滚道内侧发生一定程度的根切而外侧不根切;根切外摆线滚道是钢球活齿啮合面绕着滚道啮合曲线扫略一周的包络面,其滚道外侧发 生一定程度的根切而内侧不根切;当根切摆线滚道采用根切内摆线滚道时,其滚道波数比钢球活齿数多一,其啮合曲线在平面直角坐标系中的参数方程为:The outer transmission wheel includes a first light hole, a second light hole, a third light hole, a first raceway, a fourth undercut cycloid movable tooth meshing pair, and a marking groove. The first light hole and the third light hole are used to pass through Cylinder-head screw; the second smooth hole is used to pass the positioning pin; the first raceway is used to cooperate with the first cross roller; the marking groove is used for assembly tips; the fourth undercut cycloid movable tooth engagement pair can be a movable tooth Slot or undercut cycloidal raceway, when the fourth undercut cycloidal movable tooth engagement pair is a movable tooth groove, the third undercut cycloidal movable tooth engagement pair is the undercut cycloidal raceway; when the fourth root cut pendulum When the line movable tooth engagement pair is an undercut cycloidal raceway, the third root cut cycloidal movable tooth engagement pair is a movable tooth groove; the undercut cycloidal raceway includes an undercut inner cycloidal raceway and an undercut outer cycloidal raceway Road; undercutting cycloid raceway is the envelope surface where the meshing surface of the steel ball movable teeth sweeps around the meshing curve of the raceway. A certain degree of undercut occurs on the inside of the raceway and no undercut on the outside; undercut outward swing The linear raceway is the envelope surface where the meshing surface of the movable teeth of the steel ball sweeps around the meshing curve of the raceway. A certain degree of undercut occurs on the outer side of the raceway and no undercut on the inner side; when the undercut cycloidal raceway adopts undercutting In the case of the hypocycloid raceway, its raceway wave number is one more than the number of movable teeth of the steel ball. The parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000046
Figure PCTCN2021070226-appb-000046
当根切摆线滚道采用根切外摆线滚道时,其滚道波数比钢球活齿数少一,其啮合曲线在平面直角坐标系中的参数方程为:When the undercut cycloid raceway adopts the undercut outer cycloid raceway, the wave number of the raceway is one less than the number of movable teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000047
Figure PCTCN2021070226-appb-000047
以上各式中,R 2-外侧钢球活齿分布圆半径;A-过渡传动轮与内侧传动轮的偏心距,即过渡传动轮轴线与内侧传动轮轴线之间的距离;Z c2-外侧根切摆线滚道的波数。 In the above formulas, R 2 -the radius of the outer steel ball movable tooth distribution circle; A-the eccentricity of the transitional transmission wheel and the inner transmission wheel, that is, the distance between the axis of the transition transmission wheel and the axis of the inner transmission wheel; Z c2 -the outer root The wave number of the tangent cycloid raceway.
内侧传动轮包括第一螺纹孔、第一卡槽、第二滚道、第二卡槽、第一根切摆线活齿啮合副、第三滚道,第一螺纹孔用于外接零部件;第一卡槽用于与第一密封圈的配合;第二滚道用于与第一交叉滚子的配合;第二卡槽用于与第二密封圈的配合;第三滚道用于与圆锥滚子的配合;第一根切摆线活齿啮合副可以是活齿槽或根切摆线滚道,当第一根切摆线活齿啮合副是活齿槽时,第二根切摆线活齿啮合副就是根切摆线滚道;当第一根切摆线活齿啮合副是根切摆线滚道时,第二根切摆线活齿啮合副就是活齿槽;根切摆线滚道包括根切内摆线滚道和根切外摆线滚道;根切内摆线滚道是钢球活齿啮合面绕着滚道啮合曲线扫略一周的包络面,其滚道内侧发生一定程度的根切而外侧不根切;根切外摆线滚道是钢球活齿啮合面绕着滚道啮合曲线扫略一周的包络面,其滚道外侧发生一定程度的根切而内侧不根切;当根切摆线滚道采用根切内摆线滚道时,其滚道波数比钢球活齿数多一,其啮合曲线在平面直角坐标系中的参数方程为:The inner transmission wheel includes a first threaded hole, a first slot, a second raceway, a second slot, a first undercut cycloid movable tooth engagement pair, and a third raceway. The first threaded hole is used for external parts; The first groove is used to cooperate with the first sealing ring; the second raceway is used to cooperate with the first cross roller; the second groove is used to cooperate with the second sealing ring; the third raceway is used to cooperate with the second sealing ring. Matching of tapered rollers; the first undercut cycloidal movable tooth engagement pair can be a movable tooth groove or an undercut cycloidal raceway. When the first undercut cycloidal movable tooth engagement pair is a movable tooth groove, the second undercut The cycloidal movable tooth engagement pair is the undercut cycloidal raceway; when the first undercut cycloidal movable tooth engagement pair is the undercut cycloidal raceway, the second undercut cycloidal movable tooth engagement pair is the movable tooth groove; The undercut cycloid raceway includes an undercut inner cycloid raceway and an undercut outer cycloid raceway; the undercut cycloid raceway is an envelope surface where the meshing surface of the steel ball movable teeth sweeps around the meshing curve of the raceway. A certain degree of undercut occurs on the inside of the raceway and no undercut on the outside; the undercut cycloidal raceway is the envelope surface where the meshing surface of the steel ball movable teeth sweeps around the meshing curve of the raceway, and a certain amount of undercut occurs on the outside of the raceway. Degree of undercutting but no undercutting on the inside; when the undercut cycloid raceway adopts the undercut cycloid raceway, its raceway wave number is one more than the number of movable teeth of the steel ball, and its meshing curve is a parameter in the plane rectangular coordinate system The equation is:
Figure PCTCN2021070226-appb-000048
Figure PCTCN2021070226-appb-000048
当根切摆线滚道采用根切外摆线滚道时,其滚道波数比钢球活齿数少一,其啮合曲线在平面直角坐标系中的参数方程为:When the undercut cycloid raceway adopts the undercut outer cycloid raceway, the wave number of the raceway is one less than the number of movable teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is:
Figure PCTCN2021070226-appb-000049
Figure PCTCN2021070226-appb-000049
以上各式中,R 1-内侧钢球活齿分布圆半径;A-过渡传动轮与内侧传动轮的偏心距,即过渡传动轮轴线与固定传动轮轴线之间的距离;Z c1-内侧根切摆线滚道的波数。 In the above formulas, R 1 -the radius of the inner steel ball movable tooth distribution circle; A-the eccentricity of the transition drive wheel and the inner drive wheel, that is, the distance between the axis of the transition drive wheel and the axis of the fixed drive wheel; Z c1 -the inner root The wave number of the tangent cycloid raceway.
输入轴包括第一轴段、第一偏心轴段、第四滚道、第二偏心轴段、第三偏心轴段、第五滚道、第四偏心轴段、第二轴段、第二螺纹孔、内花键,第二螺纹孔和内花各有两组,居于输入轴两侧,用于外接零部件;第一轴段和第二轴段用于与圆锥滚子轴承内圈的配合;第一偏心轴段与第四偏心轴段用于与第二交叉滚子轴承内圈的配合;第二偏心轴段与第三偏心轴段上各有第四滚道和第五滚道,第四滚道和第五滚道分别用于与第二交叉滚子的配合。The input shaft includes a first shaft section, a first eccentric shaft section, a fourth raceway, a second eccentric shaft section, a third eccentric shaft section, a fifth raceway, a fourth eccentric shaft section, a second shaft section, and a second thread There are two sets of holes, internal splines, second threaded holes and internal flowers, located on both sides of the input shaft, used for external parts; the first shaft section and the second shaft section are used for matching with the inner ring of the tapered roller bearing ; The first eccentric shaft section and the fourth eccentric shaft section are used to cooperate with the inner ring of the second cross-roller bearing; the second eccentric shaft section and the third eccentric shaft section each have a fourth raceway and a fifth raceway, The fourth raceway and the fifth raceway are respectively used to cooperate with the second cross roller.
壳体包括第三螺纹孔、第四光孔,第三螺纹孔用于与圆柱头螺钉的配合;第四光孔用于与定位销的配合。The housing includes a third threaded hole and a fourth light hole. The third threaded hole is used for cooperating with a cylinder head screw; the fourth light hole is used for cooperating with a positioning pin.
过渡传动轮包括第二根切摆线活齿啮合副、第三根切摆线活齿啮合副、第六滚道,第六滚道用于与第二交叉滚子的配合;第二根切摆线活齿啮合副可以是活齿槽或根切摆线滚道,具体情况由第一根切摆线活齿啮合副的选型决定;第三根切摆线活齿啮合副可以是活齿槽或根切摆线滚道,具体情况由第四根切摆线活齿啮合副的选型决定。The transition transmission wheel includes the second undercut cycloidal movable tooth engagement pair, the third undercut cycloidal movable tooth engagement pair, the sixth raceway, the sixth raceway is used to cooperate with the second cross roller; the second undercut The cycloidal movable tooth engagement pair can be a movable tooth groove or an undercut cycloidal raceway. The specific situation is determined by the selection of the first undercut cycloidal movable tooth engagement pair; the third undercut cycloidal movable tooth engagement pair can be a movable tooth Tooth groove or undercut cycloid raceway, the specific situation is determined by the selection of the fourth undercut cycloid movable tooth meshing pair.
实施例采用象形法取象征意义,用符号S代表根切摆线滚道,用符号O表示活齿槽,S与对应的O连在一起即为一对活齿啮合副,再加上活齿,即构成一个单级嵌套式根切摆线活齿传动单元。由前述可知,第一根切摆线活齿啮合副、第二根切摆线活齿啮合副、第三根切摆线活齿啮合副与第四根切摆线活齿啮合副,一共四个即两组活齿啮合副,分别与内侧钢球活齿和外侧钢球活齿一起构成了本发明的双级嵌套式根切摆线活齿减速单元,两个减速单元呈中心对称布置,即构成了本发明的双级嵌套式根切摆线活齿减速器。按照自内而外的顺序,内侧传动单元为一级传动单元,外侧传动单元为二级传动单元,按照前述的符号表达,本发明按照啮合副排列组合的布置形式,共有SOSO、SOOS、OSSO和OSOS四种传动形式,针对其中任意一种传动结构,又分为双级均为根切内摆线滚道、双级均为根切外摆线滚道、 一级为根切内摆线滚道二级为根切外摆线滚道、一级为根切外摆线滚道二级为根切内摆线滚道四种情况,共计十六种传动结构。The embodiment adopts pictographic method to take the symbolic meaning. The symbol S represents the undercut cycloid raceway, and the symbol O represents the movable tooth groove. S and the corresponding O are connected together to form a pair of movable teeth meshing pair, plus movable teeth , Which constitutes a single-stage nested undercut cycloid movable tooth transmission unit. It can be seen from the foregoing that the first undercut cycloidal movable tooth engagement pair, the second undercut cycloidal movable tooth engagement pair, the third undercut cycloidal movable tooth engagement pair and the fourth undercut cycloidal movable tooth engagement pair, a total of four One is two groups of movable teeth meshing pairs, which together with the inner steel ball movable teeth and the outer steel ball movable teeth respectively constitute the two-stage nested undercut cycloid movable tooth reduction unit of the present invention, and the two reduction units are arranged symmetrically. , Which constitutes the two-stage nested undercut cycloid movable tooth reducer of the present invention. According to the order from the inside to the outside, the inner transmission unit is the first-level transmission unit, and the outer transmission unit is the second-level transmission unit. According to the aforementioned symbol expression, the present invention is arranged according to the arrangement of the meshing pair. There are SOSO, SOOS, OSSO and OSOS has four transmission modes. For any of the transmission structures, it is divided into two-stage undercut inner cycloid raceway, two-stage undercut outer cycloid raceway, and one-stage undercut inner cycloid raceway. There are four types of undercut outer cycloid raceway, the second level is the undercut outer cycloid raceway, the second level is the undercut inner cycloid raceway, and a total of 16 transmission structures.
实施例九采用了OSSO型且双级均为内摆线滚道,活齿均采用尺寸相同的标准球体。其传动参数见表8:The ninth embodiment adopts the OSSO type and the two stages are all hypocycloid raceways, and the movable teeth all adopt standard spheres of the same size. The transmission parameters are shown in Table 8:
表8 结构理论参数表Table 8 Structural theory parameter table
Figure PCTCN2021070226-appb-000050
Figure PCTCN2021070226-appb-000050
实施例九的工作原理:由前述,实施例九的结构按照啮合副排列组合的布置形式,共有SOSO、SOOS、OSSO和OSOS四种传动形式,SOSO反过来就是OSOS,OSOS反过来就是SOSO,而SOOS与OSSO反过来还是自身,故统一按照内侧传动轮固定来说明其传动原理及减速比计算公式,即可涵盖所有情况。The working principle of the ninth embodiment: from the foregoing, the structure of the ninth embodiment is arranged according to the arrangement of the meshing pair. There are four transmission modes: SOSO, SOOS, OSSO and OSOS. SOSO in turn is OSOS, and OSOS in turn is SOSO. SOOS and OSSO are in turn themselves, so the transmission principle and reduction ratio calculation formula are unified according to the fixed inner transmission wheel to cover all situations.
当内侧传动轮固定时,驱动输入轴,使得过渡传动轮的轴线绕着输入轴的轴线公转,此时沿圆周均布的内侧钢球活齿同时与内侧传动轮的第一根切摆线活齿啮合副以及中间传动轮的第二根切摆线活齿啮合副同时啮合,由于内侧传动轮的第一根切摆线活齿啮合副与内侧传动轮固连而固定不动,故内侧钢球活齿在与内侧传动轮的第一根切摆线活齿啮合副啮合的同时,通过过渡传动轮的第二根切摆线活齿啮合副,推动过渡传动轮沿着自身轴线自转,故过渡传动轮的运动为绕着输入轴轴线的公转以及绕着自身轴线的自转,在过渡传动轮以上述规律运动的同时,其上的第三根切摆线活齿啮合副,推动与之啮合的外侧钢球活齿,进而通 过推动与外侧钢球活齿啮合的前传动轮上的第四根切摆线活齿啮合副,而推动外侧传动轮沿着自身轴线自转,由于外侧传动轮与输入轴同轴线,故运动经由输入轴输入,最终由外侧传动轮减速输出。When the inner transmission wheel is fixed, the input shaft is driven so that the axis of the transition transmission wheel revolves around the axis of the input shaft. At this time, the inner steel ball movable teeth uniformly distributed along the circumference and the first root of the inner transmission wheel move together. The tooth meshing pair and the second undercut cycloidal movable tooth meshing pair of the intermediate transmission wheel mesh at the same time. Because the first undercut cycloidal movable tooth meshing pair of the inner transmission wheel is fixedly connected with the inner transmission wheel and is fixed, the inner steel While the ball teeth are meshing with the first undercut cycloidal teeth meshing pair of the inner transmission wheel, they push the transition transmission wheel to rotate along its own axis through the second undercut cycloidal moving teeth meshing pair of the transition transmission wheel. The movement of the transition transmission wheel is the revolution around the axis of the input shaft and the rotation around its own axis. While the transition transmission wheel moves in the above-mentioned law, the third root tangent cycloid movable tooth meshing pair on it pushes to mesh with it. The outer steel ball movable teeth of the outer steel ball, and then by pushing the fourth root tangent cycloidal movable tooth meshing pair on the front transmission wheel meshing with the outer steel ball movable teeth, the outer transmission wheel is pushed to rotate along its own axis, because the outer transmission wheel and The input shaft is coaxial, so the motion is input through the input shaft, and finally output by the outer transmission wheel decelerated.
四种传动形式的减速比计算公式分别对应如下:The calculation formulas for the reduction ratio of the four transmission forms are as follows:
对于SOSO型,其减速比计算公式为:For SOSO type, its reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000051
Figure PCTCN2021070226-appb-000051
对于SOOS型,其减速比计算公式为:For SOOS type, its reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000052
Figure PCTCN2021070226-appb-000052
对于OSSO型,其减速比计算公式为:For OSSO type, the reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000053
Figure PCTCN2021070226-appb-000053
对于OSOS型,其减速比计算公式为:For OSOS type, the reduction ratio calculation formula is:
Figure PCTCN2021070226-appb-000054
Figure PCTCN2021070226-appb-000054
由于整机关于中间平面中心对称,故解决了传统双级差动摆线活齿减速器的动不平衡问题,整机达到了动平衡效果。Because the whole machine is symmetrical about the center of the midplane, the problem of dynamic imbalance of the traditional two-stage differential cycloid movable tooth reducer is solved, and the whole machine achieves a dynamic balance effect.
实施例九所述的减速器有多种安装使用方式,在输入轴、内侧传动轮与外侧传动轮三者之中,任选一个作为固定件,在剩下的两个中任选一个做输入件,则剩下的那个就是输出件;特别的,当选用输入轴作为输出件时,其减速比小于1,即为增速运动,是增速器,不具备减速效果。The reducer described in the ninth embodiment can be installed and used in a variety of ways. Among the input shaft, the inner transmission wheel and the outer transmission wheel, choose one as the fixed part, and choose one of the remaining two as the input In particular, when the input shaft is selected as the output part, the reduction ratio is less than 1, that is, the speed-increasing movement is the speed-increasing device and does not have the deceleration effect.
需要说明的是,在本文中,诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且,术语“包括”、“包含”或者其任何其他变体意在涵盖非排 他性的包含,从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. Moreover, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes those that are not explicitly listed Other elements of, or also include elements inherent to this process, method, article or equipment.
最后应说明的是:以上所述仅为本发明的优选实施例而已,并不用于限制本发明,尽管参照前述实施例对本发明进行了详细的说明,对于本领域的技术人员来说,其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。Finally, it should be noted that the above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, it is still for those skilled in the art. The technical solutions described in the foregoing embodiments may be modified, or some of the technical features may be equivalently replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (20)

  1. 根切摆线活齿传动机构,包括由根切摆线轮、活齿和活齿轮组成的单级根切摆线活齿传动单元,其特征在于:所述的根切摆线轮与活齿轮呈偏心布置,即根切摆线轮轴线与活齿轮轴线平行且两轴线之间的距离为偏心距;根切摆线轮与活齿轮之间有一圈关于活齿轮轴线均匀分布的活齿,每个活齿同时与根切摆线轮和活齿轮啮合,分别构成两种根切摆线活齿传动啮合副;一种根切摆线活齿传动啮合副由根切摆线轮上的根切摆线滚道和活齿构成,另一种根切摆线活齿传动啮合副由活齿轮上的活齿槽和活齿构成;根切摆线滚道为带有用于与活齿啮合的、具有单侧根切特征的摆线齿廓;活齿槽用于与活齿啮合。The undercut cycloidal movable tooth transmission mechanism includes a single-stage undercut cycloidal movable tooth transmission unit composed of an undercut cycloidal wheel, movable teeth and movable gears, and is characterized in that: the undercut cycloidal wheel and movable gear It is arranged eccentrically, that is, the axis of the undercut cycloidal wheel is parallel to the axis of the movable gear and the distance between the two axes is the eccentricity; between the undercut cycloidal wheel and the movable gear, there is a ring of movable teeth evenly distributed about the axis of the movable gear. A movable tooth meshes with the undercut cycloidal wheel and movable gear at the same time to form two undercut cycloidal movable teeth transmission meshing pairs; one kind of undercut cycloidal movable tooth transmission meshing pair consists of undercutting on the undercut cycloidal wheel Cycloid raceway and movable teeth are formed. Another undercut cycloidal movable tooth transmission meshing pair is composed of movable tooth grooves and movable teeth on the movable gear; the undercut cycloidal raceway is provided with a movable tooth meshing Cycloid tooth profile with unilateral undercutting features; movable tooth grooves are used to mesh with movable teeth.
  2. 如权利要求1所述的根切摆线活齿传动机构,包括多级封闭式根切摆线活齿传动单元,其特征在于:多级封闭式根切摆线活齿传动单元由多个单级根切摆线活齿传动单元并联组成。The undercut cycloidal movable tooth transmission mechanism according to claim 1, comprising a multi-stage closed undercut cycloidal movable tooth transmission unit, characterized in that: the multi-stage closed undercut cycloidal movable tooth transmission unit consists of a plurality of single The stage undercut cycloid movable tooth drive unit is composed in parallel.
  3. 如权利要求2所述的根切摆线活齿传动机构,多级封闭式根切摆线活齿传动单元包括由左侧传动轮、左侧活齿、中间传动轮、右侧活齿和右侧传动轮组成的双级封闭式根切摆线活齿传动单元,其特征在于:所述的左侧传动轮右侧有左侧活齿啮合副;中间传动轮左侧有左侧活齿啮合副,中间传动轮右侧有右侧活齿啮合副;右侧传动轮左侧有右侧活齿啮合副;一圈沿圆周均匀分布的左侧活齿全部同时与左侧传动轮和中间传动轮上的左侧活齿啮合副啮合;一圈沿圆周均匀分布的右侧活齿全部同时与右侧传动轮和中间传动轮上的右侧活齿啮合副啮合;中间传动轮轴线与左侧传动轮轴线平行且两个轴线不重合;右侧传动轮与左侧传动轮同轴线;两个左侧活齿啮合副中的一个为根切摆线活齿传动啮合副即根切摆线滚道时,另一个就是与左侧活齿数相同的均布活齿槽;两个右侧活齿啮合副中的一个为根切摆线活齿传动啮合副即根切摆线滚道时,另一个就是与右侧活齿数相同的均布活齿槽。The undercut cycloidal movable tooth transmission mechanism according to claim 2, the multi-stage closed undercut cycloidal movable tooth transmission unit includes a left transmission wheel, a left movable tooth, a middle transmission wheel, a right movable tooth and a right The two-stage closed undercut cycloid movable teeth transmission unit composed of side transmission wheels is characterized in that: the left side transmission wheel has a left side movable tooth meshing pair on the right side; the left side of the middle transmission wheel has a left movable tooth meshing pair Pair, the right side of the middle transmission wheel has a right movable tooth meshing pair; the right side of the right transmission wheel has a right movable tooth meshing pair; a circle of left movable teeth evenly distributed along the circumference are all at the same time with the left driving wheel and the middle transmission The left movable tooth meshing pair on the wheel meshes; a ring of right movable teeth evenly distributed along the circumference meshes with the right movable tooth meshing pair on the right transmission wheel and the middle transmission wheel at the same time; the middle transmission wheel axis and the left side The transmission wheel axis is parallel and the two axes do not coincide; the right transmission wheel is coaxial with the left transmission wheel; one of the two left-side movable teeth meshing pairs is the undercut cycloid movable tooth transmission meshing pair, namely the undercut cycloid In the raceway, the other is the uniformly distributed movable tooth groove with the same number of movable teeth on the left; one of the two right movable tooth meshing pairs is the undercut cycloidal movable tooth transmission meshing pair, that is, when the undercut cycloidal raceway, The other is the uniformly distributed movable alveolar with the same number of movable teeth on the right.
  4. 如权利要求1所述的根切摆线活齿传动机构,包括多级嵌套封闭式根切摆线活齿传动单元,其特征在于:多级嵌套封闭式根切摆线活齿传动单元由多个单级根切摆线活齿传动单元通过内外嵌套的方式并联组成。The undercut cycloidal movable tooth transmission mechanism according to claim 1, comprising a multi-stage nested closed type undercut cycloidal movable tooth transmission unit, characterized in that: a multi-stage nested closed type undercut cycloidal movable tooth transmission unit It is composed of multiple single-stage undercut cycloid movable tooth drive units in parallel through internal and external nesting.
  5. 如权利要求4所述的根切摆线活齿传动机构,多级嵌套封闭式根切摆线活齿传动单元包括由内圈传动轮、内圈活齿、中间传动轮、外圈活齿和外圈传动轮组成的双级嵌套封闭式根切摆线活齿传动单元,其特征在于:所述的内圈传动轮右侧有内圈活齿啮合副;中间传动轮左端面内侧有内圈活齿啮合副、外侧有外圈活齿啮合副;外圈传动轮右侧有外圈活齿啮合副;一圈沿圆周均匀分布的内圈活齿 全部同时与内圈传动轮和中间传动轮上的内圈活齿啮合副啮合;一圈沿圆周均匀分布的外圈活齿全部同时与外圈传动轮和中间传动轮上的外圈活齿啮合副啮合;中间传动轮轴线与内圈传动轮轴线平行且两个轴线不重合;外圈传动轮与内圈传动轮同轴线;两个内圈活齿啮合副中的一个为根切摆线活齿传动啮合副即根切摆线滚道时,另一个就是与内圈活齿数相同的均布活齿槽;两个外圈活齿啮合副中的一个为根切摆线活齿传动啮合副即根切摆线滚道时,另一个就是与外圈活齿数相同的均布活齿槽。The undercut cycloidal movable tooth transmission mechanism according to claim 4, the multi-stage nested closed type undercut cycloidal movable tooth transmission unit includes an inner ring transmission wheel, an inner ring movable tooth, an intermediate transmission wheel, and an outer ring movable tooth. The two-stage nested closed-type undercut cycloid movable tooth transmission unit composed of the outer ring transmission wheel is characterized in that: the inner ring movable tooth meshing pair is provided on the right side of the inner ring transmission wheel; Inner ring movable teeth meshing pair, outer ring movable teeth meshing pair on the outside; outer ring movable teeth meshing pair on the right side of the outer ring transmission wheel; a ring of inner ring movable teeth evenly distributed along the circumference are all simultaneously with the inner ring transmission wheel and the middle The inner ring movable teeth meshing pairs on the transmission wheel mesh; a ring of outer ring movable teeth evenly distributed along the circumference meshes with the outer ring movable teeth meshing pairs on the outer ring transmission wheel and the intermediate transmission wheel at the same time; the middle transmission wheel axis and the inner ring The axis of the drive wheel is parallel and the two axes do not coincide; the drive wheel of the outer ring and the drive wheel of the inner ring are coaxial; one of the two inner ring movable teeth meshing pairs is the undercut cycloidal movable teeth transmission meshing pair, that is, the undercut pendulum In the case of linear raceway, the other is the uniformly distributed movable tooth groove with the same number of movable teeth of the inner ring; one of the two outer ring movable tooth meshing pairs is the undercut cycloid movable tooth transmission meshing pair, that is, the undercut cycloid raceway , The other is the uniformly distributed movable tooth groove with the same number of movable teeth in the outer ring.
  6. 如权利要求1、3、5中任一条所述的根切摆线活齿传动机构,其特征在于:根切摆线滚道的滚道中心线为啮合曲线;根切摆线滚道的表面为根切活齿啮合齿面;活齿的表面为活齿啮合齿面;活齿啮合齿面与根切活齿啮合齿面相互啮合,即为根切活齿传动啮合副;活齿啮合齿面的几何中心点在啮合曲线上,且根切活齿啮合齿面为活齿啮合齿面的几何中心点沿着啮合曲线运动一周后得到的活齿啮合齿面的运动轨迹包络面。The undercut cycloidal movable tooth transmission mechanism according to any one of claims 1, 3, 5, characterized in that: the center line of the undercut cycloidal raceway is a meshing curve; the surface of the undercut cycloidal raceway It is the undercut movable tooth meshing tooth surface; the surface of the movable tooth is the movable tooth meshing tooth surface; the movable tooth meshing tooth surface meshes with the undercut movable tooth meshing tooth surface, which is the undercut movable tooth transmission meshing pair; the movable tooth meshing tooth The geometric center point of the surface is on the meshing curve, and the undercut movable tooth meshing tooth surface is the moving trajectory envelope surface of the movable tooth meshing tooth surface obtained after the geometric center point of the movable tooth meshing tooth surface moves along the meshing curve for one week.
  7. 如权利要求1所述的根切摆线活齿传动机构,其特征在于:根切摆线滚道波数为Z c个;根切摆线滚道的啮合曲线为内摆线或外摆线。 The undercut cycloid movable tooth transmission mechanism according to claim 1, characterized in that: the wave number of the undercut cycloid raceway is Z c ; the meshing curve of the undercut cycloid raceway is an inner cycloid or an outer cycloid.
  8. 权利要求1所述的根切摆线活齿传动机构,其特征在于:所述的活齿为旋转体,沿其轴线做任意切面,可得到平面内左右两条互相对称的母线,该母线为平面连续曲线,其上每一点到轴线的距离为D;活齿的数量为Z bThe undercut cycloid movable tooth transmission mechanism according to claim 1, characterized in that: the movable tooth is a rotating body, and an arbitrary section is made along its axis, and two mutually symmetrical generatrixes in the plane can be obtained. The generatrix is The plane continuous curve, the distance from each point to the axis is D; the number of movable teeth is Z b .
  9. 如权利要求1所述的根切摆线活齿传动机构,其特征在于:所述的活齿槽曲面形状和与活齿啮合部分的活齿曲面完全相同,且活齿槽数量与活齿数量相同,为Z b个;Z b个活齿槽在活齿轮上关于活齿轮轴线均布,每个活齿槽轴线均与活齿轮轴线平行,且每个活齿槽轴线与活齿轮轴线的距离均为R。 The undercut cycloid movable tooth transmission mechanism according to claim 1, wherein the shape of the movable tooth groove curved surface is exactly the same as the movable tooth curved surface of the movable tooth meshing part, and the number of movable tooth grooves is equal to the number of movable teeth. Same, Z b ; Z b movable tooth grooves are evenly distributed on the movable gear about the movable gear axis, each movable tooth groove axis is parallel to the movable gear axis, and the distance between each movable tooth groove axis and the movable gear axis All are R.
  10. 如权利要求7所述的根切摆线活齿传动机构,其特征在于:所述的根切摆线滚道的啮合曲线采用内摆线时,其滚道内侧齿廓发生了根切而外侧齿廓不根切;齿廓根切处倒钝或不倒钝;此时根切摆线滚道的啮合曲线C的平面直角坐标参数方程为:The undercut cycloid movable tooth transmission mechanism according to claim 7, characterized in that: when the meshing curve of the undercut cycloid raceway adopts an inner cycloid, the tooth profile on the inner side of the raceway is undercut and the outer side The tooth profile is not undercut; the undercut of the tooth profile is blunt or not blunt; at this time, the plane rectangular coordinate parameter equation of the meshing curve C of the undercut cycloid raceway is:
    Figure PCTCN2021070226-appb-100001
    Figure PCTCN2021070226-appb-100001
    以上各式中,R-活齿槽分布圆半径,即活齿槽轴心到活齿轮轴心的距离;A-根切摆线轮与活齿轮的偏心距,即根切摆线轮轴线与活齿轮轴线之间的距离;Z c-根切摆线滚道的波数。 In the above formulas, R- the radius of the movable tooth groove distribution circle, that is, the distance from the axis of the movable tooth groove to the axis of the movable gear; A- the eccentric distance between the undercut cycloidal gear and the movable gear, that is, the undercut cycloidal axis and The distance between the axes of the movable gears; Z c -the wave number of the undercut cycloid raceway.
  11. 如权利要求7所述的根切摆线活齿传动机构,其特征在于:所述的根切摆线滚道的啮合曲线采用内摆线时,其滚道内侧齿廓发生了根切而外侧齿廓不根切;齿廓根切处倒钝或不倒钝;此时根切摆线滚道的啮合曲线C的平面直角坐标参数方程为:The undercut cycloid movable tooth transmission mechanism according to claim 7, characterized in that: when the meshing curve of the undercut cycloid raceway adopts an inner cycloid, the tooth profile on the inner side of the raceway is undercut and the outer side The tooth profile is not undercut; the undercut of the tooth profile is blunt or not blunt; at this time, the plane rectangular coordinate parameter equation of the meshing curve C of the undercut cycloid raceway is:
    Figure PCTCN2021070226-appb-100002
    Figure PCTCN2021070226-appb-100002
    以上各式中,R-活齿槽分布圆半径,即活齿槽轴心到活齿轮轴心的距离;A-根切摆线轮与活齿轮的偏心距,即根切摆线轮轴线与活齿轮轴线之间的距离;Z c-根切摆线滚道的波数。 In the above formulas, R- the radius of the movable tooth groove distribution circle, that is, the distance from the axis of the movable tooth groove to the axis of the movable gear; A- the eccentric distance between the undercut cycloidal gear and the movable gear, that is, the undercut cycloidal axis and The distance between the axes of the movable gears; Z c -the wave number of the undercut cycloid raceway.
  12. 如权利要求10所述的根切摆线活齿传动机构,其特征在于:啮合曲线采用内摆线时,所述的根切摆线滚道的波数Z c与活齿个数Z b满足关系式:Z c=Z b+1。 The undercut cycloidal movable tooth transmission mechanism of claim 10, wherein when the meshing curve adopts hypocycloid, the wave number Z c of the undercut cycloidal raceway and the number of movable teeth Z b satisfy the relationship Formula: Z c =Z b +1.
  13. 如权利要求11所述的根切摆线活齿传动机构,其特征在于:啮合曲线采用外摆线时,所述的根切摆线滚道的波数Z c与活齿个数Z b满足关系式:Z c=Z b-1。 The undercut cycloid movable tooth transmission mechanism of claim 11, wherein when the meshing curve adopts an outer cycloid, the wave number Z c of the undercut cycloid raceway and the number of movable teeth Z b satisfy the relationship Formula: Z c =Z b -1.
  14. 如权利要求8所述的根切摆线活齿传动机构,其特征在于:在集合D中,与根切摆线滚道啮合的那段母线对应的子集中的最大值D max满足可以使滚道发生根切的关系式: The undercut cycloidal movable tooth transmission mechanism according to claim 8, characterized in that: in the set D, the maximum value D max of the subset corresponding to the section of the generatrix that meshes with the undercut cycloidal raceway satisfies the requirement of rolling The relational formula of Dao's root incission:
    D max>ρ min D max >ρ min
    式中,ρ min-摆线曲率半径ρ的最小值。 In the formula, ρ min -the minimum value of the cycloidal curvature radius ρ.
  15. 如权利要求9所述的根切摆线活齿传动机构,其特征在于:所述的摆线曲率半径的计算公式为:The undercut cycloid movable tooth transmission mechanism according to claim 9, wherein the calculation formula of the radius of curvature of the cycloid is:
    Figure PCTCN2021070226-appb-100003
    Figure PCTCN2021070226-appb-100003
    式中,x和y为啮合曲线在平面直角坐标系中的坐标值。In the formula, x and y are the coordinate values of the meshing curve in the plane rectangular coordinate system.
  16. 如权利要求3所述的根切摆线活齿传动机构,双级封闭式根切摆线活齿传动单元有多种结构组合形式,其特征在于:采用象形法取象征意义,用符号S代表根切摆线滚道,用符号O表示活齿槽,S与对应的O连在一起即为一对活齿啮合副,再加上活齿,即构成一个单级根切摆线活齿传动单元,按照啮合副从左到右排列组合的布置形式,双级封闭式根切摆线活齿传动单元共有SOSO、SOOS、 OSSO和OSOS四种传动结构。As claimed in claim 3, the undercut cycloidal movable tooth transmission mechanism, the two-stage closed undercut cycloidal movable tooth transmission unit has a variety of structural combinations, characterized in that: the symbolic meaning is taken by the pictographic method, and the symbol S is used to represent Undercut cycloid raceway, the symbol O represents the movable tooth slot, S and the corresponding O are connected together to form a pair of movable teeth meshing pair, plus movable teeth, it constitutes a single-stage undercut cycloidal movable tooth transmission The units are arranged according to the arrangement of the meshing pairs from left to right. The two-stage closed undercut cycloid movable tooth transmission unit has four transmission structures: SOSO, SOOS, OSSO and OSOS.
  17. 如权利要求5所述的根切摆线活齿传动机构,双级嵌套封闭式根切摆线活齿传动单元有多种结构组合形式,其特征在于:采用象形法取象征意义,用符号S代表根切摆线滚道,用符号O表示活齿槽,S与对应的O连在一起即为一对活齿啮合副,再加上活齿,即构成一个单级根切摆线活齿传动单元,啮合副按照内圈从左到右再到外圈从右到左的顺序,根据排列组合,双级嵌套封闭式根切摆线活齿传动单元共有SOSO、SOOS、OSSO和OSOS四种传动结构。The undercut cycloidal movable tooth transmission mechanism of claim 5, the two-stage nested closed type undercut cycloidal movable tooth transmission unit has a variety of structural combinations, characterized in that: the symbolic meaning is taken by the pictographic method, and the symbol is used S represents the undercut cycloid raceway, and the symbol O represents the movable tooth groove. S and the corresponding O are connected together to form a pair of movable teeth meshing pair, plus movable teeth, it constitutes a single-stage undercut cycloidal movable Gear transmission unit, the meshing pair follows the order of the inner ring from left to right to the outer ring from right to left. According to the arrangement and combination, the two-stage nested closed undercut cycloid movable tooth transmission unit has SOSO, SOOS, OSSO and OSOS. Four transmission structures.
  18. 如权利要求16或17根切摆线活齿传动机构,其特征在于:在SOSO、SOOS、OSSO和OSOS四种传动结构中,两个根切摆线滚道均同时采用根切内摆线滚道。As claimed in claim 16 or 17, the undercut cycloidal movable tooth transmission mechanism is characterized in that: in the four transmission structures of SOSO, SOOS, OSSO and OSOS, both undercut cycloid raceways adopt undercut cycloid rolling at the same time. Tao.
  19. 如权利要求16或17所述的根切摆线活齿传动机构,其特征在于:在SOSO、SOOS、OSSO和OSOS四种传动结构中,两个根切摆线滚道均同时采用根切外摆线滚道。The undercut cycloidal movable tooth transmission mechanism according to claim 16 or 17, characterized in that: in the four transmission structures of SOSO, SOOS, OSSO and OSOS, two undercut cycloidal raceways both adopt the undercut external Cycloid raceway.
  20. 如权利要求16或17所述的根切摆线活齿传动机构,其特征在于:在SOSO、SOOS、OSSO和OSOS四种传动结构中,两个根切摆线滚道中,任选一个采用根切内摆线滚道,剩下的一个采用根切外摆线滚道。The undercut cycloidal movable tooth transmission mechanism according to claim 16 or 17, characterized in that: in the four transmission structures of SOSO, SOOS, OSSO and OSOS, any one of the two undercut cycloidal raceways adopts root Cut the inner cycloid raceway, and the remaining one adopts the undercut outer cycloid raceway.
PCT/CN2021/070226 2020-01-06 2021-01-05 Undercut cycloidal movable tooth transmission mechanism WO2021139636A1 (en)

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CN202010008305.2A CN111156306A (en) 2020-01-06 2020-01-06 Undercut oscillating tooth transmission meshing pair and generation method thereof
CN202010008305.2 2020-01-06
CN202010012686.1 2020-01-06
CN202010012354.3 2020-01-06
CN202010012686.1A CN111188876B (en) 2020-01-06 2020-01-06 Centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer
CN202010008303.3 2020-01-06
CN202010012352.4 2020-01-06
CN202010008303.3A CN111173895B (en) 2020-01-06 2020-01-06 Two-stage closed type undercut cycloid oscillating tooth transmission unit
CN202010012352.4A CN111022589B (en) 2020-01-06 2020-01-06 Centrosymmetric two-stage nested type undercut cycloid oscillating tooth speed reducer
CN202010012354.3A CN111120587B (en) 2020-01-06 2020-01-06 Centrosymmetric single-stage undercut cycloid needle roller speed reducer
CN202010008302.9A CN111173894B (en) 2020-01-06 2020-01-06 Two-stage nested closed type undercut cycloid oscillating tooth transmission unit
CN202010008302.9 2020-01-06
CN202010012355.8 2020-01-06
CN202010008304.8 2020-01-06
CN202010012355.8A CN111120588B (en) 2020-01-06 2020-01-06 Centrosymmetric two-stage differential undercut cycloid oscillating tooth speed reducer
CN202010012353.9 2020-01-06
CN202010012353.9A CN111120586B (en) 2020-01-06 2020-01-06 Closed undercut cycloid oscillating tooth reduction gear of doublestage
CN202010008304.8A CN111173896B (en) 2020-01-06 2020-01-06 Single-stage undercut cycloid oscillating tooth transmission unit

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