WO2021184423A1

WO2021184423A1 - Bispherical cycloidal roller nutation drive device

Info

Publication number: WO2021184423A1
Application number: PCT/CN2020/082643
Authority: WO
Inventors: 李轩; 孙立宁
Original assignee: 苏州大学
Priority date: 2020-03-20
Filing date: 2020-04-01
Publication date: 2021-09-23
Also published as: CN111237400A; CN111237400B

Abstract

Disclosed is a bispherical cycloidal roller nutation drive device, comprising an input shaft, wherein a roller bearing, a first crown gear and a second crown gear are sleeved on the input shaft; the roller bearing comprises an outer ring and an inner ring; a retaining rack is connected between the outer ring and the inner ring, and a roller is connected to the retaining rack; the inner ring is connected to the first crown gear, and the outer ring is connected to the second crown gear; the input shaft is also connected to a nutation plate by means of a first bearing, and the axis of the nutation plate and the axis of the input shaft are inclined; the nutation plate is located between the first crown gear and the second crown gear, and the nutation plate is peripherally provided with a driving roller; the first crown gear and the second crown gear are used to be engaged with the driving roller at the same time; the first crown gear is connected to one end of the input shaft by means of a second bearing, and the second crown gear is connected to the other end of the input shaft by means of a third bearing. The present invention may effectively enable the device to be light weight and miniaturized, thereby increasing the service life, reliability and usage flexibility of the drive device.

Description

Double spherical cycloid roller nutation transmission device

Technical field

The invention relates to the technical field of gear transmission, in particular to a double-spherical cycloid roller nutation transmission device.

Background technique

The existing nutation transmission devices mostly adopt involute bevel gear meshing pairs, bevel pendulum pin wheel meshing pairs, rolling bevel movable teeth meshing pairs or double arc spiral bevel gear meshing pairs, etc. The nutation transmission device of the above structure The structure is complex and the axial size is large, which is not conducive to light weight and miniaturization, and the inertial force generated by the nutation movement of the gear when the gears are meshed on the same side is not easy to offset, which will produce greater vibration and impact, which will lead to the nutation transmission device The service life is low and the reliability is poor; in addition, the existing nutation transmission device generally can only input and output on one side, with poor flexibility in use, and cannot meet the needs of use.

Summary of the invention

The technical problem to be solved by the present invention is to provide a double-spherical cycloid roller nutation transmission device, which can effectively reduce the axial size of the transmission device, is beneficial to realize the lightweight and miniaturization of the device, and can effectively offset the inertia generated by the nutation motion To avoid large vibrations and shocks, it is beneficial to improve the service life and reliability of the transmission device; it is beneficial to improve the flexibility and versatility of the transmission device.

In order to solve the above technical problems, the technical solutions provided by the present invention are as follows:

A double-spherical cycloid roller nutation transmission device, comprising an input shaft, a roller bearing, a first crown gear and a second crown gear are sleeved on the input shaft, and the roller bearing includes an outer ring and an inner ring , A cage is connected between the outer ring and the inner ring, rollers are connected to the cage, the inner ring is connected with the first crown gear, the outer ring and the second crown gear The input shaft is also connected to the nutating disk through a first bearing, the axis of the nutating disk is inclined to the axis of the input shaft, and the nutating disk is located between the first crown gear and the first crown gear. Between the two crown gears, a driving roller is provided in the circumferential direction of the nutating plate, and the first crown gear and the second crown gear are used for meshing with the driving roller at the same time, and the first crown gear passes through the first crown gear. Two bearings are connected to one end of the input shaft, and the second crown gear is connected to the other end of the input shaft through a third bearing.

In one of the embodiments, the tooth surfaces of the first crown gear and the second crown gear are both continuous spherical cycloid curved surfaces.

In one of the embodiments, the driving roller adopts a cylindrical roller, a drum roller or a tapered roller.

In one of the embodiments, a plurality of the driving rollers are evenly distributed in the circumferential direction of the nutating disk, and the plurality of driving rollers are all engaged in meshing.

In one of the embodiments, the roller bearing adopts a crossed roller bearing.

In one of the embodiments, the input shaft is provided with a first shaft section, a second shaft section and an inclined offset shaft section, and the inclined braided shaft section is located between the first shaft section and the second shaft section , The axis of the inclined offset shaft section is inclined with the axis of the input shaft, the axes of the first shaft section and the second shaft section are both coincident with the axis of the input shaft, and the inclined offset shaft Section is connected to the nutating disc through a first bearing, the first crown gear is connected to the first shaft section through a second bearing, and the second crown gear is connected to the second shaft through a third bearing Segments are connected.

In one of the embodiments, the input shaft is further provided with an inclined shaft sleeve, one side of the first bearing abuts against the inclined shaft sleeve, and the other side of the first bearing abuts against On the limiting rib, the limiting rib is connected with the inclined offset shaft section.

In one of the embodiments, an oil seal is further provided between the outer ring and the inner ring of the roller bearing.

In one of the embodiments, the inner ring and the first crown gear are connected by a first screw, and the outer ring and the second crown gear are connected by a second screw.

In one of the embodiments, it is defined that the number of teeth of the first crown gear is n ₁ , the number of teeth of the second crown gear is n ₃ , and the transmission ratio of the double spherical cycloid roller nutation transmission device is i _rl , Then when the second crown gear is used as the output end, i _rl =n ₃ /(n ₃ -n ₁ ); when the first crown gear is used as the output end, i _rl =n ₁ /(n _3- n ₁ ).

The present invention has the following beneficial effects: the double-spherical cycloid roller nutation transmission device of the present invention forms a double-spherical cycloid roller through the engagement of the first crown gear and the second crown gear with the driving roller on the nutating disk The conjugate meshing pair greatly reduces the axial size of the transmission device, and realizes the lightweight and miniaturization of the device; it can effectively offset the inertial force generated by the nutation motion, avoid large vibration and impact, and effectively improve the nutation transmission. The service life and reliability of the device; it can realize two use modes of "left end input, right end output", "right end input, left end output", flexible use and strong versatility.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the double-spherical cycloid roller nutation transmission device of the present invention;

Figure 2 is a three-dimensional cross-sectional view of the nutation transmission device shown in Figure 1;

Fig. 3 is an exploded schematic diagram of the nutation transmission device shown in Fig. 1;

Fig. 4 is an exploded schematic diagram of the nutation transmission device shown in Fig. 1 from another angle;

Fig. 5 is a schematic diagram of the structure of the input shaft in Fig. 1;

Figure 6 is a right side view of the input shaft shown in Figure 5;

Fig. 7 is a schematic diagram of the structure of the first crown gear in Fig. 1;

FIG. 8 is a schematic diagram of the structure of the second crown gear in FIG. 1;

Figure 9 is a schematic diagram of the engagement of the double spherical cycloid roller of the present invention;

10 is a schematic diagram of the engagement of the nutating disc and the first crown gear in the double spherical cycloid roller engagement pair shown in FIG. 9;

11 is a schematic diagram of the engagement of the nutation disk and the second crown gear in the double spherical cycloid roller engagement pair shown in FIG. 9;

In the figure: 1. The first crown gear, 2. The second crown gear, 3. Roller bearing, 31, Inner ring, 32, Outer ring, 33, Roller, 4. Nutation plate, 41, Drive roller, 5. Input shaft, 51, first shaft section, 52, second shaft section, 53, inclined offset shaft section, 54, limit ribs, 6, inclined shaft sleeve, 7, oil seal, 8, first screw, 9. The second screw, 10, the first bearing, 11, the second bearing, 12, and the third bearing.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention, but the examples cited are not intended to limit the present invention.

As shown in Figures 1 to 4, this embodiment discloses a double spherical cycloid roller nutation transmission device, including an input shaft 5, the input shaft 5 is sleeved with a roller bearing 4, a first crown gear 1 and The second crown gear 2, the roller bearing 4 includes an outer ring 32 and an inner ring 31, a cage is connected between the outer ring 32 and the inner ring 31, and a roller 33 is connected to the cage, the inner ring 31 and the first crown gear 1 is connected, the outer ring 32 is connected to the second crown gear 2, and the input shaft 5 is also connected to the nutating disk 4 through the first bearing 10, and the axis of the nutating disk 4 and the axis of the input shaft 5 are inclined to realize the chapter The nutation of the nutation plate 4, the inclination angle of the axis of the nutation plate 4 and the axis of the input shaft 5 is the nutation angle, the nutation plate 4 is located between the first crown gear 1 and the second crown gear 2, the nutation plate 4 is provided with a driving roller 41 in the circumferential direction, as shown in Figures 9-11, the first crown gear 1 and the second crown gear 2 are used to mesh with the driving roller 41 at the same time to form a double spherical cycloid roller conjugate In the meshing pair, that is, during meshing transmission, one side of each drive roller 41 on the nutation plate 4 meshes with the tooth surface of the first crown gear 1 and the other side meshes with the tooth surface of the second crown gear 2 In meshing, the first crown gear 1 is connected to one end of the input shaft 5 through a second bearing 11, and the second crown gear 2 is connected to the other end of the input shaft 5 through a third bearing 12.

Among them, since the first crown gear 1 and the second crown gear 2 are meshed with the driving roller 41 to achieve transmission, that is, the transmission is achieved through rolling meshing contact, which is beneficial to reduce transmission loss and greatly improves the transmission efficiency of the transmission device. In the above structure, the driving roller 41 on the nutation plate 4 and the first crown gear 1 and the second crown gear 2 form a double-sided meshing structure, which can effectively offset the inertial force generated by the nutation motion, thereby greatly The vibration and impact generated by the nutation movement are reduced, the smoothness of the movement, the service life and the reliability are improved, and the axial size of the transmission device is also greatly reduced.

When the driving roller 41 is installed on the nutating disc 4, the following method is adopted: a pin is arranged in the circumferential direction of the nutating disc 4, and the driving roller 41 is rotatably sleeved on the pin.

In one of the embodiments, as shown in Fig. 1 to Fig. 2, the roller bearing 3 adopts a crossed roller bearing. The use of cross-roller bearings greatly simplifies the support structure of the transmission device, and can withstand large external axial and radial forces. In addition, the size of the inner and outer rings is also small, which is conducive to the miniaturization of the device.

Understandably, the roller bearing 3 can also adopt other bearings that can bear a certain axial force and radial force at the same time.

In one of the embodiments, as shown in Figures 3, 4, 7 and 8, the tooth surfaces of the first crown gear 1 and the second crown gear 2 are both continuous spherical cycloid surfaces, that is, the first crown gear The tooth surfaces of 1 and the second crown gear 2 are continuous tooth surfaces, which can effectively reduce tooth surface wear and easily form a lubricating oil film.

Furthermore, the driving roller 41 adopts a cylindrical roller, which is convenient for processing and forming, and the movement is stable and reliable.

At this time, the above-mentioned double spherical cycloid roller conjugate meshing pair is formed by the curved envelope produced by the cylindrical roller, and the curved surface equation produced by the cylindrical roller is:

The tooth surface equation and meshing equation of the first crown gear are:

The tooth surface equation and meshing equation of the second crown gear are:

Among them, x _r , y _r , z _r represent the coordinates in the x, y, and z directions of the tooth surface of the first crown gear 1 respectively, and x _l , y _l , and z _l represent the x and y of the tooth surface of the second crown gear 2 respectively , The coordinates in the z direction, u is the tooth width, ε is the nutation angle, δ is the pitch cone angle, ρ is the radius of the rounding, and θ is the variable of the rounding.

Is the gear rotation angle, n represents the number of gear teeth, the

subscripts

1, 2, and 3 represent the first crown gear 1, the nutation plate 4, and the second crown gear 2, for example,

Respectively represent the gear rotation angles of the first crown gear 1, the nutation plate 4, and the second crown gear 2, n ₁ , n ₂ , and n ₃ represent the number of teeth of the first crown gear 1, the nutation plate 4 and the second crown gear 2 respectively , And n ₁ =n ₂ ±1,

It can be understood that the number of teeth n _{2 of} the nutating disk is the number of driving rollers 41 on the nutating disk 4.

In one of the embodiments, the number of teeth of the first crown gear 1 is n ₁ , the number of teeth of the second crown gear 2 is n ₃ , and the transmission ratio of the double spherical cycloid roller nutation transmission device is i _rl , then the first crown gear 1 When the second crown gear 2 is used as the output terminal, i _rl =n ₃ /(n ₃ -n ₁ ); when the first crown gear 1 is used as the output terminal, i _rl ＝n ₁ /(n ₃ -n ₁ ), output The direction of rotation of the end can be determined by _{the sign of the transmission ratio i rl.} A positive sign indicates that the direction of rotation of the output end is opposite to the direction of rotation of the input end, and a negative sign indicates that the direction of rotation of the output end is the same as that of the input end.

In one of the embodiments, the driving roller 41 may also be a drum roller or a tapered roller.

In one of the embodiments, a plurality of driving rollers 41 are evenly distributed in the circumferential direction of the nutating plate 4. When the first crown gear 1 and the second crown gear 2 mesh with the nutating plate 4 at the same time for meshing transmission, the nutating plate 4 A plurality of driving rollers 41 of the device are engaged in meshing, thereby realizing the rolling multi-tooth line contact, which can greatly reduce the wear of the tooth surface, and is also easy to form a lubricating oil film, which improves the transmission efficiency of the device.

In one of the embodiments, as shown in FIGS. 5-6, the input shaft 5 is provided with a first shaft section 51, a second shaft section 52 and an inclined offset shaft section 53, and the inclined braided shaft section 53 is located on the first shaft. Between the section 51 and the second shaft section 52, the axis of the inclined offset shaft section 53 and the axis of the input shaft 5 are inclined (the angle of inclination is the nutation angle) in order to realize the nutation of the nutation plate 4 stably and reliably. The axes of the first shaft section 51 and the second shaft section 52 are coincident with the axis of the input shaft 5. The inclined and offset shaft section 53 is connected to the nutating plate 4 through the first bearing 10, and the first crown gear 1 passes through the second The bearing 11 is connected to the first shaft section 51, and the second crown gear 2 is connected to the second shaft section 52 through the third bearing 12.

In one of the embodiments, the input shaft 5 is also sleeved with an inclined shaft sleeve 6, one side of the first bearing 10 abuts on the inclined shaft sleeve 6, and the other side of the first bearing 10 abuts on the limit stop. On the side 54, the limiting rib 54 is connected with the inclined offset shaft section 53, and the first bearing 10 can be axially limited by the limiting rib 54 and the inclined shaft sleeve 6.

Among them, the inclined shaft sleeve 6 is arranged on the side of the first bearing 10 of the supporting member to be inclined so as to better fit the first bearing 10 and play a better limiting effect on the first bearing 10.

In one of the embodiments, an oil seal 7 is further provided between the outer ring 32 and the inner ring 31 of the roller bearing 3.

In one of the embodiments, the inner ring 31 and the first crown gear 1 are connected by a first screw 8, and the outer ring 32 and the second crown gear 2 are connected by a second screw 9. The connection is simple and reliable, and Easy to install and remove.

The above-mentioned nutation transmission device of this embodiment can realize input from the side where the first crown gear 1 is located, and output from the side where the second crown gear 2 is located. Input from the side of the second crown gear 2 and output from the side where the first crown gear 1 is located, that is, the "right end input, left end output" mode is realized.

In the "left end input, right end output" mode, the method of using the transmission device and its meshing pair includes the following steps:

1) Connect the output shaft of the motor to the input shaft 5 through a keyway, and fix the inner ring 31 of the roller bearing 3 to the motor housing;

2) Start the motor, and the input shaft 5 is driven by the motor output shaft to rotate; during the rotation of the input shaft 5, the first bearing 10 and the nutation disk 4 are driven to make precession. The driving roller 41 on the nutation disk 4 and the first The tooth surface of the crown gear 1 is conjugated to mesh, so that the rotation speed of the nutating disk 4 is reduced, and the first-stage deceleration is realized;

The driving roller 41 on the decelerated nutating disc 4 meshes with the tooth surface of the second crown gear 2 in conjugate, so that the power is output through the second crown gear 2 and the outer ring 32 of the roller bearing 3 fixedly connected to it. , Achieve the second-level deceleration.

In the "right end input, left end output" mode, the method of using the transmission and its meshing pair includes the following steps:

1) Connect the output shaft of the motor to the input shaft through a keyway, and fix the outer ring 32 of the roller bearing 3 with the motor housing;

2) Start the motor, and the output shaft of the motor drives the input shaft 5 to rotate; during the rotation of the input shaft 5, the first bearing 10 and the nutation plate 4 are driven to make a precession movement. The driving roller 41 and the second nutation plate 4 are The tooth surface of the crown gear 2 meshes with conjugate, so that the rotation speed of the nutating disk 4 is reduced, and the first-stage deceleration is realized;

The driving roller 41 on the decelerated nutating disc 4 meshes with the tooth surface of the first crown gear 1 in conjugate, so that the power is output through the first crown gear 1 and the inner ring 31 of the roller bearing 3 fixedly connected to it. , Achieve the second-level deceleration.

In the nutation transmission device of this embodiment, the driving roller 41 on the nutation disk 4 simultaneously meshes with the first crown gear 1 and the second crown gear 2 on both sides thereof to form a double spherical cycloid roller conjugate mesh. It avoids the problem that the double-sided meshing structure of the existing nutation transmission device needs to use two pairs of gears and needs to occupy a longer axial size, greatly reduces the axial size of the transmission device, and realizes the lightweight and miniaturization of the device; In addition, the above meshing structure overcomes the problem that the inertial force generated by the nutation movement of the gear is not easily offset when the gear is meshed on one side, reduces the wear and backlash of the tooth surface, is conducive to axial clearance, and greatly improves the smoothness of motion and the carrying capacity; "Left end input, right end output", "right end input, left end output" two use modes, flexible and versatile; the nutating plate with rollers has a simple structure, easier to manufacture, and saves processing costs.

The above-mentioned embodiments are only preferred embodiments for fully explaining the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or alterations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. The protection scope of the present invention is subject to the claims.

Claims

A double-spherical cycloid roller nutation transmission device is characterized by comprising an input shaft, a roller bearing, a first crown gear and a second crown gear are sleeved on the input shaft, and the roller bearing includes an outer Ring and inner ring, a cage is connected between the outer ring and the inner ring, rollers are connected to the cage, the inner ring and the first crown gear are connected, the outer ring and the The second crown gear is connected, the input shaft is also connected to the nutating disk through a first bearing, the axis of the nutating disk is inclined to the axis of the input shaft, and the nutating disk is located in the first Between the crown gear and the second crown gear, a driving roller is provided in the circumferential direction of the nutating plate, and the first crown gear and the second crown gear are used for meshing with the driving roller at the same time. The crown gear is connected to one end of the input shaft through a second bearing, and the second crown gear is connected to the other end of the input shaft through a third bearing.
The double-spherical cycloid roller nutation transmission device according to claim 1, wherein the tooth surfaces of the first crown gear and the second crown gear are both continuous spherical cycloid curved surfaces.
The dual-spherical cycloid roller nutation transmission device according to claim 1, wherein the driving roller adopts a cylindrical roller, a drum roller or a tapered roller.
The double-spherical cycloid roller nutation transmission device according to claim 1, wherein a plurality of the driving rollers are uniformly distributed in the circumferential direction of the nutating disk, and the plurality of driving rollers are all engaged in meshing.
The double-spherical cycloid roller nutation transmission device according to claim 1, wherein the roller bearing adopts a crossed roller bearing.
The double-spherical cycloid roller nutation transmission device according to claim 1, wherein the input shaft is provided with a first shaft section, a second shaft section and an inclined offset shaft section, and the inclined weaving shaft Section is located between the first shaft section and the second shaft section, the axis of the inclined offset shaft section is inclined with the axis of the input shaft, and the axes of the first shaft section and the second shaft section are equal The axes of the input shaft coincide, the inclined offset shaft section is connected to the nutating disc through a first bearing, and the first crown gear is connected to the first shaft section through a second bearing, so The second crown gear is connected with the second shaft section through a third bearing.
The double-spherical cycloid roller nutation transmission device according to claim 6, wherein the input shaft is further provided with an inclined shaft sleeve, and one side of the first bearing abuts against the inclined shaft When it is put on, the other side of the first bearing abuts against the limit rib, and the limit rib is connected with the inclined offset shaft section.
The double-spherical cycloid roller nutation transmission device according to claim 1, wherein an oil seal is further provided between the outer ring and the inner ring of the roller bearing.
The double spherical cycloid roller nutation transmission device of claim 1, wherein the inner ring and the first crown gear are connected by a first screw, and the outer ring and the first crown gear are connected by a first screw. The two crown gears are connected by a second screw.
The double-spherical cycloid roller nutation transmission device of claim 1, wherein the number of teeth of the first crown gear is defined as n 1 , the number of teeth of the second crown gear is n 3 , and the double The transmission ratio of the spherical cycloid roller nutation transmission device is i rl , then when the second crown gear is used as the output end, i rl = n 3 /(n 3 -n 1 ); when the first crown gear When used as an output terminal, i rl= n 1 /(n 3 -n 1 ).