CN118793744A - Differential type small tooth difference speed reducer - Google Patents
Differential type small tooth difference speed reducer Download PDFInfo
- Publication number
- CN118793744A CN118793744A CN202410413756.2A CN202410413756A CN118793744A CN 118793744 A CN118793744 A CN 118793744A CN 202410413756 A CN202410413756 A CN 202410413756A CN 118793744 A CN118793744 A CN 118793744A
- Authority
- CN
- China
- Prior art keywords
- gear
- speed
- planetary
- gear ring
- cam
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 45
- 230000009467 reduction Effects 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 5
- 230000000452 restraining effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000005489 elastic deformation Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Landscapes
- Retarders (AREA)
Abstract
A differential speed reducer with small tooth difference belongs to the field of machinery. The structure comprises: gear ring or sun gear, cam, planetary gear; firstly, a gear ring A and a planetary gear C, and a gear ring B and a planetary gear D are combined by two pairs of independent planetary motions; when the constraint ring gear a is stationary, since the planetary gear C is inside the ring gear, the number of teeth is smaller than that of the ring gear a, resulting in a difference in speed, the rotational speed relationship between the high speed shaft and the low speed shaft: since the directions of the 2 rotational speeds are opposite, the superimposed rotational speeds are the difference values: omega 1-ω2; may be positive, negative, or even zero; the positive transmission and the reverse transmission mean that the speed reduction ratio is larger, even the infinite speed reduction ratio, and the relationship with the tooth height is not large; can be widely used as the mechanical industry.
Description
[ Technical field ]
The invention belongs to the technical field of machinery, in particular to an improved harmonic wave small tooth difference speed reducer which realizes a high reduction ratio gear reduction structure under a large tooth shape by differential motion.
[ Background Art ]
Introduction to harmonic reducer technology:
The harmonic speed reducer is developed in the fifty s abroad and in the sixty-seventies in China, and is specially produced by a plurality of factories and is serialized. The method is widely applied to industries such as electronics, aerospace, robots and the like, and the application in the chemical industry is gradually increased due to the unique advantages of the method; in fact, this technology is an evolution of the primitive technology based on the small tooth difference in the twenties. English: the halonic GEAR DRIVE definition: the harmonic drive speed reducer is a gear drive which is formed by assembling a flexible bearing on a wave generator to enable the flexible gear to generate controllable elastic deformation and meshed with the rigid gear to transmit motion and power. Application discipline: mechanical engineering (first order discipline); transmission (secondary discipline); a gear transmission (three-stage subject) harmonic gear transmission speed reducer, which is a novel speed reducer developed by utilizing a planetary gear transmission principle. Harmonic gear drive (harmonic drive for short).
The wave generator H is a rod-shaped component, and rolling bearings are arranged at two ends of the wave generator H to form a roller, and the roller and the inner wall of the flexible gear 1 are mutually pressed. The flexible gear is a thin-wall gear capable of generating larger elastic deformation, and the diameter of an inner hole of the flexible gear is slightly smaller than the long axis of the wave generator. The wave generator is a member that causes the flexspline to controllably elastically deform. When the wave generator is installed in the flexible gear, the cross section of the flexible gear is forced to be changed into an ellipse from the original circular shape, the teeth near the two ends of the long shaft are completely meshed with the teeth of the rigid gear, and the teeth near the two ends of the short shaft are completely disconnected with the rigid gear. The teeth of the other sections on the circumference are in a transition state of engagement and disengagement. When the wave generator continuously rotates along the direction of the drawing, the deformation of the flexible wheel is continuously changed, so that the meshing state of the flexible wheel and the rigid wheel is also continuously changed, and the flexible wheel is repeatedly meshed in, meshed out, disconnected and then meshed in … …, thereby realizing the slow rotation of the flexible wheel relative to the rigid wheel along the opposite direction of the wave generator H. When the device works, the rigid wheel is fixed, the motor drives the wave generator to rotate, the flexible wheel serves as a driven wheel, and the flexible wheel outputs rotation to drive the load to move. In the transmission process, the wave generator makes one revolution, and the number of times of deformation of a certain point on the flexible gear is called wave number and is expressed as n. Two waves and three waves are commonly used. The flexible gear of the double wave transmission has smaller stress, simpler structure and easy obtaining of large transmission ratio. Therefore, the method is the most widely applied one.
Basic characteristics are as follows:
* In the bearing capacity high-harmonic transmission, the meshing of teeth is surface contact, and the number of meshing teeth (overlapping coefficient) is relatively large, so that the load per unit area is small, and the bearing capacity is higher than that of other transmission modes.
* The transmission ratio is larger than that of single-stage harmonic gear transmission, and can reach i=70-500.
* Small volume and light weight.
* High transmission efficiency and long service life.
* Stable transmission, no impact, no noise and high motion precision.
* Because the flexible gear bears larger alternating load, the requirements on the fatigue resistance, processing and heat treatment of the flexible gear material are higher, and the process is complex.
Introduction to the source technology with small tooth differences:
the planetary gear transmission with small tooth difference usually has the tooth difference of 1-4. The external gear is sleeved on the input shaft of the speed reducer through a bearing and an eccentric sleeve. In order to balance part of the inertial force and improve the bearing capacity, two external gears are generally adopted, and two eccentric gears are arranged on the eccentric sleeve and are mutually 180 degrees. The internal gear is mostly stationary. The output mechanism transmits the rotation of the external gear to the output shaft through the pin shaft, and maintains the angular speed of the external gear unchanged. Common output mechanisms are pin shafts, floating discs, etc.
Structure and principle:
the planetary transmission with small tooth difference is an evolution type of common planetary transmission, and has simpler structure than the common planetary transmission, and comprises an annular gear, a planet carrier, a planet wheel and a disc-shaped output shaft. The planet carrier with the structure is a driving part, and the planet wheel is a driven part, which is opposite to the common planetary transmission.
The double universal coupling structure is not only large in axial dimension, but also can not be used for occasions with a plurality of planetary gears, and is basically not used. The most widely used is the hole pin type disc output mechanism. A plurality of pin holes are uniformly distributed on the web plate of the planet wheel along the circumference, the corresponding positions of the disc of the output shaft are uniformly provided with cylindrical pins with the same number respectively, and the cylindrical pins are inserted into the pin holes of the planet wheel. The center distance between the inner gear ring and the planet gear (namely the eccentric distance of the planet carrier) is required to be equal to the difference between the pin hole and the pin shaft radius, so that the pin hole and the pin shaft can be ensured to be always tangent, and the planet gear can push the disc-shaped output shaft to rotate at the same speed and in the same direction. At this time, the center of the inner gear ring, the center of the planet wheel, the center of the pin hole and the center of the pin shaft just form a parallelogram.
Application of small tooth difference planetary transmission:
the planetary transmission is widely applied to a planetary reducer of power transmission, and has the advantages of compact size design, light weight, high transmission power and the like. The planetary transmission with small tooth difference is a special type of planetary transmission. The motion of the planet wheel is a composite motion of rotation and revolution, and the calculation of the transmission ratio is complex. The device is divided into single-stage transmission and multi-stage transmission: the involute small tooth difference single-stage transmission generally adopts a transmission ratio of more than 20-100 and the efficiency of 0.8-0.9. Its gear can be machined by general gear machine tool. If the number of teeth of the external gear is Z0 and the number of teeth of the internal gear is Zb, when the internal gear is fixed, the transmission ratio ib of the input shaft and the output shaft is = -Z0/(Zb-Z0); when the output shaft (F) is stationary, the ratio if=zb/(Zb-Z0) of the input shaft to the internal gear. The smaller the number of teeth difference between the inner gear and the outer gear, the larger the transmission ratio obtained by each stage of transmission, but when the number of teeth difference is small to a certain extent, for example, a standard involute gear with a pressure angle of 20 degrees is adopted, and when the number of the inner gears is less than 180 and the number of teeth difference is less than 5-7, the inner meshing gears can generate tooth overlapping interference. The solution is to use short teeth and perform proper displacement.
The main technical defects of the harmonic reducer are as follows:
* The flexspline deforms periodically, thus generating alternating stress, which makes it prone to fatigue failure.
* The moment of inertia and the starting moment are large, and the device is not suitable for tracking transmission with low power.
* And cannot be used in the situation that the transmission speed ratio is smaller than 35.
* Harmonic drive with roller wave generator (free deformation wave) is used, the instantaneous drive ratio of which is not constant.
* The heat dissipation condition is poor.
The technical disadvantage of the speed reducer with small tooth difference is as follows:
* The moment born is drastically reduced with the reduction of the tooth height, and fatigue failure is liable to occur.
* The speed ratio is less than that of a harmonic speed reducer.
* The mechanical structure is relatively complex and the cost is high.
[ Summary of the invention ]
The purpose of the invention is that: the structure of the speed reducer with large reduction ratio and small tooth difference is simplified, and the speed reducer with superior strength, volume and reduction ratio is created.
The invention is characterized in that: compact structure, high transmission efficiency and frequency, and long service life.
The technical key of the invention is as follows: adopting an eccentric circumference cam to generate first-order harmonic waves; to push the double-sided planetary gear to do the related planetary operation, thereby obtaining the speed reduction of the mechanism.
The specific invention comprises the following steps: a differential type small tooth difference speed reducer structure comprises: gear ring or sun gear, cam, planetary gear; assembly relation: under the cooperation of the inner gear ring and the planetary gear, the gear ring A and the gear ring B are coaxial (same gear ring axis and gear ring axis) and are respectively connected with a high-speed shaft and a low-speed shaft of the speed reducer; the planet gear C and the planet gear D are coaxial (same planet axle center and planet axle axis), are arranged on the same rotary disc, and are respectively tangent to the gear ring A and the gear ring B as planet gears, see the joint part of the gear ring A and the planet gear C and the joint part of the gear ring B and the planet gear D; the axis of the gear ring is parallel to the axis of the planet and is spaced; the cam part of the cam is a disc perpendicular to the axis, the axis passes through the circle center, and the disc is used for restraining the two fixedly installed planetary gears C and D which are processed on the same axle center to freely rotate through bearings; after the disc cam part of the cam is eccentrically (rigidly) arranged on the high-speed shaft, the revolution of the cam can be driven by rotating the high-speed shaft; the planetary axes revolve around the gear ring axis in parallel and the space is unchanged; the multiple shell parts play a role in supporting and guiding the rotating shaft.
Working principle: firstly, a gear ring A and a planetary gear C, and a gear ring B and a planetary gear D are combined by two pairs of independent planetary motions; when the constraint gear ring A is stationary, the number of teeth is smaller than that of the gear ring A because the planetary gear C is arranged inside the gear ring; the revolution speed of the cam driven by the high-speed shaft is greater than the rotation speed of the planetary gear C, and is expressed as: the angular displacement of the planetary gear C is smaller than that of the cam; the angular displacement of the planet gear D is smaller than that of the cam, namely, the angular displacement of the cam is larger than that of the planet gear D; since there is a small difference in teeth (no difference in tooth number) between the planetary gears and the ring gear, the difference in speed is also not large. Thus, the rotational speed relationship between the high speed shaft and the low speed shaft: the rotational speed omega 1 between the gear ring A and the planetary gear C is superposed with the rotational speed omega 2 between the gear ring B and the planetary gear D; since the directions of the 2 rotational speeds are opposite, the superimposed rotational speed is the difference (ω 1-ω2) thereof.
And (3) independently adjusting parameters: the relationship of pitch circle, tooth number and the like between the gear ring A and the planetary gear C, and between the gear ring B and the planetary gear D, and the difference value (omega 1-ω2) of the angular speed can be positive, negative or even zero; it means that the forward transmission and the reverse transmission have larger reduction ratio, and even infinity (angular velocity ω= (tooth difference/tooth number) x rotation speed x2 pi with small tooth difference relative rotation), and the reduction ratio is equal to ω 1/ω2.
Under the condition that the sun gear is matched with the planetary gears, the planetary gears are internal gears (in the shape of a gear ring) at the moment, and the independent transmission superposition of the two groups of sun gears and the planetary gears is still realized; the 2 planetary gears are concentrically fixed on a rotary table, and then the rotary table is driven by a cam to revolve; the high-speed shaft and the low-speed shaft are respectively connected with respective sun gears; the rotational speed relationship and characteristics are identical to those described above.
Further: the speed reducer can take the planetary gear as a high-speed shaft and a low-speed shaft for output, and the gear ring or the sun gear is coaxially arranged on the same rotary disc; the relative meshing and movement relationship between the two groups of planetary gears and the sun gear are the same; the superimposed relationship of the angular velocities is the same as above.
The invention has the technical progress that: the speed reducer ratio with the traditional speed reducer with less tooth difference or the speed reducer with less tooth difference of harmonic wave has the following conditions of no flexible component: high precision, high reduction ratio, long service life and the like.
[ Description of the drawings ]
The invention is further described with reference to the following preferred embodiments of the invention with reference to the accompanying drawings:
FIG. 1 and FIG. 2 are schematic diagrams of explosion and overall of harmonic differential speed reducer with small tooth difference.
FIG. 3 schematic cross-sectional view of the harmonic differential type small tooth difference speed reducer
FIG. 4 schematic cross-sectional view of harmonic differential type small tooth difference speed reducer perpendicular to axis
The reference numerals in the figures illustrate:
1 gear ring A
2 Gear ring B
3 Planetary gear C
4 Planetary gear D
5 Gear ring axis
6 Planetary axis
7 Parts of the shell
8 Cam
9 Joint of the gear ring 1 and the planetary gear 1
10 Joint of gear ring 2 and planetary gear 2
11 Low speed shaft
12 High speed shaft
13. Gear ring axle center
14. Planetary axle center
[ Embodiment ]
As shown in fig. 1, 2, 3 and 4:
fig. 1 and fig. 2 are external views and exploded views seen from two oblique directions.
The gear ring A (1) and the gear ring B (2) are coaxial (same gear ring axis (13) and gear ring axis (5)), and are respectively connected with a high-speed shaft (12) and a low-speed shaft (11) of the speed reducer; the planetary gear C (3) is coaxial with the planetary gear D (4) (same planetary shaft center (14) and planetary shaft line (6)), is arranged on the same rotary disc (disc cam part of the cam (8)), and is tangential to the gear ring A (1) and the gear ring B (2) respectively as planetary gears, and is seen from a joint part (9) of the gear ring A and the planetary gear C and a joint part (10) of the gear ring B and the planetary gear D; the gear ring axis (5) is parallel to the planet axis (6) and is spaced; the cam part of the cam (8) is a disc perpendicular to the axis, the axis passes through the circle center, and the disc is used for restraining the free rotation of the two fixedly installed planetary gears C (3) and the planetary gear D (4) which are processed on the same axis through bearings; after the disc cam part of the cam (8) is eccentrically (rigidly) arranged on the high-speed shaft (12), the revolution of the cam (8) can be driven by rotating the high-speed shaft (12); the planetary axes (6) revolve around the gear ring axis (5) in parallel with constant spacing; the multiple shell parts (7) play a role in supporting and guiding the rotating shaft.
Working principle: firstly, a gear ring A (1) and a planetary gear C (3), and a gear ring B (2) and a planetary gear D (4) are combined by two pairs of independent planetary motions; when the constraint gear ring A (1) is stationary, the number of teeth is smaller than that of the gear ring A (1) because the planetary gear C (3) is inside the gear ring; therefore, the revolution speed of the cam (8) driven by the high-speed shaft (12) is larger than the rotation speed of the planetary gear C (3), and the revolution speed is expressed as follows: the angular displacement of the planet gear C (3) is smaller than the angular displacement of the cam (8); the angular displacement of the planet gear D (4) is smaller than the angular displacement of the cam (8), namely, the angular displacement of the cam (8) is larger than the angular displacement of the planet gear D (4); since there is a small difference in teeth (no difference in tooth number) between the planetary gears and the ring gear, the difference in speed is also not large. Thus, the rotational speed relationship between the high speed shaft (12) and the low speed shaft (11): the rotational speed ω 1 between the ring gear a (1) and the planetary gear C (3), and the rotational speed ω 2 between the ring gear B (2) and the planetary gear D (4) are superimposed; since the directions of the 2 rotational speeds are opposite, the superimposed rotational speed is the difference (ω 1-ω2) thereof.
And (3) independently adjusting parameters: the relationship between the gear ring A (1) and the planetary gear C (3), and the relationship between the gear ring B (2) and the planetary gear D (4) such as pitch circle, tooth number and the like, and the difference (omega 1 -omega 2) can be positive, negative or even zero; it means forward transmission, reverse transmission, and a larger reduction ratio, even endless.
Claims (2)
1. A differential type small tooth difference speed reducer is provided, which comprises: gear ring or sun gear, cam, planetary gear; working principle: firstly, a gear ring A and a planetary gear C, and a gear ring B and a planetary gear D are combined by two pairs of independent planetary motions; when the constraint gear ring A is stationary, the number of teeth is smaller than that of the gear ring A because the planetary gear C is arranged inside the gear ring; the revolution speed of the cam driven by the high-speed shaft is greater than the rotation speed of the planetary gear C, and is expressed as: the angular displacement of the planetary gear C is smaller than that of the cam; the angular displacement of the planet gear D is smaller than that of the cam, namely, the angular displacement of the cam is larger than that of the planet gear D; because the planetary gear and the gear ring are small in tooth difference, the speed difference is not large, and therefore, the rotation speed relationship between the high-speed shaft and the low-speed shaft is that: the rotational speed omega 1 between the gear ring A and the planetary gear C is superposed with the rotational speed omega 2 between the gear ring B and the planetary gear D; since the directions of the 2 rotational speeds are opposite, the superimposed rotational speeds are the difference values: omega 1-ω2; and (3) independently adjusting parameters: the relationship of pitch circle, tooth number and the like between the gear ring A and the planetary gear C, and between the gear ring B and the planetary gear D, and the angular velocity difference value: omega 1-ω2, which can be positive, negative, or even zero; the forward transmission and the reverse transmission mean that the speed reduction ratio is larger and even infinite, and the speed reduction ratio is equal to omega 1/ω2;
The method is characterized in that:
under the cooperation of the inner gear ring and the planetary gear, the gear ring A and the gear ring B are coaxial and are respectively connected with a high-speed shaft and a low-speed shaft of the speed reducer; the planetary gear C and the planetary gear D are coaxial, are arranged on the same rotary disc, and are respectively tangent to the gear ring A and the gear ring B as planetary gears; the axis of the gear ring is parallel to the axis of the planet and is spaced; the cam part of the cam is a disc perpendicular to the axis, the axis passes through the circle center, and the disc is used for restraining the two fixedly installed planetary gears C and D which are processed on the same axle center to freely rotate through bearings; after the disc cam part of the cam is eccentrically and rigidly arranged on the high-speed shaft, the revolution of the cam can be driven by rotating the high-speed shaft; the planetary axes revolve around the gear ring axis in parallel and the space is unchanged;
Under the condition that the sun gear is matched with the planet gears, the planet gears are in the shape of ring gears of the internal gears, and the independent transmission superposition of the two groups of sun gears and the planet gears is still realized; the 2 planetary gears are concentrically fixed on a rotary table, and then the rotary table is driven by a cam to revolve; the high-speed shaft and the low-speed shaft are respectively connected with respective sun gears; the rotational speed relationship and characteristics are identical to those described above.
2. The differential speed reducer with small tooth difference according to claim 1, characterized in that the high-speed shaft and the low-speed shaft can take the planetary gear as the output high-speed shaft and the low-speed shaft, and the gear ring or the sun gear is coaxially arranged on the same rotary disc.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310413544X | 2023-04-11 | ||
| CN202310413544 | 2023-04-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118793744A true CN118793744A (en) | 2024-10-18 |
Family
ID=93027022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410413756.2A Pending CN118793744A (en) | 2023-04-11 | 2024-04-08 | Differential type small tooth difference speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118793744A (en) |
-
2024
- 2024-04-08 CN CN202410413756.2A patent/CN118793744A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110425255B (en) | Sinusoidal plane two-stage movable tooth speed reducer | |
| US20180156314A1 (en) | Drives with partial cycloid teeth profile | |
| JP2009121494A (en) | Double-stage reduction gear | |
| CN113309842B (en) | Cycloidal pin gear harmonic speed reducer | |
| US11841072B2 (en) | Transverse cycloidal-pin gear pair and nutation deceleration device | |
| CN110259890B (en) | Axial shock wave oscillating tooth speed reducer | |
| US4542664A (en) | Gear transmission | |
| CN109780163B (en) | Reciprocating type cylindrical sine end face oscillating tooth speed reducer | |
| CN118128880A (en) | Split type flexspline harmonic speed reducer | |
| CN118793744A (en) | Differential type small tooth difference speed reducer | |
| US3094880A (en) | Speed changing mechanism | |
| CN104154185A (en) | Built-in planetary transmission high-rigidity small-tooth-difference gear transmission device | |
| CN112178134B (en) | Large-scale high-rigidity impact-resistant precise speed reducer | |
| CN1060556C (en) | Cycloidal ball planet speed reducer | |
| CN118775504A (en) | Harmonic differential type small tooth difference speed reducer | |
| CN111895058A (en) | Forming design method of speed reducer | |
| CN219082192U (en) | Planetary gear transmission speed reducer with small tooth difference and internal teeth | |
| CN113757310B (en) | Light-weight parallel axis gear pair mechanism | |
| CN221897049U (en) | Mechanical transmission mechanism | |
| CN216742658U (en) | Miniaturized cycloid decelerator | |
| CN109139812A (en) | A kind of New-type cycloidal planetary reducer | |
| CN111895059B (en) | Forming design method of speed reducer | |
| RU2497030C1 (en) | Cycloidal gearing with solids of revolution | |
| TWM545851U (en) | A differential speed-reduction mechanism | |
| RU23477U1 (en) | PLANETARY-CHAIN REDUCER |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication |