阅读说明：本技术 一种预定内齿齿形的活齿传动装置 (Movable tooth transmission device with preset internal tooth profile ) 是由 周江 徐振 于 2020-06-28 设计创作，主要内容包括：本发明公开了一种预定内齿齿形的活齿传动装置,包括输入轴、活齿齿轮、激波轴承、激波器、齿圈、轴承座、输出盘、活齿；活齿齿轮包括活齿齿轮HA和活齿齿轮HB活齿齿轮HA和活齿齿轮HB均通过轴承一固定套装在输入轴上,且活齿齿轮HA和活齿齿轮HB间隔设置,活齿齿轮HA和活齿齿轮HB位于扇形处的部分通过螺钉一相连接,激波轴承固定套装在输入轴的外部。本发明,提出的能预定内齿形的传动减速器装置,将内齿廓曲线C预先设计为一条简单曲线,比如直线、圆弧或正弦曲线等,使得齿廓曲线便于加工检测,而且可以根据同时啮合齿数以及效率设计出一条理想的曲线,从而解决了现有技术中仍然解决不了内齿形难以加工检测,难以设计的问题。(The invention discloses a movable tooth transmission device with a preset internal tooth profile, which comprises an input shaft, a movable tooth gear, a shock wave bearing, a shock wave device, a gear ring, a bearing seat, an output disc and movable teeth, wherein the input shaft is connected with the input shaft through a transmission shaft; the oscillating tooth gear comprises an oscillating tooth gear HA and an oscillating tooth gear HB, the oscillating tooth gear HA and the oscillating tooth gear HB are fixedly sleeved on the input shaft through a bearing I, the oscillating tooth gear HA and the oscillating tooth gear HB are arranged at intervals, the parts of the oscillating tooth gear HA and the oscillating tooth gear HB located at the fan-shaped position are connected through a screw I, and the shock wave bearing is fixedly sleeved outside the input shaft. According to the transmission speed reducer device capable of presetting the internal tooth profile, the internal tooth profile curve C is designed into a simple curve such as a straight line, an arc or a sine curve in advance, so that the tooth profile curve is convenient to process and detect, an ideal curve can be designed according to the number of teeth meshed simultaneously and the efficiency, and the problems that the internal tooth profile is difficult to process and detect and design in the prior art are solved.)

1. A movable tooth transmission device with a preset internal tooth profile comprises an input shaft (1), a movable tooth gear (2), a gear ring (7), movable teeth (8) and a shock wave device (3), wherein the shock wave device (3) is rotatably arranged on the input shaft (1);

the method is characterized in that:

and assuming that the tooth number of the movable teeth (8) is ZH, the tooth number of the fixed teeth on the inner side of the gear ring (7) is Zg, and when ZH is Zg +/-1, the tooth profile curve C on the inner side of the gear ring (7) is a preset tooth profile, the shock curve of the shock wave device (3) is K, and the shock curve K is an envelope curve of constant-speed conjugate of the movable teeth (8) meshed on the tooth profile curve C and the movable-teeth gear (2).

2. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 1, wherein: the calculation method of the shock wave curve K is as follows:

setting XOY as a fixed coordinate system, r as the radius of the movable teeth, I as the transmission ratio of the movable tooth transmission, Zg as the tooth number of the fixed gear, DJ as the vertex angle of the tooth shape of the fixed teeth, RO as the value of the movable teeth at the highest position, J as the curve of the final enveloped shock absorber, p as the central pole diameter of the movable teeth, Jt as the rotation angle of the movable teeth, w as the rotation angle of the shock absorber, and Jt as w/I;

p＝RO＊sin(DJ/2)/sin(Jt+DJ/2)；

c1 is the theoretical track of the center of the oscillating tooth, then

xC1＝p＊cos(w)；

yC1＝p＊sin(w)；

Is provided withIs the normal vector of the locus of O1 points, then

nox＝-B/C；noy＝A/C；

A＝F＊cos(w)-p＊sin(w)；

B＝F＊sin(w)+p＊coS(w)；

C＝(A^2+B^2)^0.5；

F＝-1/i＊p/tan(Jt+DJ/2)；

The coordinate formula of the tooth-shaped J curve of the shock wave device can be obtained as follows

xJ＝xC1+r＊nox；

yJ＝yC1+r＊noy；

The coordinate data on the tooth form J of the shock wave generator can be obtained by calculating according to the formula, wherein the movable tooth rotates by an angle every time.

3. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 2, wherein: the reducer device further comprises an output disc (17), the oscillating tooth gear (2) comprises an oscillating tooth gear HA (201) and an oscillating tooth gear HB (202), and the oscillating tooth gear HA (201) and the oscillating tooth gear HB (202) are rotatably sleeved on the input shaft (1);

the oscillating tooth gear HA (201) and the oscillating tooth gear HB (202) are arranged at intervals, the part, located at a fan-shaped position, of the oscillating tooth gear HA (201) and the oscillating tooth gear HB (202) are fixedly connected, and the shock wave device (3) is located between the oscillating tooth gear HA (201) and the oscillating tooth gear HB (202).

4. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 2, wherein: the ring gear (7) rotates the suit and is in the outside of oscillating tooth gear HA (201) with oscillating tooth gear HB (202), output dish (17) with oscillating tooth gear HA (201) fixed connection, oscillating tooth (8) are placed in the circumferential groove of oscillating tooth gear (2), just oscillating tooth (8) contact with ring gear (7) and shock wave ware (3) respectively, and can be in the up-and-down motion in the circumferential groove of oscillating tooth gear (2).

5. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 2, wherein: the speed reducer device further comprises a shock wave bearing (4), the shock wave bearing (4) is fixedly sleeved outside the input shaft (1), the shock wave bearing (4) is located between the oscillating tooth gear HA (201) and the oscillating tooth gear HB (202), and the shock wave device (3) is fixedly sleeved outside the shock wave bearing (4).

6. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 2, wherein: the gear ring (7) is fixedly sleeved on the movable gear HA (201) and the movable gear HB (202) through two bearings II (16), and the movable gear HA (201) and the movable gear HB (202) are fixedly sleeved on the input shaft (1) through a bearing I (20).

7. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 2, wherein: the reducer device further comprises a bearing seat (12), the bearing seat (12) is fixedly connected with the movable tooth gear HB (202) through a third screw (11), the tightness degree between the movable tooth gear HB (202) and the second bearing (16) is adjusted through the thickness of the top of the bearing seat (12), the output disc (17) is fixedly connected with the movable tooth gear HA (201) through a second screw (18), and two sides of the movable tooth (8) are respectively in contact with the second bearing (16).

8. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 5, wherein: shock wave bearing (4) with still install retaining ring two (19) between bearing (20), the outside of input shaft (1) is located bearing (20) dorsad the both sides of shock wave bearing (4) are still that the movable sleeve is equipped with retaining ring one (14) and snap ring (6), retaining ring one (14) are still fixed through two nuts (10) and are used for locking bearing one (20) and shock wave bearing (4).

9. The oscillating tooth transmission device with the preset internal tooth profile according to claim 2, wherein a first sealing ring (15) is arranged between the output disc (17) and the gear ring (7), the speed reducer device further comprises a rear end cover (13), the rear end cover (13) is fixedly arranged on the right side of the gear ring (7) through a fourth screw (22), and a second sealing ring (9) is further arranged at the junction of the rear end cover (13) and the input shaft (1).

10. The oscillating tooth transmission device with a predetermined internal tooth profile according to claim 2, wherein: the speed reducer device further comprises a front end cover (21), and the front end cover (21) is buckled in the hole in the middle of the output disc (17).

Technical Field

The invention relates to the technical field of mechanical transmission reducers, in particular to a movable tooth transmission device with preset internal tooth profiles.

Background

The precision transmission device is the basis of high-end equipment, and the development of the precision transmission technology inevitably drives the progress of high-end manufacturing industry. In high-end manufacturing, the joint arm of an industrial robot puts higher technical requirements on precise rotary transmission. The requirements of the joint arm of the industrial robot on the speed reducer are small volume, large transmission ratio and large load. Therefore, it is necessary to design a transmission device with small volume, high precision and large speed ratio.

The movable gear transmission is used as a transmission mechanism with excellent performance, is widely adopted in the field of universal reducers and the field of precision robot reducers, and is proved by comparison tests and practical application of domestic and foreign professional companies. The typical structure of the oscillating tooth transmission mainly comprises three parts, namely a gear ring G, an oscillating tooth gear H provided with a group of oscillating teeth R and a shock wave device J. As shown in fig. 1 and 2, the number of teeth of the movable tooth H is Zh, the number of teeth of the fixed gear G is Zg, and when Zh ═ Zg ± 1, as long as the inner tooth profile curve C of the fixed gear G is an envelope curve conjugate with the movable tooth R at a constant speed, stable speed reduction (or speed increase) transmission can be realized, the inner tooth profile curve C is a special curve, and the precision level is to be reached, and the processing difficulty is high, and the grinding process cannot be used basically. At present, in order to process a high-precision inner tooth profile curve C, a slow wire-moving process is generally adopted, and the processing process has low efficiency and high cost and is not beneficial to large-scale popularization and application. And the detection difficulty of the inner tooth profile curve C is high, and the detection equipment is complex, so that the popularization and the application of the movable tooth transmission in a large range are restricted.

In addition, the internal tooth profile curve C is not only difficult to process and detect, but also inconvenient to design, and the shape of the internal tooth profile curve C influences the tooth form pressure angle, the number of meshing teeth and the transmission efficiency. The shape of the internal tooth profile curve C is determined by the speed ratio of the designed speed reducer, the radius of the shock absorber, the diameter of the movable teeth and the eccentricity, the adjustment difficulty is high, and the parameters are required to be iterated repeatedly to obtain an ideal shape of the internal tooth profile curve C. The invention patent CN 108087498A discloses a multi-tooth simultaneous meshing oscillating tooth transmission device, which is to analyze and research the pressure angle and the simultaneous meshing tooth number of an internal tooth shape and provides a design method of the internal tooth shape beneficial to multi-tooth simultaneous meshing, which is obtained by enlarging the eccentric distance, but the method can improve the tooth shape, but still can not solve the problems that the internal tooth shape is difficult to process and detect and design.

Disclosure of Invention

In view of the shortcomings in the prior art, the present invention provides a movable gear transmission device with a predetermined internal tooth profile to solve the problems in the background art.

In order to achieve the purpose, the invention provides the following technical scheme:

a movable tooth transmission device with a preset internal tooth profile comprises an input shaft, a movable tooth gear, a gear ring, a movable tooth and a shock wave device, wherein the shock wave device is rotatably arranged on the input shaft;

and assuming that the number of the movable teeth is ZH, the number of the fixed teeth on the inner side of the gear ring is Zg, and when ZH is Zg +/-1, wherein a tooth profile curve C on the inner side of the gear ring is a preset tooth profile, a shock wave curve of the shock wave device is K, and the shock wave curve K is an envelope curve of constant-speed conjugate of the movable teeth meshed on the tooth profile curve C and the movable teeth.

As one of the core innovation points of the invention, the shape of the shock wave generator is designed into a special curve, and the invention has the advantages that the shape of the tooth profile curve can be preset, so that the processing difficulty of the internal gear is greatly reduced, the high-precision internal gear can be produced, the detection is convenient, the large-batch production is convenient, the meshing performance can be selectively designed, the number of teeth of multi-tooth meshing is enlarged, the pressure angle is improved, and the performance of the speed reducer is improved. Although the tooth form of the shock wave device is a special curve, the shock wave device is an outer circular surface, can be produced and manufactured by a forming grinding process or a coordinate grinding process, can be guaranteed in precision, is convenient to detect, and is used as a special curve without increasing the processing difficulty.

Further, the calculation method of the shock wave curve K is as follows:

setting XOY as a fixed coordinate system, r as the radius of the movable teeth, I as the transmission ratio of the movable tooth transmission, Zg as the tooth number of the fixed gear, DJ as the vertex angle of the tooth shape of the fixed teeth, RO as the value of the movable teeth at the highest position, J as the curve of the final enveloped shock absorber, p as the central pole diameter of the movable teeth, Jt as the rotation angle of the movable teeth, w as the rotation angle of the shock absorber, and Jt as w/I;

p＝RO＊sin(DJ/2)/sin(Jt+DJ/2)；

c1 is the theoretical track of the center of the oscillating tooth, then

xC1＝p＊cos(w)；

yC1＝p＊sin(w)；

Is provided with

Is the normal vector of the locus of O1 points, then

nox＝-B/C；noy＝A/C；

A＝F＊cos(w)-p＊sin(w)；

B＝F＊sin(w)+p＊cos(w)；

C＝(A^2+B^2)^0.5；

F＝-1/i＊p/tan(Jt+DJ/2)；

The coordinate formula of the tooth-shaped J curve of the shock wave device can be obtained as follows

xJ＝xC1+r＊nox；

yJ＝yC1+r＊noy；

The coordinate data on the tooth form J of the shock wave generator can be obtained by calculating according to the formula, wherein the movable tooth rotates by an angle every time.

As one of the core innovation points of the invention, the internal tooth profile curve C is designed into a simple curve in advance, such as a straight line, an arc or a sine curve, so that the tooth profile curve is convenient to process and detect, and an ideal curve can be designed according to the number of simultaneously meshed teeth and the efficiency, thereby solving the problem that the internal tooth profile is difficult to process and detect and difficult to design in the prior art.

Furthermore, the speed reducer device also comprises an output disc, the oscillating tooth gear comprises an oscillating tooth gear HA and an oscillating tooth gear HB, and the oscillating tooth gear HA and the oscillating tooth gear HB are rotationally sleeved on the input shaft;

the oscillating tooth gear HA and the oscillating tooth gear HB are arranged at intervals, the part, located at a sector, of the oscillating tooth gear HA and the oscillating tooth gear HB are fixedly connected, and the shock wave device is located between the oscillating tooth gear HA and the oscillating tooth gear HB.

Further, the ring gear rotates the suit in the outsides of oscillating tooth gear HA with oscillating tooth gear HB, the output dish with oscillating tooth gear HA fixed connection, the oscillating tooth is placed in the circumference groove of oscillating tooth gear, just the oscillating tooth contacts with ring gear and shock wave ware respectively, and can be in the up-and-down motion in the circumference groove of oscillating tooth gear.

As one of the core innovation points of the invention, by adopting the technical scheme, the transmission speed reducer device capable of presetting the internal tooth profile has the advantages of small volume, large transmission ratio, large load, high precision, large speed ratio, capability of realizing stable speed reduction or speed increase transmission, low processing difficulty, high processing efficiency, low cost, effectively reduced detection difficulty, convenient design and contribution to large-scale popularization and application.

Furthermore, the speed reducer device also comprises a shock wave bearing, the shock wave bearing is fixedly sleeved outside the input shaft, the shock wave bearing is positioned between the oscillating tooth gear HA and the oscillating tooth gear HB, and the shock wave is fixedly sleeved outside the shock wave bearing.

By adopting the technical scheme, the shock wave bearing is utilized to install the shock wave device, so that the connection mode of the shock wave device and the input shaft is more stable, and the stability of the device is improved.

Furthermore, the gear ring is fixedly sleeved outside the movable tooth gear HA and the movable tooth gear HB through two bearings II, and the movable tooth gear HA and the movable tooth gear HB are fixedly sleeved on the input shaft through the bearings I.

As one of the core innovation points of the invention, by adopting the technical scheme, the two bearings II are used for connecting the gear ring with the movable tooth gear HA and the movable tooth gear HB, so that the connection relationship between the two bearings II and the movable tooth gear HA and the movable tooth gear HB is relatively stable, and the stability of the device is improved.

Furthermore, the speed reducer device also comprises a bearing seat, the bearing seat is fixedly connected with the movable tooth gear HB through a third screw, the tightness degree between the movable tooth gear HB and the second bearing is adjusted through the thickness of the top of the bearing seat, the output disc is fixedly connected with the movable tooth gear HA through a second screw, and two sides of the movable tooth are respectively contacted with the two bearings.

As one of the core innovation points of the invention, by adopting the technical scheme, the bearing seat is used for fixedly mounting the movable-tooth gear HB, so that the tightness degree between the movable-tooth gear HB and the second bearing can be adjusted by the thickness of the top of the bearing seat, the device HAs better applicability, the output disc is fixedly connected with the movable-tooth gear HA through the second screw, the output disc can be stably driven by the movable-tooth gear HA, the movable teeth are blocked by the two bearings, the movement track of the movable teeth is relatively stable, and the stability of the device is further improved.

Furthermore, a second check ring is further installed between the first shock wave bearing and the first bearing, the outer portion of the input shaft is located on the position, back to the first bearing, of the two sides of the first shock wave bearing, of the first bearing is movably sleeved with the first check ring and a snap ring, and the first check ring is fixed through double nuts and used for locking the first bearing and the first shock wave bearing.

As one of the core innovation points of the invention, by adopting the technical scheme, the device has the advantages of more stable structure, better performance, difficult damage and long service life.

Furthermore, a first sealing ring is arranged between the output disc and the gear ring.

As one of the core innovation points of the invention, by adopting the technical scheme, the first sealing ring can effectively increase the sealing property between the output disc and the gear ring, thereby reducing the possibility of dust entering between the output disc and the gear ring.

Furthermore, the gear ring further comprises a rear end cover, the rear end cover is fixedly installed on the right side of the gear ring through a screw four, and a sealing ring two is further arranged at the junction of the rear end cover and the input shaft.

As one of the core innovation points of the invention, by adopting the technical scheme, the rear end cover has a better protection effect on the components in the device, and the sealing ring II can prevent dust from entering between the rear end cover and the input shaft to influence the service performance of the device.

Furthermore, the automatic feeding device also comprises a front end cover, wherein the front end cover is buckled in the hole in the middle of the output disc.

As one of the core innovation points of the invention, by adopting the technical scheme, the front end cover can prevent dust from entering the hole in the middle of the output disc to influence the service performance of the device.

In summary, the invention mainly has the following beneficial effects:

the transmission speed reducer device capable of presetting the internal tooth profile has the advantages of small volume, large transmission ratio, large load, high precision, large speed ratio, capability of realizing stable speed reduction or speed increase transmission, low processing difficulty, high processing efficiency, low cost, effective reduction of detection difficulty, convenient design and contribution to large-scale popularization and application;

the inner tooth profile curve C is designed into a simple curve in advance, such as a straight line, a circular arc or a sine curve and the like, so that the tooth profile curve is convenient to process and detect, an ideal curve can be designed according to the number of teeth meshed simultaneously and efficiency, and the problems that the inner tooth profile is difficult to process and detect and difficult to design cannot be solved in the prior art are solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic diagram of a prior art drive-reducer assembly;

FIG. 2 is a schematic cross-sectional view taken along A-A of FIG. 1;

FIG. 3 is a schematic diagram of a drive reducer assembly according to an embodiment of the present invention capable of predetermining an internal tooth profile;

FIG. 4 is a schematic cross-sectional view taken along line B-B of FIG. 3;

FIG. 5 is a schematic view of another tooth form of a drive reducer assembly of an embodiment of the present invention capable of predetermining an internal tooth form;

FIG. 6 is a schematic diagram of a basic configuration of an embodiment of a gear ring profile curve of a transmission reducer apparatus with a predetermined internal tooth profile as a circular arc;

FIG. 7 is a graph of a calculated shock curve K for one embodiment of a gear reducer assembly capable of a predetermined internal tooth profile;

FIG. 8 is a schematic diagram of a drive reducer assembly according to another embodiment of the present invention capable of predetermining internal tooth profiles;

fig. 9 is a schematic sectional structure view along the direction C-C of fig. 8.

In the figure: 1. an input shaft; 2. a movable-tooth gear; 201. a movable tooth gear HA; 202. a movable gear HB; 203. a movable-tooth gear HC; 204. a movable-tooth gear HD; 3. a shock wave device; 4. a shock wave bearing; 5. a first screw; 6. a snap ring; 7. a ring gear; 8. the movable teeth; 9. a second sealing ring; 10. double nuts; 11. a third screw; 12. a bearing seat; 13. a rear end cap; 14. a first check ring; 15. a first sealing ring; 16. a second bearing; 17. an output tray; 18. a second screw; 19. a second check ring; 20. a first bearing; 21. a front end cover; 22. and a fourth screw.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The present invention will be described in further detail with reference to the accompanying drawings.