阅读说明：本技术 一种同轴面接触活齿减速器 (Coaxial surface contact oscillating tooth speed reducer ) 是由 杨玉虎 胡自昂 周国成 张帆 于 2019-09-23 设计创作，主要内容包括：本发明公开了一种同轴面接触活齿减速器,由激波器、活齿、保持架和面齿圈组成；所述激波器、保持架和面齿圈同轴,依次从上到下排布,所述保持架具有N个活齿安装孔,N个活齿安装孔周向均布在以保持架的中心轴为圆心且半径相同的分布圆上,每个活齿安装孔内均设有一个所述的活齿,所述活齿的上端与激波器下端的激波面凸轮接触,所述活齿的下端与面齿圈的齿盘接触,所述面齿圈的齿盘由2N+2个相同的齿组成。与一般轴向活齿减速器相比,该减速器的活齿和面齿圈的齿形从圆形变为了近似三角形的复杂曲面,使两者可以实现面接触,这大大增加了力矩承载能力,满足了高承载工况下减速器的需求。(The invention discloses a coaxial surface contact oscillating tooth speed reducer, which consists of a shock wave device, an oscillating tooth, a retainer and a surface gear ring; the shock wave device, the retainer and the face gear ring are coaxial and are sequentially distributed from top to bottom, the retainer is provided with N movable tooth mounting holes, the N movable tooth mounting holes are circumferentially and uniformly distributed on a distribution circle which takes a central shaft of the retainer as a circle center and has the same radius, one movable tooth is arranged in each movable tooth mounting hole, the upper end of each movable tooth is in contact with a shock wave face cam at the lower end of the shock wave device, the lower end of each movable tooth is in contact with a fluted disc of the face gear ring, and the fluted disc of the face gear ring is composed of 2N +2 same teeth. Compared with a common axial movable-tooth speed reducer, the movable teeth of the speed reducer and the tooth form of the face gear ring are changed from a circular shape to a complex curved surface which is similar to a triangle, so that the movable teeth and the face gear ring can be in face contact, the moment bearing capacity is greatly increased, and the requirement of the speed reducer under a high-bearing working condition is met.)

1. A coaxial surface contact oscillating tooth speed reducer comprises a shock wave device (1), an oscillating tooth (2), a retainer (3) and a surface gear ring (4),

the method is characterized in that:

the shock wave device (1), the retainer (3) and the face gear ring (4) are coaxial and are sequentially distributed from top to bottom, the retainer (3) is provided with N movable tooth mounting holes (31), the N movable tooth mounting holes (31) are circumferentially and uniformly distributed on a distribution circle which takes a central shaft of the retainer (3) as a circle center and has the same radius, one movable tooth (2) is arranged in each movable tooth mounting hole (31), the upper end of each movable tooth (2) is in contact with a shock wave face cam at the lower end of the shock wave device (1), the lower end of each movable tooth (2) is in contact with a fluted disc of the face gear ring (4), and the fluted disc of the face gear ring (4) is composed of 2N +2 same teeth (41).

2. The coaxial surface-contact oscillating-tooth reducer according to claim 1, wherein: the teeth (41) on the fluted disc of the face gear ring (4) are circumferentially and uniformly distributed on the end face of the face gear ring (4), the working curve shape of the teeth (41) comprises two sections of cylindrical spiral lines (44), and in order to avoid top cutting, one section of ascending cylindrical spiral line is connected with one section of descending cylindrical spiral line (44) by one section of transition curve;

the tooth form of the movable teeth (2) is the same as that of the teeth (41) on the fluted disc of the face gear ring (4); the theoretical profile of the shock wave surface cam is formed by sequentially connecting two sections of ascending working curves and two sections of descending working curves, wherein the ascending working curves and the descending working curves are cylindrical spiral lines with smaller lead equal to the tooth profile lift range of the fluted disc of the surface gear ring (4), and in order to prevent the movable teeth (2) from impacting during ascending and descending conversion, the ascending working curves and the descending working curves are connected by a transition curve.

3. The coaxial surface-contact oscillating-tooth reducer according to claim 1 or 2, wherein: the oscillating teeth (2) are in contact with the shock wave surface cam, phases are different, the height position of each oscillating tooth (2) is different at the same time, the oscillating teeth (2) are in clearance fit with the oscillating tooth mounting holes (31), and the oscillating teeth (2) can move up and down along the oscillating tooth mounting holes (31) and are used for achieving axial guiding.

4. The coaxial surface-contact oscillating-tooth reducer according to claim 3, wherein: one or two contact planes are arranged on the contact surface of the side surface of the movable tooth (2) and the movable tooth mounting hole (31) and are used for realizing circumferential positioning.

5. The coaxial surface-contact oscillating-tooth reducer according to claim 2, wherein the profiles of the teeth (41) on the fluted disc of the surface gear ring (4), the oscillating teeth (2) and the shock surface cam all adopt the following cylindrical helical lines,

the parametric equation for the cylindrical helix is as follows:

according to the profile of the oscillating tooth (2), the face gear ring (4) or the shock wave face cam of the speed reducer, r is the distance between the oscillating tooth (2), the face gear ring (4) or the shock wave face cam and the central axis of the face gear ring (4), h is the height of a cylindrical spiral line which rises after one rotation and is called the thread pitch, theta is the angle rotated by the point relative to the initial point, x, y and z are the coordinate positions of the point, and the cylindrical spiral line (44) is the profile of the face gear ring (4).

Technical Field

The invention relates to the field of transmission mechanisms, in particular to the field of movable tooth transmission, and particularly relates to a coaxial surface contact movable tooth speed reducer.

Background

The oscillating tooth speed reducer is a speed reducer based on small tooth difference, has the advantages of compact structure, wide transmission ratio range, high transmission efficiency and the like, and has high application value in the field of mechanical transmission. The initial structure form of the oscillating tooth speed reducer is proposed by German in 30 years of the 20 th century and applied to an automobile steering mechanism. After war, the two countries of cosu developed the sine ball transmission technology and the toothless gear transmission technology one after another, which has attracted the great interest of the scientific and technological workers of various countries. At present, the oscillating tooth speed reducer which is widely applied comprises: roller oscillating tooth speed reducer, ball oscillating tooth speed reducer, oscillating tooth pin wheel speed reducer. These oscillating tooth reducers have been applied in the industrial sectors of energy, communications, machine tools, motor tractors, etc. In recent decades, the research on the movable teeth is changed day by day, higher requirements are put forward on the performance of the movable teeth, and particularly, under the working condition of large bearing, the traditional movable tooth speed reducer cannot completely meet the engineering requirements and needs to be further optimally designed.

Disclosure of Invention

The object of the present invention is to achieve a reducer that meets the requirements mentioned in the introduction. The speed reducer can meet the actual engineering requirements of a large-bearing working condition, and can realize higher torque transmission capacity than the conventional speed reducer under the same size. In the case of the higher torque transmission capability described above, the transmission ratio of i 10 to i 50 can be selected for the reduction gear. At higher torque transmission capacities and higher gear ratios, the retarder can carry an input speed of at least 3000 rpm.

In order to realize the speed reducer meeting the requirements, the invention provides a coaxial surface contact oscillating tooth speed reducer, which consists of a shock wave device, an oscillating tooth, a retainer and a surface gear ring; the shock wave device, the retainer and the face gear ring are coaxial and are sequentially distributed from top to bottom, the retainer is provided with N movable tooth mounting holes, the N movable tooth mounting holes are circumferentially and uniformly distributed on a distribution circle which takes a central shaft of the retainer as a circle center and has the same radius, one movable tooth is arranged in each movable tooth mounting hole, the upper end of each movable tooth is in contact with a shock wave face cam at the lower end of the shock wave device, the lower end of each movable tooth is in contact with a fluted disc of the face gear ring, and the fluted disc of the face gear ring is composed of 2N +2 same teeth.

Further, the coaxial surface contact oscillating tooth speed reducer of the invention is characterized in that teeth on the tooth disc of the surface tooth ring are uniformly distributed on the end surface of the surface tooth ring in the circumferential direction, the working curve shape of the teeth comprises two sections of cylindrical spiral lines, in order to avoid top cutting, a section of ascending cylindrical spiral line and a section of descending cylindrical spiral line are connected by a section of transition curve, namely, a part is cut at the top of the tooth, and a part is filled at the bottom of the tooth; the tooth form of the movable teeth is the same as that of the teeth on the face ring gear plate; the theoretical profile of the shock wave surface cam is formed by sequentially connecting two sections of ascending working curves and two sections of descending working curves, wherein the ascending working curves and the descending working curves are cylindrical spiral lines with smaller lead and equal to the tooth profile lift range of the face gear ring fluted disc, and in order to prevent the movable teeth from impacting during ascending and descending conversion, one section of ascending working curves and one section of descending working curves are connected by one section of transition curve, namely, one section of transition curve is cut off at the bottom end of the teeth.

The movable teeth are in contact with the shock wave surface cam, the phases are different, the height position of each movable tooth is different at the same time, the movable teeth are in clearance fit with the movable tooth mounting holes, and the movable teeth can move up and down along the movable tooth mounting holes and are used for achieving axial guiding.

One or two contact planes are arranged on the contact surface of the side surface of the movable tooth and the movable tooth mounting hole and are used for realizing circumferential positioning.

The profiles of the teeth on the face gear ring fluted disc, the movable teeth and the shock wave face cam all adopt the following cylindrical spiral lines,

the parametric equation for the cylindrical helix is as follows:

in the formula, r is the distance between a certain point on the oscillating tooth, the surface gear ring or the shock wave surface cam and the central axis of the surface gear ring 4, h is the height of a circular rising of a cylindrical spiral line, which is called the thread pitch, theta is the angle rotated by the point relative to the initial point, x, y and z are the coordinate position of the point, and the cylindrical spiral line is the profile of the surface gear ring.

Compared with the prior art, the invention has the beneficial effects that:

the invention is a surface contact oscillating tooth speed reducer of axial shock wave, because of adopting the new tooth form, the oscillating tooth and the face gear ring realize the surface contact, make its bearing capacity have very big promotion compared with the prior art, at the same time this speed reducer has and can realize the uniform velocity ratio transmission, the transmission ratio is selected the wide range, the operating efficiency is high, the compact structure, can realize the coaxial advantage of input shaft output shaft.

Drawings

FIG. 1 is a schematic structural view of a coaxial surface contact oscillating tooth speed reducer of the invention;

fig. 2 is a schematic top view of the cage 3 shown in fig. 1;

FIG. 3 is a schematic perspective view of the tooth flank formation of the face ring gear 4 shown in FIG. 1;

fig. 4 is a schematic side view of the oscillating tooth 2 shown in fig. 1;

figure 5 is a schematic bottom view of the shock 1 shown in figure 1;

figure 6 is a side view of the shock 1 of figure 5.

In the figure: 1-shock wave device, 11-theoretical profile of surface cam, 12-actual profile of surface cam, 2-oscillating tooth, 21-spherical surface, 22-tooth, 23-top cut part, 3-retainer, 31-oscillating tooth mounting hole, 4-surface gear ring, 41-tooth, 42-central shaft, 43-cylindrical side surface, 44-cylindrical spiral line, 45-bottom end filled, 46-top cut part.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. The embodiments and features of the embodiments of the present invention may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1. The invention provides a coaxial surface contact oscillating tooth speed reducer which comprises a shock wave device 1 connected with an input shaft, a retainer 3 coaxial with the shock wave device 1, an oscillating tooth arranged on the retainer 3 and contacted with a shock wave surface cam on the shock wave device 1, and a surface tooth ring 4 meshed with the tooth surface of the oscillating tooth 2 and coaxial with the shock wave device 1, namely the shock wave device 1, the retainer 3 and the surface tooth ring 4 are coaxial and are sequentially arranged from top to bottom. The number of the movable teeth 2 is more than one, the number is N, as shown in fig. 2, the retainer 3 is a circular ring structure, N movable tooth mounting holes 31 are formed in the circular ring, the N movable tooth mounting holes 31 are circumferentially and uniformly distributed on a distribution circle which takes the central shaft of the retainer 3 as the center of a circle and has the same radius, and one movable tooth 2 is arranged in each movable tooth mounting hole 31.

The upper ends of the movable teeth 2 are in contact with a shock wave surface cam at the lower end of the shock wave device 1, the movable teeth 2 are limited by a surface tooth ring 4 and are circumferentially and uniformly distributed on the shock wave surface cam, the height position of each movable tooth 2 is different at the same time due to different phases, the movable teeth 2 are in clearance fit with the movable tooth mounting holes 31, and the movable teeth 2 can move up and down along the movable tooth mounting holes 31 and are used for realizing axial guiding. One or two contact planes are arranged on the contact surface of the side surface of the movable tooth 2 and the movable tooth mounting hole 31, and the movable tooth mounting hole 31 is in a circular shape with two edges removed, so that the movable tooth 2 is convenient to process and mainly convenient to realize circumferential positioning.

The lower end of the movable tooth 2 is in contact with the toothed disc of the face gear ring 4, as shown in fig. 3, the toothed disc of the face gear ring 4 is composed of 2N +2 identical teeth 41. Teeth 41 on the fluted disc of the face gear ring 4 are circumferentially and uniformly distributed on the end face of the face gear ring 4, when the tooth surfaces of the teeth 41 project onto a cylindrical side face 43 taking a central shaft 42 of the face gear ring 4 as an axis, the tooth shape of the teeth 41 on the fluted disc is a cylindrical spiral line 44, the working curve shape of the teeth 41 comprises two sections of cylindrical spiral lines 44, the cylindrical spiral line pitches of the left and right tooth surfaces are the same, the rotating directions are opposite, and the cylindrical spiral line pitches on different radiuses of the same tooth surface are the same. To avoid top cutting, the adjacent ascending cylindrical spiral line and descending cylindrical spiral line 44 are connected by a transition curve, i.e. a part 46 is cut off at the top of the tooth 41, and a filling 45 is arranged at the bottom end of the joint of the two teeth 41, so that top cutting is prevented, and the processing is convenient. As shown in fig. 4, the main body of the movable tooth 2 is a cylindrical body, the upper end is provided with a spherical surface 21, the lower end is provided with teeth 22 with the same tooth form as the tooth form 41 on the toothed disc of the face gear ring 4, and in order to prevent top cutting, a section of ascending working curve and a section of descending working curve of the movable tooth are connected by a transition curve, namely, a part 23 is cut off at the lower end part of the movable tooth 2. The theoretical profile line of the shock wave surface cam is formed by sequentially connecting two sections of ascending working curves and two sections of descending working curves (both are cylindrical spiral lines), wherein the ascending working curves and the descending working curves are more gentle cylindrical spiral lines with the tooth profile lift equal to that of a face gear ring 4 fluted disc, namely, the cylindrical spiral lines with smaller lead, in order to prevent the impact of the movable teeth 2 during ascending and descending conversion, the two cylindrical spiral lines of the shock wave surface cam are connected by one section of continuous smooth curve, the impact phenomenon in the reversing process of the movable teeth 2 is avoided, and the surface contact between the movable teeth 2 and the face gear ring 4 can be realized through the mode.

As shown in fig. 5 and 6, the theoretical profile 11 of the shock wave surface cam on the shock wave device 1 is composed of four sections of cylindrical helical lines in turn, the thread pitch of the four sections of cylindrical helical lines is 1/i times of that of the cylindrical helical line on the surface gear ring, and the four sections of cylindrical helical lines are sequentially arranged in the turning direction according to the sequence of right-handed rotation, left-handed rotation, right-handed rotation and left-handed rotation. There is a smooth and continuous transition curve between the two cylindrical spirals in order to prevent shocks during operation. The actual profile 12 of the surface cam is a space curved surface obtained by scanning a circle 13 with the same radius as the spherical surface of the upper end of the movable tooth through a theoretical profile.

When the speed reducer operates, the retainer 3 is fixed, high-speed rotation is input to the shock wave device 1 through an input shaft fixedly connected with the shock wave device 1, the shock wave device 1 pushes the movable teeth 2 to move up and down through the shock wave surface cam, and the heights of the shock wave surface cam at all positions are different, so that the height positions of all the movable teeth 2 are different, and a part of the movable teeth 2 move downwards to push the face gear ring 4 to rotate. When the shock absorber 1 rotates for a circle, the face gear ring 4 rotates for one to two teeth, and the purpose of speed reduction is achieved.

In order to realize uniform ratio transmission and surface contact large bearing transmission, in the invention, the profiles of the teeth 41 on the fluted disc of the surface gear ring 4, the movable teeth 2 and the shock wave surface cam all adopt the following cylindrical spiral lines,

the parametric equation for the cylindrical helix is as follows:

in the formula, r is the distance between the movable tooth 2, the face gear ring 4 or a certain point on the shock wave face cam and the central axis of the face gear ring 4, h is the height of a circular rotation and a rise of a cylindrical spiral line, called the pitch, θ is the angle rotated by the point relative to the initial point, x, y and z are the coordinate positions of the point, and the cylindrical spiral line 44 is the profile line of the face gear ring 4.

In the speed reducer, the profile of the face gear ring 4 is the same as that of the movable teeth 2, the two cylindrical surfaces which take the central shaft of the face gear ring 4 as the axis and have the same radius are all composed of two symmetrical cylindrical spiral lines with the same shape, and the thread pitches are ha. When the radius is changed, the pitch of the cylindrical helix is not changed. The theoretical profile of the shock wave surface cam mainly comprises a plurality of continuous cylindrical spiral lines, when the shock wave surface cam is seen clockwise, the spiral lines of the theoretical profile are the same in shape, the spiral directions are arranged in the clockwise direction, the anticlockwise direction, the clockwise direction and the anticlockwise direction, the actual profile of the shock wave surface cam is produced by scanning a section of circular arc along the theoretical profile, the thread pitch of the theoretical profile of the shock wave surface cam is ha/i, and i is the transmission ratio of the speed reducer.

In conclusion, compared with a common axial movable tooth speed reducer, the speed reducer designed by the invention has the advantages that the tooth shapes of the movable teeth 2 and the face gear ring 4 are changed from a circle to a complex curved surface which is similar to a triangle, so that the movable teeth and the face gear ring can be in surface contact, the moment bearing capacity is greatly increased, and the requirement of the speed reducer under a high-bearing working condition is met.

The foregoing description is only exemplary of the preferred embodiments of the invention and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features and (but not limited to) features having similar functions disclosed in the present invention are mutually replaced to form the technical solution.