阅读说明：本技术 一种减速机的成型设计方法 (Forming design method of speed reducer ) 是由 刘慧泉 谭婧 于 2020-07-15 设计创作，主要内容包括：本发明属于减速器技术领域,尤其涉及一种减速机的成型设计方法,包括以下步骤：确定减速比m,m为大于等于4的偶数；确定滚子的半径Q；在横截面内模拟一个滚子的运动轨迹：驱动转轮以角速度ω绕驱动转轮的中心轴线自转,这个滚子由驱动转轮带动绕滚子在横截面的圆心自转,这个滚子与驱动转轮自转方向同向地以角速度<Image he="134" wi="103" file="DDA0002584952640000011.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>绕驱动转轮公转一周,则这个滚子在横截面的圆心形成一圈运动轨迹线；该运动轨迹线上的点以驱动转轮的中心轴线为中心轴沿径向外扩距离Q,则形成外齿圈的一圈的齿轮廓。应用本技术方案解决了现有技术中还没有既能够满足设计结构简单、体积小型化,又能够实现减速比灵活匹配设计的减速机的问题。(The invention belongs to the technical field of speed reducers, and particularly relates to a forming design method of a speed reducer, which comprises the following steps of: determining a reduction ratio m, wherein m is an even number which is more than or equal to 4; determining the radius Q of the roller; simulating the motion track of a roller in the cross section: the driving rotating wheel rotates around the central axis of the driving rotating wheel at an angular speed omega, the roller is driven by the driving rotating wheel to rotate around the roller at the center of the cross section, and the roller rotates at the angular speed in the same direction as the rotation direction of the driving rotating wheel The roller revolves around the driving rotating wheel for a circle, and then the roller forms a circle of motion track line at the center of the cross section; points on the movement trajectory line radially expand by a distance Q with the central axis of the driving runner as a central axis, and form a circle of tooth profile of the outer gear ring. By applying the technical scheme, the problem that the design structure can not be met in the prior art is solvedThe speed reducer is simple, small in size and capable of achieving flexible matching design of the reduction ratio.)

1. The forming design method of the speed reducer is characterized in that the speed reducer comprises an outer gear ring, rollers, a grid part and a driving rotating wheel, the grid part and the outer gear ring are sequentially and coaxially sleeved outwards, rolling grooves which are uniformly distributed in the circumferential direction and are used for containing the rollers are formed in the grid part, the rollers are always in contact with the axial surface of the driving rotating wheel, the profile of the cross section of the driving rotating wheel is a Luoluo polygon, and the forming design method of the speed reducer comprises the following steps:

determining a reduction ratio m, wherein m is an even number which is more than or equal to 4;

determining a radius Q of the roller;

simulating a motion trajectory of one of said rollers in cross section: the driving rotating wheel rotates around the central axis of the driving rotating wheel at an angular speed omega, the roller is driven by the driving rotating wheel to rotate around the roller at the center of the cross section, and the roller and the driving rotating wheelThe rotating direction of the rotating wheel is in the same direction and at an angular velocityThe roller revolves around the driving rotating wheel for a circle, and then the roller forms a circle of motion track line at the center of the cross section;

points on the movement trajectory line radially extend outward by a distance Q with the central axis of the driving runner as a central axis, and then form a circle of tooth profile of the outer gear ring.

2. The molding design method of a speed reducer according to claim 1,

the molding design method of the speed reducer further comprises the following steps:

determining the type number n of the Lelo polygon, wherein n is an odd number and n is more than 1;

determining the radius r of a circumscribed circle of the fractal regular n-polygon of the Reuleau polygon, and drawing the fractal regular n-polygon in the circumscribed circle;

determining the radius R of a parting arc line of the Lelo polygon, and taking each vertex of the parting regular n-polygon as a circle center to serve as the parting arc line with the radius R;

and making a transition arc line between two adjacent sections of the parting arcs, wherein two ends of the transition arc line are respectively tangent to the corresponding parting arc lines, and then each parting arc line is connected with each transition arc line to form the Luoluo polygon.

3. The molding design method of a speed reducer according to claim 2,

the parting regular n-shaped edge and the two end points of the edge opposite to the parting arc line are respectively connected with the circle center of the parting arc line to form an inner triangle, and the inner angle of the inner triangle corresponding to the parting arc line is the circle center angle of the parting arc line.

4. The molding design method of a speed reducer according to claim 2,

the rollerThe number of children is T, then

5. The molding design method of a speed reducer according to claim 4,

and the straight line distance between the circle centers of two adjacent rollers is L, and L is more than 2Q.

6. The molding design method of a speed reducer according to claim 2,

and the number of the teeth of the outer gear ring is S, and then S is (m-1) n.

7. The molding design method of a speed reducer according to claim 2,

in the same cross section, making a first connection line between the center of the circumscribed circle and a point on the axial surface of the driving rotating wheel, and taking the maximum distance value H of the first connection line₁The center of the circumscribed circle is used as the center of the circle of the grid;

in the same cross section, making a second connecting line between the center of the circumscribed circle and the addendum point of the external gear ring, and taking the minimum distance value H of the second connecting line₂The radius is taken as the outer circle of the grating and the center of the external circle is taken as the center of the circle;

the grid part is positioned between the grid inner circle and the grid outer circle, and the thickness of the grid part is H₃Then H is₃＜H₂-H₁。

8. The molding design method of a speed reducer according to any one of claims 1 to 7,

the rollers are assembled by steel balls;

alternatively, the rollers are assembled using steel cylindrical rollers.

Technical Field

The invention belongs to the technical field of speed reducers, and particularly relates to a forming design method of a speed reducer.

Background

The speed reducer is one of important core parts applied to the output end of a power source. At present, speed reducers applied to robots are mainly speed reducer mechanisms composed of RV speed reducers, harmonic speed reducers, planetary speed reducers, worm and gear speed reducers, and synchronous belts. The speed reducer mainly aims to convert high rotating speed and small torque of a power source, reduce a certain rotating speed and obtain larger output torque.

In the prior art, the traditional speed reducer has high manufacturing difficulty and high manufacturing precision, and typically represents an RV speed reducer and a harmonic speed reducer; the traditional speed reducer has larger dependence on manufacturing materials, such as flexible gear deformation materials of harmonic speed reducers; the traditional speed reducer has a transmission gap, such as a planetary speed reducer; the traditional speed reducing mechanism is complex in design, needs multi-stage nesting like a synchronous belt speed reducer, and has a relatively large structural organization; the volume design of traditional speed reducer is limited, and RV speed reducer and harmonic speed reducer have the advantage that obtains bigger reduction ratio in principle, but it is also the shortcoming that it can't accomplish small-size and little reduction ratio. In the traditional speed reducer, only the speed reducer with a worm gear structure has self-locking capability, and the self-locking capability can reduce the design of a brake retainer in the product design, so that the design is simplified, and the corresponding cost is reduced and controlled.

Therefore, the speed reducer which has the advantages of simple design structure, small size and flexible matching design of the reduction ratio can be realized in the prior art.

Disclosure of Invention

The invention aims to provide a forming design method of a speed reducer, and aims to solve the problem that the speed reducer which is simple in design structure, small in size and flexible in reduction ratio matching design cannot be achieved in the prior art.

In order to achieve the purpose, the invention adopts the technical scheme that: a molding design method of a speed reducer comprises an outer gear ring, rollers, a grating part and a driving rotating wheel, wherein the driving rotating wheel, the grating part and the outer gear ring are sequentially and coaxially sleeved outwards, rolling grooves which are uniformly distributed in the circumferential direction and used for containing the rollers are formed in the grating part, the rollers are always in contact with the axial surface of the driving rotating wheel, the cross section of the driving rotating wheel is in a Luoluo polygon shape, and the molding design method of the speed reducer comprises the following steps: determining a reduction ratio m, wherein m is an even number which is more than or equal to 4; it doesDetermining the radius Q of the roller; simulating the motion track of a roller in the cross section: the driving rotating wheel rotates around the central axis of the driving rotating wheel at an angular speed omega, the roller is driven by the driving rotating wheel to rotate around the roller at the center of the cross section, and the roller rotates at the angular speed in the same direction as the rotation direction of the driving rotating wheel

The roller revolves around the driving rotating wheel for a circle, and then the roller forms a circle of motion track line at the center of the cross section; points on the movement trajectory line radially expand by a distance Q with the central axis of the driving runner as a central axis, and form a circle of tooth profile of the outer gear ring.

Further, the forming design method of the speed reducer further comprises the following steps: determining the type number n of the Lelo polygon, wherein n is an odd number and n is more than 1; determining the radius r of a circumscribed circle of the fractal regular n-polygon of the Lelo polygon, and drawing the fractal regular n-polygon in the circumscribed circle; determining the radius R of a parting arc line of the Lelo polygon, and taking each vertex of the parting regular n-polygon as a circle center to serve as the parting arc line with the radius R; and (3) making transition arc lines between two adjacent parting arc lines, wherein two ends of each transition arc line are tangent to the corresponding parting arc line respectively, and then each parting arc line is connected with each transition arc line to form a Leluo polygon.

Furthermore, two end points of the opposite side of the parting regular n-shaped polygon and the parting arc line are respectively connected with the circle center of the parting arc line to form an inner triangle, and the inner angle of the inner triangle corresponding to the parting arc line is the circle center angle of the parting arc line.

Further, the number of rollers is T, then

Further, the straight line distance between the centers of two adjacent rollers is L, and L is more than 2Q.

Further, the number of teeth of the outer ring gear is S, and S is (m-1) × n.

Furthermore, in the same cross section, a first connecting line is made between the center of the circumscribed circle and a point on the axial surface of the driving rotating wheel, and the maximum distance of the first connecting line is usedValue H₁The center of the circumscribed circle is used as the center of the circle of the grid; in the same cross section, making a second connection line between the center of the circumscribed circle and the addendum point of the external gear ring, and taking the minimum distance value H of the second connection line₂The radius is taken as the outer circle of the grating and the center of the external circle is taken as the center of the circle; the grating part is arranged between the inner circle and the outer circle of the grating, and the thickness of the grating part is H₃Then H is₃＜H₂-H₁。

Further, the rollers are assembled by adopting steel balls; alternatively, the rollers are assembled using steel cylindrical rollers.

The invention has at least the following beneficial effects:

the speed reducer with the same-direction output required by the invention is designed and manufactured according to the forming design method of the speed reducer, belongs to one type of planetary gear speed reducers, has the remarkable characteristics of customizable reduction ratio, flexible size of the speed reducer, low manufacturing cost and certain self-locking capability, has the leading capability compared with the speed reducer in the prior art in the speed reduction performance of the speed reducer after being assembled, and has the characteristics of high transmission efficiency, large transmission torque and high input rotating speed.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions 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 based on these drawings without inventive exercise.

FIG. 1 is an assembly view of a reducer according to an embodiment of the present invention;

FIG. 2 is an exploded view of a reducer according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a profile molding structure of an outer gear ring of the speed reducer according to the embodiment of the invention;

fig. 4 is a schematic diagram of the power principle when the output rotation direction of the speed reducer and the rotation direction of the driving runner are the same direction according to the embodiment of the invention.

Wherein, in the figures, the respective reference numerals:

10. an outer ring gear; 11. assembling the cavity; 12. an outer tooth; 13. an arc-shaped tooth socket; 20. a rolling grid assembly; 21. a grating element; 22. a roller; 212. a gate trench; 30. driving the rotating wheel; 31. an arc-shaped axial surface; 41. a first bearing; 42. a second bearing; 43. a baffle ring; 44. a snap ring; 101. a first motion limiting circle; 102. the second motion limits the circle.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1-2, a brand new speed reducer can be obtained by the method for designing the shape of the speed reducer of the present invention, which includes an outer gear ring 10, a grating member 21, rollers 22 and a driving runner 30, wherein the grating member 21 and the rollers 22 form a modular rolling grating assembly 20, the grating member 21 is provided with grating grooves 212 uniformly distributed in the circumferential direction for accommodating the rollers 22, the rollers 22 are in tangential contact with the axial surface of the driving runner 30 all the time, the outer gear ring 10 is a stator and forms an assembly cavity 11, the driving runner 30, the rolling grating assembly 20 and the outer gear ring 10 are sequentially and coaxially sleeved outwards and positioned in the assembly cavity 11, then a first bearing 41 and a second bearing 42 are assembled at both ends of the grating member 21, outer rings of the first bearing 41 and the second bearing 42 are supported and fixed on the outer gear ring 10, a retaining ring 43 is used to stably mount the first bearing 41, a snap ring 44 is used to stably mount the second bearing 42, as shown in fig. 2. The driving rotor 30 rotates to drive the rollers 22 to rotate, and the rollers 22 revolve around the driving rotor 30, and the cross-sectional profile of the driving rotor 30 is a reuleaux polygon.

Referring to fig. 3 in combination, the method for designing the shape of the speed reducer provided by the invention comprises the following steps: determining a reduction ratio m which is an even number greater than or equal to 4, and determining the radius Q of the roller 22, wherein the reduction ratio m is selected freely and definitively according to actual needs, and the radius Q of the roller 22 is also selected freely and definitively according to mechanical strength requirements needed by actual work; the runner with the cross section of the reuleaux polygon is taken as a driving runner 30 as a power input source, and the motion trail of one roller 22 is simulated in the cross section: the driving wheel 30 rotates around the central axis of the driving wheel 30 at an angular velocity ω (sun wheel rotation), the roller 22 is driven by the driving wheel 30 to rotate around the roller 22 at the center of the cross section (planet wheel rotation), and the roller 22 and the driving wheel 30 rotate in the same directionTo the ground at an angular velocityWhen the roller 22 revolves around the driving wheel 30 for one circle (the planet wheel revolves around the sun wheel), a circle of motion trajectory is formed at the center of the cross section of the roller 22, namely, the motion trajectory of the center of the roller 22 is simulated; points on this movement path line extend radially outward by a distance Q around the central axis of the drive rotor 30, and form the tooth profile of one revolution of the outer ring gear 10. During the revolution of the rollers 22 around the driving wheel 30, the rollers 22 exert a force on the grating member 21 to rotate the grating member 21 around the central axis, and the grating member 21 outputs power to the outside.

The speed reducer with the same-direction output required by the invention is designed and manufactured according to the forming design method of the speed reducer, belongs to one type of planetary gear speed reducers, has the remarkable characteristics of customizable reduction ratio, flexible size of the speed reducer, low manufacturing cost and certain self-locking capability, has the leading capability compared with the speed reducer in the prior art in the speed reduction performance of the speed reducer after being assembled, and has the characteristics of high transmission efficiency, large transmission torque and high input rotating speed.

In the method for designing a reduction gear according to the present invention, the method further includes the steps of: determining the number n of the types of the Luo polygons, wherein n is an odd number and is larger than 1, determining the radius R of the circumscribed circle of the type-dividing regular n-polygon, in the process of determining the deformation of the type-dividing regular n, the type-dividing number n can be freely selected in a self-defined manner according to needs, in the process of drawing, firstly selecting a proper radius R value, drawing a circle according to the radius R value, drawing the type-dividing regular n-polygon in the circumscribed circle, determining the radius R of the type-dividing arc line of the Luo polygon, and drawing the type-dividing arc line with the radius R of each vertex of the type-dividing regular n-polygon as the center of the circle. The n parting arc lines are intersected pairwise, and the intersection of the two parting arc lines forms a sharp angle on the edge of the arc line. In order to smoothly transition at a sharp corner, a transition arc line is formed between two adjacent parting arcs, and two ends of the transition arc line are respectively tangent to the corresponding parting arc lines. Then each typing arc is connected to each transition arc to form a luxo polygon. The driving rotating wheel 30 with the cross section outline of the Reuluo polygon is used as a power input transmission part of the speed reducer, so that the input and output rotating speeds can be effectively improved, and the speed reducer can run more stably.

As shown in fig. 3, an inner angle of the inner triangle corresponding to the parting arc line is a central angle β of the parting arc line.

When designing the speed reducer in conjunction with an application scenario in which the speed reducer is actually used, it is necessary to consider, but not limited to, the size of an assembly space for assembling the speed reducer in actual use, the size of a reduction ratio actually required, and the like, and therefore, when n is constant and the volume of the speed reducer is constant (R, r is constant at this time), and Q is changed, it is possible to change the reduction ratio m and satisfy the requirement of changing the reduction ratio mWhere T is the number of rollers 22.

For example, when the selection is determined to be m-8 and n-3, the number of rollers 22 is T-12, respectively.

For another example, when the size of the fitting space for mounting the speed reducer in practical use is determined and it is determined that the speed reducer is designed and manufactured with the division number n at this time, R, r also becomes a determination value as the size of the fitting space is determined to be constant, and after the determination Q is selected, the reduction ratio m is accordingly determined (when a different Q value is selected, the reduction ratio m of the speed reducer is accordingly changed).

In the actual design of the speed reducer of the present invention, in order to install the respective rollers 22 in the grating member 21, the grating grooves 212 must be formed so as to satisfy the design conditions: the straight distance between the centers of two adjacent rollers 22 is L, and L is greater than 2Q, that is, the interval connection part for retaining the bearing strength between the adjacent grid grooves 212 in the grid element 21.

After the reduction ratio m and the parting number n of the speed reducer designed by the invention are determined, the number of the external teeth 12 of the external gear ring 10 in the correspondingly designed speed reducer can be obtained. Namely: when the rotational direction in which the rollers 22 revolve around the drive rotor 30 is the same direction as the rotational direction in which the drive rotor 30 rotates, the number of the external teeth 12 of the outer ring gear 10 is S, and S is (m-1) × n.

For example, when the selection determines that m is 8 and n is 3: when the speed reducer is a speed reducer with the same output direction, the number S of the external teeth 12 is 21; when the reduction gear is a reverse output reduction gear, the number S of external teeth 12 becomes 27.

In the same cross section, a first line connecting the center of the circumscribed circle and a point on the axial surface of the driving wheel 30 is formed, and the maximum distance value H of the first line is defined₁The radius is taken as the inner circle of the grating by taking the center of the circumscribed circle as the center of the circle, a second connecting line between the center of the circumscribed circle and the addendum point of the external gear ring 10 is made in the same cross section, and the minimum distance value H of the second connecting line is taken₂Is a radius and takes the center of an external circle as the center of a circle to form the outer circle of the grating, the grating part 21 is positioned between the inner circle of the grating and the outer circle of the grating, and the thickness of the grating part 21 is H₃Then H is₃＜H₂-H₁. Therefore, the rolling grating component 20 is assembled in the assembly cavity 11, and the grating component 21, the outer gear ring 10 and the driving runner 30 do not generate the condition of motion interference, so that the normal and smooth work and operation of the speed reducer are ensured.

In the speed reducer of the present invention, the rollers 22 may be assembled using steel balls; alternatively, the rollers 22 may be assembled using steel cylindrical rollers. In order to ensure the power transmission stability of speed reduction and torque increase of the speed reducer and improve the motion load strength of the speed reducer, the speed reducer of the invention is preferably generally assembled by cylindrical rollers made of steel.

In the working process of the designed and assembled speed reducer, external power is input by the driving rotating wheel 30, and the driving rotating wheel 30 rotates (namely, the sun wheel rotates). Since each roller 22 is in tangential contact with the arcuate axial surface 31 of the drive rotor 30, each roller 22 also rotates (i.e. each planet spins) under the influence of friction.

Since the cross-sectional profile of the tread of the driving wheel 30 is a curve with an equal width (i.e. the distances from different points on the tread to the central axis of the driving wheel 30 are not equal), during the driving wheel 30 drives each roller 22 to rotate simultaneously, the driving wheel 30 applies a force F1 to the corresponding roller 22 to push the corresponding roller 22 to move away in the radial direction (and the corresponding roller 22 to move close in the radial direction), as shown in fig. 3 and 4, the range of the reciprocating movement of each roller in the radial direction is limited between the first movement limiting circle 101 and the second movement limiting circle 102. As shown in fig. 4, when the driving wheel 30 pushes the rollers 22 away from each other in the radial direction to abut against the groove walls of the arc-shaped tooth grooves 13, the rollers 22 are subjected to a reaction force F2, and a resultant force F3 of the reaction force F1 and the reaction force F2 is a driving force for the driving rollers 22 to revolve around the driving wheel 30 (the planetary wheel revolves around the sun wheel). The resultant force F3 acts on the grating 21 to form a driving force Δ F3(F3 ═ Δ F3) to drive the grating 21 to rotate and output. As shown in fig. 4, the output rotation direction of the grating member 21 is the same as the rotation direction of the driving runner 30 (i.e., the same-direction output speed reducer).

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.