CN111237400A - Double spherical cycloid roller nutation drive - Google Patents

Abstract

The invention discloses a double spherical cycloid roller nutation transmission device, comprising an input shaft, a roller bearing, a first crown gear and a second crown gear are sleeved on the input shaft, and the roller bearing comprises an outer ring and an inner ring , a cage is connected between the outer ring and the inner ring, rollers are connected to the cage, the inner ring is connected with the first crown gear, the outer ring is connected with the second crown gear, and the input shaft also passes through the first bearing and the chapter The nutating disk is connected, the axis of the nutating disk and the axis of the input shaft are inclined, the nutating disk is located between the first crown gear and the second crown gear, the circumferential direction of the nutating disk is provided with driving rollers, and the first crown gear The first crown gear is connected with one end of the input shaft through the second bearing, and the second crown gear is connected with the other end of the input shaft through the third bearing. The invention can effectively realize the light weight and miniaturization of the device, and improve the service life, reliability and use flexibility of the transmission device.

Description

Double spherical cycloid roller nutation drive

technical field

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

Background technique

In the existing nutation transmission device, structures such as involute bevel gear meshing pair, conical pendulum pin wheel meshing pair, rolling bevel movable tooth meshing pair or double arc spiral bevel gear meshing pair are mostly adopted. The structure is complex and the axial size is large, which is not conducive to light weight and miniaturization, and the inertial force generated by the nutation motion of the gears when the gears are meshed on the same side is not easy to offset, which will produce large vibration and shock phenomena, resulting in the nutation transmission device. The service life is relatively low and the reliability is poor; in addition, the existing nutating transmission device generally only has one-sided input and output, and the use flexibility is poor, which cannot meet the needs of use.

SUMMARY OF THE INVENTION

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

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

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

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

In one of the embodiments, the driving rollers are cylindrical rollers, drum rollers or tapered rollers.

In one embodiment, a plurality of the driving rollers are uniformly distributed in the circumferential direction of the nutation disc, and all the plurality of the driving rollers are engaged in meshing.

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

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

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

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

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

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

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

Description of drawings

Fig. 1 is the structural representation of the double spherical cycloid roller nutation transmission device of the present invention;

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

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

Fig. 4 is the exploded schematic diagram of another angle of the nutating transmission shown in Fig. 1;

Fig. 5 is the structural representation of the input shaft in Fig. 1;

Fig. 6 is the right side view of the input shaft shown in Fig. 5;

Fig. 7 is the structural representation of the first crown gear in Fig. 1;

Fig. 8 is the structural representation of the second crown gear in Fig. 1;

Fig. 9 is the double spherical cycloid roller meshing schematic diagram of the present invention;

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

Fig. 11 is the meshing schematic diagram of the nutating disc and the second crown gear in the double spherical cycloid roller meshing pair shown in Fig. 9;

In the picture: 1. The first crown gear, 2. The second crown gear, 3. The roller bearing, 31, the inner ring, 32, the outer ring, 33, the roller, 4, the nutating disc, 41, the driving roller, 5. Input shaft, 51, first shaft section, 52, second shaft section, 53, inclined offset shaft section, 54, limit rib, 6, inclined shaft sleeve, 7, oil seal, 8, first screw, 9. The second screw, 10, the first bearing, 11, the second bearing, 12, the third bearing.

Detailed ways

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

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

Among them, since the first crown gear 1 and the second crown gear 2 are both meshed with the driving roller 41 to realize the transmission, that is, the transmission is realized by rolling meshing contact, which is beneficial to reduce the transmission loss and greatly improve the transmission efficiency of the transmission device. In the above-mentioned structure, a double-sided meshing structure is formed between the driving roller 41 on the nutating disc 4 and the first crown gear 1 and the second crown gear 2, and this structure can effectively offset the inertial force generated by the nutation movement, thereby greatly reducing the The vibration and impact generated by the nutation movement are reduced, the movement stability, service life and reliability are improved, and the axial size of the transmission device is greatly reduced.

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

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

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

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

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

At this time, the conjugate meshing pair of the double spherical cycloid rollers is formed by the enveloping surface of the cylindrical roller, and the equation of the cylindrical roller is:

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

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

为齿轮转角，n表示齿轮齿数，下标1、2、3依次代表第一冠齿轮1、章动盘4，第二冠齿轮2，例如，

分别代表第一冠齿轮1、章动盘4，第二冠齿轮2的齿轮转角，n₁、n₂、n₃分别代表第一冠齿轮1、章动盘4，第二冠齿轮2的齿数，且n₁＝n₂±1，

可以理解的，章动盘的齿数n₂即为章动盘4上驱动滚子41的数量。Among them, x _r , y _r , and z _r represent the coordinates in the x, y, and z directions of the tooth surface of the first crown gear 1, respectively, and x _l , _yl , and z _l represent the x, y of the tooth surface of the second crown gear 2, respectively. , the coordinates in the z direction, u is the tooth width, ε is the nutation angle, δ is the pitch angle, ρ is the radius of the circle, θ is the variable of the circle,

is the gear rotation angle, n represents the number of gear teeth, and the subscripts 1, 2, and 3 represent the first crown gear 1, the nutating disc 4, and the second crown gear 2 in turn. For example,

Represent the gear angles of the first crown gear 1, the nutation disc 4, and the second crown gear 2, respectively, and n ₁ , n ₂ , and n ₃ represent the number of teeth of the first crown gear 1, the nutation disc 4, and the second crown gear 2, respectively. , and n ₁ =n ₂ ±1,

It can be understood that the number of teeth n ₂ of the nutating disc is the number of the driving rollers 41 on the nutating disc 4 .

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

In one of the embodiments, the driving rollers 41 can also be drum rollers or tapered rollers.

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

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

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

Wherein, one side of the first bearing 10 of the upper part of the inclined shaft sleeve 6 is inclined and arranged so as to better fit the first bearing 10 , so as to have a better position limiting effect on the first bearing 10 .

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

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

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

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

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

2) Start the motor, and the input shaft 5 is driven by the motor output shaft to rotate; during the rotation of the input shaft 5, the first bearing 10 and the nutation disc 4 will be driven to make a precession motion, and the drive roller 41 on the nutation disc 4 and the first The tooth surfaces of the crown gear 1 are conjugately meshed, so that the rotational speed of the nutating disc 4 is reduced, and the first-stage deceleration is realized;

The drive rollers 41 on the decelerated nutating disc 4 are in conjugate engagement with the tooth surface of the second crown gear 2, so that the power is output through the second crown gear 2 and the outer ring 32 of the roller bearing 3 fixedly connected with it. , to achieve the second stage of deceleration.

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

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

2) Start the motor, and the input shaft 5 is driven by the motor output shaft to rotate; during the rotation of the input shaft 5, the first bearing 10 and the nutation disc 4 will be driven to perform precession motion, and the drive roller 41 on the nutation disc 4 and the second The tooth surfaces of the crown gear 2 are in conjugate meshing, so that the rotational speed of the nutating disc 4 is reduced, and the first-stage deceleration is realized;

The drive rollers 41 on the decelerated nutating disc 4 are in conjugate engagement with the tooth surface of the first crown gear 1, so that the power is output through the first crown gear 1 and the inner ring 31 of the roller bearing 3 fixedly connected with it. , to achieve the second stage of deceleration.

In the nutation transmission device of this embodiment, the double spherical cycloidal roller conjugate meshing is formed by meshing the driving rollers 41 on the nutating disc 4 with the first crown gear 1 and the second crown gear 2 on both sides of the nutation disc 4 at the same time. It avoids the problem that two pairs of gears need to be used for the double-side meshing structure in the existing nutation transmission device, which requires a long axial dimension, greatly reduces the axial dimension of the transmission device, and realizes the light weight and miniaturization of the device; And the above-mentioned meshing structure overcomes the problem that the inertial force generated by the nutation movement when the gears are meshed on one side is not easy to offset, reduces the wear of the tooth surface and the backlash, and is beneficial to the axial backlash elimination, which greatly improves the movement stability and bearing capacity; "Left input, right output", "right input, left output" two use modes, flexible use and strong versatility; the nutating disc with rollers has a simple structure, is easier to process and manufacture, and saves processing costs.

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

Claims (10)

1. The utility model provides a two spherical cycloid roller nutation transmission, a serial communication port, includes the input shaft, the cover is equipped with roller bearing, first crown gear and second crown gear on the input shaft, roller bearing includes outer lane and inner circle, be connected with the holder between outer lane and the inner circle, be connected with the roller on the holder, the inner circle with first crown gear is connected, the outer lane with the second crown gear is connected, the input shaft still is connected through first bearing and nutation dish, the axis of nutation dish with the axis of input shaft inclines mutually, the nutation dish is located between first crown gear and the second crown gear, the circumference of nutation dish is provided with driving roller, first crown gear with the second crown gear be used for with driving roller meshes simultaneously, first crown gear through the second bearing with the one end of input shaft is connected, the second crown gear is connected to the other end of the input shaft through a third bearing.

2. The dual spherical gerotor roller nutation drive of claim 1, wherein the tooth flanks of the first and second crown gears are each a continuous spherical cycloidal surface.

3. The dual spherical gerotor roller nutation drive of claim 1, wherein the drive rollers are cylindrical rollers, drum rollers, or tapered rollers.

4. The dual spherical gerotor roller nutation drive of claim 1, wherein a plurality of the drive rollers are evenly distributed circumferentially of the nutating disk and are engaged.

5. The dual spherical gerotor roller nutation drive of claim 1, wherein the roller bearings are cross roller bearings.

6. The dual spherical gerotor roller nutation drive of claim 1, wherein the input shaft has a first shaft section, a second shaft section, and an angularly offset shaft section, the angularly offset shaft section being disposed between the first shaft section and the second shaft section, the angularly offset shaft section having an axis that is inclined relative to the axis of the input shaft, the axis of the first shaft section and the axis of the second shaft section both being coincident with the axis of the input shaft, the angularly offset shaft section being connected to the nutating disc by a first bearing, the first crown gear being connected to the first shaft section by a second bearing, and the second crown gear being connected to the second shaft section by a third bearing.

7. The dual spherical gerotor roller nutation drive of claim 6, wherein the input shaft is further sleeved with a skewed shaft sleeve, one side of the first bearing abuts against the skewed shaft sleeve, the other side of the first bearing abuts against a limit stop, and the limit stop is connected to the skewed offset shaft section.

8. The dual spherical gerotor roller nutation drive of claim 1, wherein an oil seal is further disposed between the outer and inner races of the roller bearings.

9. The dual spherical gerotor roller nutation drive of claim 1, wherein the inner race and the first crown gear are connected by a first screw and the outer race and the second crown gear are connected by a second screw.

10. The dual spherical cycloidal roller nutating transmission of claim 1 wherein the number of teeth defining said first crown gear is n₁The number of teeth of the second crown gear is n₃The transmission ratio of the double-spherical cycloid roller nutation transmission device is i_rlWhen said second crown wheel is used as the output, i_rl＝n₃/(n₃-n₁) (ii) a When the first crown wheel is used as the output end, i_rl＝n₁/(n₃-n₁)。

Images