WO2023116409A1 - 一种章动减速器 - Google Patents

一种章动减速器 Download PDF

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Publication number
WO2023116409A1
WO2023116409A1 PCT/CN2022/136671 CN2022136671W WO2023116409A1 WO 2023116409 A1 WO2023116409 A1 WO 2023116409A1 CN 2022136671 W CN2022136671 W CN 2022136671W WO 2023116409 A1 WO2023116409 A1 WO 2023116409A1
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WIPO (PCT)
Prior art keywords
nutating
gear
swash plate
reducer
pairs
Prior art date
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Ceased
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PCT/CN2022/136671
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English (en)
French (fr)
Inventor
王小椿
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Individual
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Individual
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Priority to EP22909724.1A priority Critical patent/EP4276331B1/en
Priority to JP2023537998A priority patent/JP7469772B2/ja
Priority to KR1020237022409A priority patent/KR102680982B1/ko
Publication of WO2023116409A1 publication Critical patent/WO2023116409A1/zh
Priority to US18/241,917 priority patent/US11933385B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H1/321—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear the orbital gear being nutating
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/10—Constructively simple tooth shapes, e.g. shaped as pins, as balls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly

Definitions

  • the invention relates to the field of reducers, in particular to a nutating reducer.
  • worm reducers include worm reducers, multi-stage planetary reducers, harmonic reducers and RV reducers.
  • the transmission efficiency of the worm reducer is relatively low, usually below 50%; and the required motor power is the output power divided by the transmission efficiency, so the required motor power will increase significantly, not only the volume and weight are large, but also the power consumption is consumed
  • the motor and reducer turn into heat, which accelerates the temperature rise of the equipment, making it impossible to work continuously or frequently under heavy load.
  • the transmission efficiency of the planetary reducer is very high, and the output torque per unit volume is also relatively large, but the transmission ratio of the single-stage planetary reducer is small.
  • harmonic reducers and RV reducers are mostly used at present. But these two reducers also have their own disadvantages - the power density of the harmonic reducer is far inferior to that of the RV reducer, but after all, it is easy to manufacture a small-sized harmonic reducer; the situation of the RV reducer is just the opposite, and the power density is large. , but no small size products.
  • the existing nutating reducer uses joint bearings to realize nutating operation, which has a complex structure and makes the volume larger. If the output torque is doubled, the increased volume will be nearly doubled, resulting in limited applications. Joint bearings have low mechanical efficiency and low power density, and their use is limited in occasions that require large torque output and small volume.
  • the present invention discloses a nutating gear reducer, which is used to solve the problems of complex structure, large volume and low power density in the conventional nutating reducer which uses joint bearings to realize nutating motion.
  • the present invention is for realizing above-mentioned goal, and the technical scheme that adopts is:
  • the first aspect of the present invention discloses a nutating reducer, comprising: a housing; two pairs of nutating gear pairs are arranged in the housing, and each pair of nutating gear pairs is composed of a nutating gear and a non-nutating gear
  • the non-nutating gears are fixedly arranged in the housing or integrally formed with the housing, and the number of teeth of the nutating gears in each pair of nutating gear pairs is greater than the number of teeth of the non-nutating gears one more;
  • the output shaft of the reducer is rotatably arranged in the housing; two pre-stretched annular elastic diaphragms, each of which has an inner ring, an outer ring and a connection between the inner ring and the outer ring
  • the inner ring and the outer ring are provided with several hinged holes along their respective circumferential directions, and the nutating gears in each nutating gear pair pass through the first hinged bolts It is fixedly connected with the outer ring on the annul
  • the nutation generating mechanism includes: a swash plate, which is rotatably arranged on the output shaft of the reducer in the housing, symmetrical slopes are provided on both sides of the swash plate, and the swash plate is driven by The mechanism is driven to rotate; plane dense ball bearings, the two sides of the swash plate are respectively provided with plane dense ball bearings, the two sides of the swash plate and the backs of the respective nutating gears in the two pairs of gear pairs are used as the The raceway of the plane dense ball bearing; the number of teeth of the two nutating gears in the two pairs of nutating gear pairs is equal, and the number of teeth of the two non-nutating gears in the two pairs of nutating gear pairs is equal; When the swash plate rotates, the inclined plane on the swash plate drives the nutating gear to perform nutating motion, so that the teeth of the nutating gear roll on the teeth of the non-nutating gear.
  • the inner ring is arranged coaxially with the output shaft of the reducer connected to the inner ring
  • the outer ring is arranged coaxially with the nutating gear connected to the outer ring
  • the The axis of the inner ring intersects the axis of the outer ring.
  • the annular elastic body is an annular convex structure with one side convex and the other side concave, the inner ring is tangent to the inner periphery of the annular elastic body, and the outer ring is tangent to the outer periphery of the annular elastic body. cut.
  • the concave surface and the convex surface of the convex structure are formed by circular arc surfaces, spline curved surfaces or cosine curved surfaces to form ring-shaped corrugated protrusions.
  • the thicker side of the swash plate is provided with an opening for realizing dynamic balance of the swash plate when the swash plate rotates.
  • the driving mechanism is a motor, which directly drives the rotation of the swash plate.
  • the housing is used as a casing of the motor
  • the stator of the motor is arranged in the casing, and/or there is a necked shaft section between the two slopes of the swash plate, and the neck
  • the shrunken shaft section serves as the rotor of the motor.
  • the driving mechanism includes a motor and a transmission mechanism, and the motor drives the swash plate to rotate through the transmission mechanism.
  • the transmission mechanism includes a chain and a sprocket
  • the outer circumference of the swash plate is formed with a plurality of sprocket teeth evenly distributed along its circumference
  • the motor shaft is fixed with a sprocket, so The sprocket is connected with the sprocket teeth on the swash plate through a chain.
  • the transmission mechanism includes a transmission gear
  • the outer circumference of the swash plate is formed with a plurality of gear teeth evenly distributed along its circumference
  • the motor shaft is fixed with a gear
  • the gear is connected to the The gear teeth on the swash plate are meshed for transmission.
  • the present invention implements the layout of power splitting on both sides of the nutation generating mechanism, especially adopts the swash plate for power splitting layout, compared with the nutation reducer using non-dynamic splitting, the thickness (axial direction) increases by about 30
  • the cost of -40% can increase the output torque by about 100%.
  • the reduced friction loss can almost reach about half of the friction loss of the tooth surface, which significantly improves the work of the reducer.
  • Efficiency at the same time, it can also reduce the volume of the reduction gear, reduce the weight, and reduce heat generation. Under the same temperature rise, the power density can be increased.
  • Fig. 1 shows the schematic diagram of the overall structure of embodiment 1 of the nutating reducer of the present invention
  • Fig. 2 shows a schematic diagram of the overall structure of Embodiment 2 of the nutating reducer of the present invention
  • Fig. 3 shows a schematic diagram of the overall structure of the nutating reducer embodiment 3 of the present invention
  • Fig. 4 is the axonometric view of the swash plate embodiment in Fig. 1 nutating reducer embodiment 1 and 2;
  • Fig. 5 is the front view of Fig. 4 swash plate embodiment
  • Fig. 6 shows the axonometric view of the pre-stretched annular elastic diaphragm embodiment in the nutation reducer embodiment 1, 2, 3 of the present invention
  • Figure 7 is a cross-sectional view of an embodiment of a pre-stretched annular elastic diaphragm in Figure 6;
  • Fig. 8 is a partially enlarged view of place I of Fig. 7;
  • Fig. 9 shows the axonometric view of the embodiment 1, 2, and 3 of the plane dense ball bearing embodiment of the nutating reducer of the present invention.
  • Fig. 10 shows a transmission schematic diagram of the drive mechanism driving the swash plate in Embodiment 1 of the nutating reducer of the present invention
  • Fig. 11 is an axonometric view of nutating gear embodiments in nutating reducer embodiments 1, 2, and 3 of the present invention.
  • Fig. 12 is an axonometric view of a single tooth profile embodiment of the nutating gear in Fig. 11;
  • Fig. 13 is a front view of a single tooth shape of the nutating gear in Fig. 12;
  • Fig. 14 shows a front view of a single tooth form embodiment of a non-nutating gear in Embodiments 1, 2, and 3 of the nutating reducer of the present invention
  • Fig. 15 shows a schematic diagram of a nutating gear pair meshing embodiment in embodiments 1, 2, and 3 of the nutating reducer of the present invention
  • Figure 16 shows a schematic diagram of the application of nutation reducer embodiments 1, 2, and 3 of the present invention to DELTA robots;
  • the dotted lines in FIG. 13 and FIG. 14 are imaginary lines, which are divided in order to illustrate the composition of the tooth surface in the embodiment of the present invention.
  • the existing nutation reducer uses joint bearings to realize nutation operation, the structure is complex, and the volume is large. If the output torque is doubled, the increased volume is close to twice the original size, which limits the application occasions. At the same time, the joint Bearings are less mechanically efficient.
  • the present invention adopts a symmetrical nutation gear pair, which is arranged on both sides of the nutation generating mechanism, which can simplify the structure.
  • the volume is only increased by 30%-40%, while the existing reducer adopts a complex joint bearing structure, and the volume is nearly doubled.
  • the invention not only realizes the increase of torque, but also reduces the weight, generates less heat, has higher mechanical efficiency and higher power density.
  • FIGS. 1-16 In order to further illustrate the technical solutions of the present invention, the following specific examples are provided in conjunction with FIGS. 1-16 .
  • a nutating reducer is provided, as shown in Fig. 1 and Fig. 4-9, including: a housing 300;
  • the gear pair is formed by meshing the nutating gear 400 and the non-nutating gear 500.
  • the non-nutating gear 500 is fixedly arranged in the housing 300 or integrally formed with the housing 300.
  • the gear ratio of the nutating gear 400 in each pair of nutating gear pairs is The number of teeth of the non-nutating gear 500 is one more; the output shaft 301 of the reducer is set in the housing 300 in rotation; two pre-stretched annular elastic diaphragms, each annular elastic diaphragm has an inner ring 101, an outer ring 102 and the annular elastic body 103 connected between the inner ring 101 and the outer ring 102, the inner ring 101 and the outer ring 102 are provided with several hinged holes along their respective circumferential directions, and the nutating motion in each nutating gear pair
  • the gear is fixedly connected to the outer ring 102 on the annular elastic diaphragm through the first hinged bolt, and the first hinged bolt passes through the hinged hole of the outer ring 102 and cooperates with the hinged hole of the outer ring 102, the output shaft of the reducer 301 is fixedly connected to the inner ring 101 on the annular elastic diaphragm through the
  • the radial positioning of the annular elastic diaphragm and the transmission of torque are realized by the cooperation of the first hinged bolt with the hinged hole of the outer ring and the cooperation of the second hinged bolt with the hinged hole of the inner ring.
  • the first hinged bolt and the hinged hole of the outer ring can adopt clearance fit
  • the second hinged bolt can adopt clearance fit with the hinged hole of the inner ring.
  • the teeth of the nutating gear 400 and the teeth of the non-nutating gear 500 are formed on the end faces of the respective toothed discs, and the respective teeth extend along the radial direction of the respective toothed discs.
  • the longitudinal cross-sectional area of the tooth gradually increases from the tooth top to the tooth root, and the cross-sectional area of each tooth gradually decreases from the outside to the inside along the radial direction of the respective tooth disc, and the tooth width is the distance between the inner circle end surface of the tooth and the outer circle end surface of the tooth .
  • the teeth of the nutating gear 400 and the teeth of the non-nutating gear 500 are distributed on one side of the end face of each toothed disc, and the width direction of the teeth of the nutating gear 400 is the same as the radial direction of the nutating gear 400, and the non-nutating gear The width direction of the teeth of the gear 500 is the same as the radial direction of the non-nutating gear 500 .
  • the working tooth surface 401 of the nutating gear 400 is constructed of an outwardly convex elliptical conical surface b, and the highest point and the lowest point of the elliptical conical surface b on the same cross section
  • the distance gradually decreases from outside to inside along the radial direction of the nutating gear 400 ;
  • the working tooth surface 501 of the tooth surface of the non-nutating gear 500 is an envelope surface without instantaneous centers generated by the nutating gear 400 during the nutating motion.
  • the tooth surface of the nutating gear 400 is composed of tooth top curved surface a, elliptical cone surface b, plane c, and dedendum curved surface d.
  • Root curved surface d, and addendum curved surface a, elliptical cone surface b, plane c, and dedendum curved surface d are adjacent to each other, and the addendum curved surface a is a convex smooth surface, and the dedendum curved surface d is concave
  • the tooth surface of the non-nutating gear 500 is composed of tooth top surface a, non-instant center enveloping tooth surface e, plane c, and dedendum curved surface d, wherein the two ends of the tooth top surface a are respectively connected with The enveloping tooth surface e, the plane c and the dedendum surface d, and the addendum surface a, the non-instantaneous enveloping tooth surface e, the plane c and the dedendum surface d are adjacent to each other, and the addendum surface a is the outer Convex smooth surface, dedendum surface d is concave smooth surface.
  • the respective addendum curved surfaces a of the nutating gear 400 and the non-nutating gear 500 are convex smooth curved surfaces, and the respective dedendum curved surfaces d are concave smooth curved surfaces. It can satisfy the bearing capacity of the nutating gear 400 during forward and reverse rotation.
  • the addendum curved surface a and the dedendum curved surface d of the nutating gear 400 and the non-nutating gear 500 can be formed by spline surface construction.
  • the elliptical conical surface b, the plane c and the dedendum curved surface d at both ends of the tooth top curved surface a on the nutating gear 400 are symmetrical to each other.
  • the non-instantaneous center enveloping tooth surface e, the plane c and the dedendum surface d of the top surface a are symmetrical to each other.
  • the inter-shaft angle should be less than 180°; while the upper limit of the number of teeth is limited by the transmission efficiency of the reduction mechanism, the transmission The larger the ratio, the lower the efficiency. Therefore, in this embodiment, the interaxial angle T of the nutating gear and the non-nutating gear is: 177° ⁇ T ⁇ 180°.
  • the working tooth surface of the nutating gear is set as an elliptical conical surface, and the distance between the highest point and the lowest point on the elliptical conical surface on the same cross section gradually decreases from the outside to the inside along the radial direction of the nutating gear .
  • the arc length of the working tooth surface of the pin wheel is effectively increased. Under the same gear diameter, transmission ratio and output load, the working tooth surface of the pin wheel can be The arc length is increased by about 60%, which reduces the local wear of the nutating gear tooth surface and prolongs the service life.
  • the contact stress of the tooth surface can be reduced by about 23%; or under the same contact stress, the bearing capacity can be increased by about 30%. %.
  • the nutating mechanism includes: a swash plate 600, which is rotatably arranged on the output shaft 301 of the reducer in the housing 300, and symmetrical slopes 601 are arranged on both sides of the swash plate 600, and the swash plate 600 is driven to rotate by a driving mechanism;
  • the plane dense ball bearing 200, the swash plate 600 and the nutating gear 400 in each pair of nutating gear pairs are all provided with the plane dense ball bearing 200, the two sides of the swash plate 600 and the respective respective in the two pairs of said gear pairs
  • the back side of the nutating gear 400 is used as the raceway of the plane dense ball bearing 200; the number of teeth of the two nutating gears 400 in the two pairs of nutating gear pairs is equal, and the number of teeth of the two non-nutating gears 500 in the two pairs of nutating gear pairs The number of teeth is equal; when the swash plate 600 rotates, the inclined planes 601 on both sides of the swash plate 600 drive the
  • the number of teeth of the two non-nutating gears 500 in the nutating gear pair is equal to ensure that the output speed is the same, and the nutating angles of the two nutating gears 400 are the same, so that the same swash plate 600 can drive the two nutating gears 400 at the same time
  • the nutation operation occurs, and at the same time, the problem of uneven force on both sides of the swash plate 600 is offset, so that the axis of the swash plate 600 remains coaxial with the output shaft of the reducer.
  • the planar dense ball bearing in this embodiment includes: a cage 201 with multiple sets of ball holes, and balls 202 protruding from both sides of the cage are arranged in the ball holes, each set of ball holes
  • the ball holes are arranged according to ellipses with different radii, and each group of ball holes is arranged around the ellipse.
  • the major axes of the ellipses where multiple groups of ball holes are located are on the same straight line and the centers of the ellipses are coincident.
  • Two adjacent groups of ball holes are arranged alternately.
  • the distance between one ball hole in any group of ball holes and the ball hole in the nearest adjacent group is less than twice the diameter of the balls, which ensures that the balls are densely arranged.
  • the balls in this embodiment can also be arranged in a perfect circle, and in this embodiment, the balls are preferably arranged in an ellipse, which can avoid premature fatigue pitting of the raceway.
  • the two pairs of nutating gear pairs in this embodiment are symmetrically arranged on both sides of the swash plate 600.
  • Two symmetrical slopes 601 are provided on both sides of the swash plate 600.
  • the inner ring 101 and the reducer output shaft 301 connected to the inner ring 101 are coaxially arranged, and the outer ring 102 and the nutating gear 400 connected to the outer ring 102 Coaxial arrangement, the axis of the inner ring 101 intersects the axis of the outer ring 102; when the nutating gear 400 performs nutating motion, the annular elastic diaphragm is deformed to adapt to the nutating motion of the nutating gear 400, At the same time, the annular elastic diaphragm drives the output shaft of the reducer to perform a single rotary motion.
  • the inner ring 101 and the outer ring 102 form a flange, the flange formed by the inner ring 101 is used as the first connection part, the flange formed by the outer ring 102 is used as the second connection part, and the inner ring passes through the hinged hole
  • the bolts are fixedly connected to the output shaft 301 of the reducer, and the outer ring is fixedly connected to the nutating gear 400 through the hinged hole bolts.
  • the nutating motion of the nutating gear 400 is converted into a single rotary motion of the output shaft of the reducer through the annular elastic diaphragm.
  • the use of the annular elastic diaphragm will not generate theoretical motion errors, and the rotation angle theory of the output shaft of the reducer will not be generated.
  • the above is strictly equal to the rotation angle of the nutating gear 400, and at any angle, the rigidity of the output mechanism is constant, and there will be no fluctuation error in the output angle; secondly, there is almost no energy loss, and no additional heat is generated; thirdly, the The function of the joint bearing does not require additional bearings.
  • the annular elastic diaphragm itself bears the radial force of the nutating gear 400 and realizes the centering function of the nutating gear 400. Compared with the traditional nutation reducer using joint bearings Compared, the structure is more compact, the internal space of the reducer is reduced, and the reducer can be made smaller in the case of outputting the same torque, and the application occasions are more extensive.
  • the annular elastic body 103 is an annular convex structure with one side convex and the other side concave, the inner ring is tangent to the inner periphery of the annular elastic body 103, and the outer ring 102 Tangent to the outer periphery of the annular elastic body 103 .
  • the concave surface and the convex surface of the convex structure are formed by arc surface, spline surface or cosine surface structure.
  • the pre-stretching elongation used to compensate for the tensile deformation of the annular elastic diaphragm during installation can significantly reduce the pre-tension elongation used to compensate for the tensile deformation of the annular elastic body during installation The amount can significantly reduce the installation stress of the annular elastic diaphragm.
  • An appropriate amount of pre-stretching deformation will hardly reduce the radial rigidity of the annular elastic diaphragm, but excessive pre-stretching deformation will reduce its radial rigidity, and even lead to elastic instability.
  • intersection of the axis of the inner ring 101 and the axis of the outer ring 102 in this embodiment refers to the state after the installation of the annular elastic diaphragm.
  • the inter-shaft angle of the moving gear 500 is less than 180°, and the annular elastic body 103 will be squeezed and deformed after installation.
  • the axis of the inner ring 101 and the axis of the outer ring 102 of the annular elastic body 103 coincide in a natural state (a state without deformation before installation). After installation, since the inner ring 101 and the outer ring 102 have a certain deflection angle, the protruding structure of the annular elastic body 103 is partially straightened.
  • the reducer output shaft 301 is composed of the first reducer output shaft 3011 and the second reducer output shaft 3012.
  • the back of the non-nutating gear 500 is provided with a bearing installation hole, and the conical The roller bearing is arranged in the bearing installation hole, the output shaft 3011 of the first reducer is installed on the inner ring of the tapered roller bearing, the output shaft 3012 of the second reducer is installed in the housing 300 through the rotation of the tapered roller bearing, and the first Both the output shaft 3011 of the reducer and the output shaft 3012 of the second reducer are provided with a conical surface, the axis of the conical surface coincides with the axis of the shaft where it is located, and the output shaft 3011 of the first reducer and the output shaft 3012 of the second reducer are matched through the conical surface And fixedly connected by screws, so that the output shaft 3011 of the first reducer and the output shaft 3012 of the second reducer rotate in the same phase as rigid shafts, and the output shaft of the first reduce
  • the housing 300 is composed of a first housing and a second housing, the first housing and the second housing are fastened and fixed together, and an accommodation space is formed inside, wherein the non-nutating gear pair in a pair of nutating gear pairs
  • the gear is fixed on the first housing or integrally formed with the first housing, and the non-nutating gear in the other pair of nutating gear pairs is fixed on the second housing or integrally formed with the second housing.
  • the two non-nutating gears in the two pairs of nutating gear pairs are coaxially arranged.
  • the driving mechanism is a motor, which directly drives the swash plate 600 to rotate.
  • the magnetic circuit of the motor adopts an axial layout, wherein the motor can be a disc-shaped hollow motor, the rotor 901 of the disc-shaped hollow motor is a hollow structure, the inner circle of the rotor 901 forms a flange, and the flange passes through the first annular elastic diaphragm 903 and the oblique
  • the outer circle of the disk 600 is fixedly connected to avoid the interference of the axial floating of the swash plate 600 on the rotor.
  • the rotor does not contain the iron core forming the inner magnetic circuit, the moment of inertia is greatly reduced, and the dynamic response performance is better.
  • a first bearing 903 is provided between the outer circle of the rotor and the inner surface of the casing, and the stator 902 of the motor is arranged on both sides of the rotor and installed in the casing 902 .
  • the volume in the axial direction of the nutating reducer can be reduced.
  • the drive mechanism is a motor, which directly drives the swash plate 600 to rotate, and the magnetic circuit of the motor adopts a traditional radial layout.
  • the two slopes 601 of the disc 600 are located on both sides in the axial direction of the necked shaft section 610, the swash plate 600 is provided with a through hole coaxial with it, and the outer circular surface of the output shaft 301 of the reducer is provided with a second bearing 904.
  • the bearing 904 is installed in the through hole of the swash plate 600, so that the swash plate 600 can rotate relative to the output shaft 301 of the reducer, and two second bearings 904 can be provided to play the role of radially positioning and supporting the swash plate 600.
  • the necked shaft section serves as the rotor 901 of the motor, and the stator 902 of the motor is arranged in the housing 300 to cooperate with the rotor 901 .
  • the driving mechanism includes a motor and a transmission mechanism, and the motor drives the swash plate 600 to rotate through the transmission mechanism.
  • the transmission mechanism includes a chain and a sprocket.
  • the outer circumference of the swash plate 600 is formed with a plurality of sprocket teeth evenly distributed along its circumference.
  • the transmission mechanism includes a transmission gear, and the outer circumference of the swash plate 600 is formed with a plurality of gear teeth evenly distributed along its circumference, and the motor shaft is fixed with a gear, and the gear meshes with the gear teeth on the swash plate 600 transmission.
  • gear teeth are formed on the outer circumference of the swash plate 600, and the transmission mechanism can be a bevel gear pair, wherein one bevel gear is driven by a motor as a driving gear, and the other bevel gear is a driven gear, and The other bevel gear is provided with a gear shaft coaxial with it, and a cylindrical gear is provided on the gear shaft, and the cylindrical gear meshes with the gear teeth of the swash plate 600, and the motor shaft and the output shaft of the reducer are at 90°, which can be applied On the mechanical arm of the multi-axis robot hand, the motor is hidden in the mechanical arm to drive the mechanical arm to swing.
  • the driving mechanism includes a driving motor 620 and a transmission mechanism
  • the transmission mechanism includes a first transmission shaft 631, a second transmission shaft 632, a herringbone gear 633, and two helical gears 634 and two cylindrical gears 635, a cylindrical gear 635 and a helical gear 634 are respectively fixed on the first transmission shaft 631 and the second transmission shaft 632, and the outer circle of the swash plate 600 is formed with gear teeth and meshes with the two cylindrical gears 635,
  • a herringbone gear 633 is fixed on the shaft of the driving motor 620, and two helical gears 634 mesh with the herringbone gear 633 respectively, and the rotation direction of the two helical gears 634 can be opposite.
  • the herringbone gear 633 meshes with two cylindrical helical gears to realize power distribution and automatic load sharing, and then the power is converged to the swash plate through the meshing of the two cylindrical gears with the outer edge gear of the swash plate.
  • the thickness of the swash plate can be reduced by half by adopting the power split, so as to reduce the weight of the reducer and increase the power density.
  • the power density of the reduction gear can be significantly improved, the friction loss of the bearing can be reduced, and the The transmission efficiency of the reduction gear.
  • This layout is especially suitable for reducers with double output terminals.
  • the nutating reducer is used in the DELTA robot. Each swing arm needs two output flanges.
  • the nutating reducer has two output methods.
  • the flanges (the output flanges on the output shaft 3011 of the first reducer and the output shaft 3012 of the second reducer) can drive each swing arm to rotate, which can make the structure compact and have larger output torque and structural rigidity.
  • the thicker side of the swash plate 600 is provided with an opening (not shown in the figure) for realizing the dynamic balance of the swash plate 600 when the swash plate 600 rotates, satisfying The dynamic balance of the swash plate 600 at high rotational speed.

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Abstract

一种章动齿轮减速器，用以解决现有章动减速器采用关节轴承实现章动运动结构复杂，体积较大，功率密度较低的问题。本发明的一种章动减速器，包括：壳体；两对章动齿轮副，设置在所述壳体内，所述非章动齿轮固定设置在所述壳体内或与所述壳体一体成型；减速器输出轴，转动设置在所述壳体内；两个环形弹性膜片，每个所述章动齿轮副中的所述章动齿轮通过一个环形弹性膜片与所述减速器输出轴固定连接；章动发生机构，设置在所述壳体内，两对章动齿轮副对称设置在所述章动发生机构的两侧。本发明采用分流布置，章动齿轮副采用对称布局，可显著提高减速器的工作效率；同时还能减小减速装置的体积，减轻重量，减少发热，并提高功率密度。

Description

一种章动减速器 技术领域
本发明涉及减速器领域，尤其涉及一种章动减速器。
背景技术
大传动比减速器在自动化领域有很大的需求量。常用的大传动比减速器有蜗杆减速器、多级行星减速器、谐波减速器和RV减速器。蜗杆减速器的传动效率比较低，通常在50％以下；而所需电机功率为输出功率除以传动效率，故所需电机功率会大幅增加，不仅体积和重量大，而且多消耗的电能都被电机和减速器变成热量，使设备温升加快，无法在重负荷下连续工作或频繁工作。行星减速器的传动效率很高，单位体积的输出扭矩也比较大，但单级行星减速器的传动比小，在需要大传动比的场合，多级行星减速器串联在一起的体积就比较大了；况且小背隙行星减速器的工艺要求非常高，成本昂贵，难以量产。因此在功率密度要求高，背隙很低的场合，如各种工业机器人、机械臂、机械手和自动化设备中，目前多选用谐波减速器和RV减速器。但这两种减速器也各有缺点——谐波减速器的功率密度远逊于RV减速器，但毕竟容易制造出小规格的谐波减速器；RV减速器的情况正好相反，功率密度大，却没有小规格产品。而现有的章动减速器采用关节轴承实现章动运行，结构复杂，使体积较大，如果增加一倍输出扭矩，则增大的体积接近原来的一倍，致使应用场合受限，同时采用关节轴承机械效率较低和功率密度低，需要大扭矩输出小体积的场合使用受限。
发明内容
鉴于此，本发明公开了一种章动齿轮减速器，用以解决现有章动减速器采用关节轴承实现章动运动结构复杂，体积较大，功率密度较低的问题。
本发明为实现上述的目标，采用的技术方案是：
本发明第一方面公开了一种章动减速器，包括：壳体；两对章动齿轮副，设置在所述壳体内，每对所述章动齿轮副由章动齿轮和非章动齿 轮啮合形成，所述非章动齿轮固定设置在所述壳体内或与所述壳体一体成型，每对所述章动齿轮副中所述章动齿轮的齿数比所述非章动齿轮的齿数多一个；减速器输出轴，转动设置在所述壳体内；两个预拉伸的环形弹性膜片，每个所述环形弹性膜片具有内环、外环和连接于内环和外环之间的环形弹性体，所述内环和所述外环沿各自的圆周方向均设有若干个铰制孔，每个所述章动齿轮副中的所述章动齿轮通过第一铰制螺栓与所述环形弹性膜片上的所述外环固定连接，且所述第一铰制螺栓穿过所述外环的铰制孔并与外环的所述铰制孔配合，所述减速器输出轴通过第二铰制螺栓与所述环形弹性膜片上的内环固定连接，且所述第二铰制螺栓穿过所述内环的铰制孔并与所述内环的铰制孔配合，所述章动齿轮做章动运动时，所述环形弹性膜片利用所述环形弹性体产生的弹性形变将所述章动齿轮的章动运动转换为所述减速器输出轴的单一回转运动；章动发生机构，设置在所述壳体内，两对章动齿轮副对称设置在所述章动发生机构的两侧，所述章动发生机构用于驱动所述章动齿轮做章动运动，使所述章动齿轮的齿在所述非章动齿轮的齿上滚动。
进一步可选的，所述章动发生机构包括：斜盘，转动设置在所述壳体内的所述减速器输出轴上，所述斜盘两侧设有对称的斜面，所述斜盘通过驱动机构驱动转动；平面密珠轴承，所述斜盘的两侧分别设有平面密珠轴承，所述斜盘的两侧面和两对所述齿轮副中各自的所述章动齿轮背面作为所述平面密珠轴承的滚道；两对所述章动齿轮副中的两个所述章动齿轮齿数相等，两对所述章动齿轮副中的两个所述非章动齿轮的齿数相等；所述斜盘转动时，斜盘上的斜面驱动章动齿轮做章动运动，使所述章动齿轮的齿在所述非章动齿轮的齿上滚动。
进一步可选的，所述内环和与所述内环连接的所述减速器输出轴共轴线设置，所述外环和与所述外环连接的所述章动齿轮共轴线设置，所述内环的轴线和所述外环的轴线相交。
进一步可选的，所述环形弹性体为一侧凸另一侧凹的环形凸起结构，所述内环与所述环形弹性体内周边相切，所述外环与所述环形弹性体外周边相切。
进一步可选的，所述凸起结构的凹面和凸面由圆弧面、样条曲面或余弦曲面构造所形成环形波纹凸起。
进一步可选的，所述斜盘厚度较大的一侧设有用于斜盘转动时实现斜盘动平衡的开口。
进一步可选的，所述驱动机构为电机，直接驱动所述斜盘转动。
进一步可选的，所述壳体作为所述电机的外壳，所述电机的定子设置在所述外壳内，和/或所述斜盘的两个斜面之间具有颈缩轴段，所述颈缩轴段作为所述电机的转子。
进一步可选的，所述驱动机构包括电机和传动机构，所述电机通过传动机构驱动所述斜盘转动。
进一步可选的，所述传动机构包括链条和链轮，所述斜盘的外圆圆周形成有多个沿其周向均匀分布的链轮齿，所述电机轴上固定设有链轮，所述链轮通过链条与所述斜盘上的链轮齿连接。
进一步可选的，所述传动机构包括传动齿轮，所述斜盘的外圆圆周形成有多个沿其周向均匀分布的齿轮齿，所述电机轴上固定设有齿轮，所述齿轮与所述斜盘上的齿轮齿啮合传动。
有益效果：本发明在章动发生机构两侧进行动力分流的布局，尤其是采用斜盘进行动力分流布局，与采用非动力分流的章动减速器相比，以厚度(轴向)大约增加30-40％的代价，可以使输出扭矩增加100％左右，对于单级传动比达到160左右的章动减速装置，减少的摩擦损失几乎可以达到齿面摩擦损失的一半左右，显著提高减速器的工作效率；同时还能减小减速装置的体积，减轻重量，减少发热，在同样的温升前提下，可以提高功率密度。
附图说明
通过参照附图详细描述其示例实施例，本发明公开的上述和其它目标、特征及优点将变得更加显而易见。下面描述的附图仅仅是本发明公开的一些实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示出了本发明章动减速器实施例1整体结构的示意图；
图2示出了本发明章动减速器实施例2的整体结构示意图；
图3示出了本发明章动减速器实施例3的整体结构的示意图；
图4为图1章动减速器实施例1和2中的斜盘实施例轴测图；
图5为图4斜盘实施例的主视图；
图6示出了本发明章动减速器实施例1、2、3中预拉伸的环形弹性膜片实施例的轴测图；
图7为图6中预拉伸的环形弹性膜片实施例的断面视图；
图8为图7的I处局部放大视图；
图9示出了本发明章动减速器实施例1、2、3平面密珠轴承实施例的轴测图；
图10示出了本发明章动减速器实施例1中驱动机构驱动斜盘的一种传动简图；
图11为本发明章动减速器实施例1、2、3中章动齿轮实施例的轴测图；
图12为图11中章动齿轮单个齿形实施例的轴测图；
图13为图12中章动齿轮单个齿形的主视图；
图14示出了为本发明章动减速器实施例1、2、3中非章动齿轮单个齿形实施例的主视图；
图15示出了本发明章动减速器实施例1、2、3中章动齿轮副啮合实施例的示意图；
图16示出了本发明章动减速器实施例1、2、3应用在DELTA机器人的示意图；
其中，图13和图14中的虚线为假想线，为了说明本发明实施例中齿面的组成而划分的。
附图标记：
101-内环；102-外环；103-环形弹性体；200-平面密珠轴承；201-保持架；202-滚珠；300-壳体；301-减速器输出轴；3011-第一减速器输出轴；3012-第二减速器输出轴；400-章动齿轮；500-非章动齿轮；600-斜盘；601-斜面；610-颈缩轴段；620-驱动电机；631-第一传动轴；632-第二传动轴；633-人字齿轮；634-斜齿轮；635-圆柱齿轮；900-电机；901-转子；902-定子；903-第一环形弹性膜片；904-第二轴承；a-齿顶曲面；b-椭圆锥面；c-平面；d-齿根曲面；e-无瞬心包络齿面。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合 本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种，但是不排除包含至少一种的情况。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的商品或者系统中还存在另外的相同要素。
现有的章动减速器采用关节轴承实现章动运行，结构复杂，使体积较大，如果增加一倍输出扭矩，则增大的体积接近原来的一倍，致使应用场合受限，同时采用关节轴承机械效率较低。
本发明采用对称的章动齿轮副，设置在章动发生机构两侧，可简化结构，与现有技术相比，可在相同的输出扭矩下减小章动减速器的体积，尤其是采用斜盘进行动力分流，在扭矩增加一倍的情况下，体积仅增加30％-40％，而现有减速器采用关节轴承结构复杂，体积增加将近一倍。本发明不仅实现扭矩的增加，同时重量减轻，发热较小，机械效率较高，功率密度较大。
为进一步阐述本发明中的技术方案，现结合图1-图16，提供了如下具体实施例。
实施例1
在本实施例中提供了一种章动减速器，如图1、图4-图9所示，包括：壳体300；两对章动齿轮副，设置在壳体300内，每对章动齿轮副由章动齿轮400和非章动齿轮500啮合形成，非章动齿轮500固定设置在壳体300内或与壳体300一体成型，每对章动齿轮副中章动齿轮400的齿数比非章动齿轮500的齿数多一个；减速器输出轴301，转动设置在所述壳体300内；两个预拉伸的环形弹性膜片，每个环形弹性膜片具有内环101、外环102和连接于内环101和外环102之间的环形弹性体103，内环101和外环102沿各自的圆周方向均设有若干个铰制孔，每个章动齿轮副中的章动齿轮通过第一铰制螺栓与环形弹性膜片上的外环102固定连接，且第一铰制螺栓穿过外环102的铰制孔并与外环102的铰制孔配合，减速器输出轴301通过第二铰制螺栓与环形弹性膜片上的内环101固定连接，且第二铰制螺栓穿过内环101的铰制孔并与内环101的铰制孔配合，所述章动齿轮做章动运动时，所述环形弹性膜片利用环形弹性体103产生的弹性形变将章动齿轮的章动运动转换为所述减速器输出轴的单一回转运动；章动发生机构，设置在壳体300内，两对章动齿轮副对称设置在章动发生机构的两侧，章动发生机构用于驱动章动齿轮400做章动运动，使章动齿轮400的齿在非章动齿轮500的齿上滚动。
本实施例中通过第一铰制螺栓与外环的铰制孔配合及第二铰制螺栓与内环的铰制孔配合实现环形弹性膜片的径向定位和扭矩的传递。优选的，第一铰制螺栓与外环的铰制孔可采用间隙配合，第二铰制螺栓与内环的铰制孔采用间隙配合。
需要特别说明的是，本实施例中章动齿轮400的齿和非章动齿轮500的齿形成于各自齿盘一侧端面上，且各自的齿均沿各自齿盘的径向方向延伸，各自齿的纵截面积从齿顶到齿根逐渐变大，各自齿的横截面积沿各自齿盘的径向方向由外向内逐渐变小，齿宽为齿内圆端面与齿外圆端面的距离。
可选的，章动齿轮400的齿和非章动齿轮500的齿分布在各自齿盘端面一侧，章动齿轮400的齿的宽度方向与章动齿轮400的径向方向相同，非章动齿轮500的齿的宽度方向与非章动齿轮500的径向方向相同。
优选的，如图13和图14所示，章动齿轮400的工作齿面401由外凸的椭圆锥面b构造而成，且在同一横截面上椭圆锥面b上最高点和最 低点的距离沿章动齿轮400的径向由外向内逐渐变小；非章动齿轮500齿面的工作齿面501为章动齿轮400在章动运动过程中产生的无瞬心包络面。章动齿轮400的齿面由齿顶曲面a、椭圆锥面b、平面c、齿根曲面d构造而成，其中，齿顶曲面a两端分别依次连接有椭圆锥面b、平面c和齿根曲面d，且齿顶曲面a、椭圆锥面b、平面c和齿根曲面d相邻两者相切，所述齿顶曲面a为外凸的光滑曲面，所述齿根曲面d为凹陷的光滑曲面；非章动齿轮500的齿面由齿顶曲面a、无瞬心包络齿面e、平面c、齿根曲面d构成，其中，齿顶曲面a两端分别依次连接有无瞬心包络齿面e、平面c和齿根曲面d，且齿顶曲面a、无瞬心包络齿面e、平面c和齿根曲面d相邻两者相切，齿顶曲面a为外凸的光滑曲面，齿根曲面d为凹陷的光滑曲面。章动齿轮400和非章动齿轮500各自的齿顶曲面a为外凸的光滑曲面，各自的齿根曲面d为凹陷的光滑曲面。可满足章动齿轮400正反转时的承载能力。优选的，章动齿轮400和非章动齿轮500各自的齿顶曲面a和齿根曲面d可通过样条曲面构造形成。可选的，章动齿轮400上齿顶曲面a两端的椭圆锥面b、平面c和齿根曲面d相互对称。非章动齿轮500上齿顶曲面a的无瞬心包络齿面e、平面c和齿根曲面d相互对称。
过小的轴间角会影响作为输出机构环形弹性膜片103的受力和应变状态，为实现章动运动，轴间角应小于180°；而齿数的上限受减速机构传动效率的限制，传动比越大，效率越低。因此，本实施例将章动齿轮和非章动齿轮的轴间角T为：177°≤T＜180°。
本实施例中章动齿轮的工作齿面设置成椭圆锥面，在同一横截面上所述椭圆锥面上最高点和最低点的距离沿所述章动齿轮的径向由外向内逐渐变小。通过采用椭圆锥面替代圆锥面作为章动齿轮的工作齿面，有效地增加了针轮工作齿面的弧长，在同样的齿轮直径、传动比和输出载荷下，可以使针轮工作齿面的弧长增加60％左右，降低章动齿轮齿面的局部磨损，延长使用寿命。同时，与端面摆线针轮副相比，在同样的齿轮直径、传动比和输出载荷下，可以使齿面接触应力降低23％左右；或者在同样的接触应力下，可以提高承载能力约30％。
进一步优选的，章动发生机构包括：斜盘600，转动设置在壳体300内的减速器输出轴301上，斜盘600两侧设有对称的斜面601，斜盘600 通过驱动机构驱动转动；平面密珠轴承200，斜盘600与每对章动齿轮副中的章动齿轮400之间均设有平面密珠轴承200，斜盘600的两侧面和两对所述齿轮副中各自的所述章动齿轮400的背面作为平面密珠轴承200的滚道；两对章动齿轮副中的两个章动齿轮400齿数相等，两对章动齿轮副中的两个非章动齿轮500的齿数相等；斜盘600转动时，斜盘600两侧的斜面601驱动章动齿轮400做章动运动，使章动齿轮400的齿在非章动齿轮500的齿上滚动。章动齿轮副中的两个非章动齿轮500的齿数相等，可保证输出的转速相同，两个章动齿轮400的章动角相同，进而实现同一斜盘600驱动两个章动齿轮400同时发生章动运行，同时也抵消了斜盘600两侧受力不均的问题，使斜盘600的轴线保持与减速器输出轴共轴线。
如图9所示，本实施例中的平面密珠轴承包括：保持架201，设有多组滚珠孔，所述滚珠孔内设有凸出于保持架两侧面的滚珠202，每组滚珠孔按照半径不同的椭圆排列，且每组滚珠孔环绕椭圆一周设置，多组所述滚珠孔所在的椭圆的长轴在同一直线上且所在椭圆的中心重合，相邻两组滚珠孔交错排列。本实施例任意一组滚珠孔中的一个滚珠孔与相邻最近的另一组中滚珠孔的距离小于滚珠直径的两倍，可确保滚珠密布排列。需要特别说明的是，本实施例中的滚珠也可按照正圆周排列，本实施例中优选采用椭圆排列，可避免滚道过早出现疲劳点蚀。
本实施例的两对章动齿轮副采用对称布置，布置在斜盘600两侧，斜盘600两侧设有两个对称斜面601，当斜盘600转动时，两对章动齿轮400同时做章动运行，并且两个章动齿轮400采用同一个减速器输出轴输出扭矩，在相同的输出功率下，使得推力轴承保持架与章动齿轮400之间及推力轴承保持架与斜盘600之间的摩擦损失减小50％，其值约为传动比乘0.0005。对于单级传动比达到160左右的章动减速器，减少的摩擦损失接近齿面摩擦损失的一半左右，显著提高本实施例章动减速器的工作效率。
进一步优选的，如图1和图6所示，内环101和与内环101连接的所述减速器输出轴301共轴线设置，外环102和与外环102连接的所述章动齿轮400共轴线设置，内环101的轴线和外环102的轴线相交；所述章动齿轮400做章动运动时，所述环形弹性膜片产生形变以适应所述 章动齿轮400的章动运动，同时，环形弹性膜片带动所述减速器输出轴做单一的回转运动。可选的，内环101和外环102形成法兰，由内环101所形成的法兰作为第一连接部，由外环102形成的法兰作为第二连接部，内环通过铰制孔螺栓与减速器输出轴301固定连接，外环通过铰制孔螺栓与章动齿轮400固定连接。本实施例通过环形弹性膜片实现将章动齿轮400的章动运动转化为减速器输出轴的单一回转运动，采用环形弹性膜片不会产生理论运动误差，传递给减速器输出轴的转角理论上严格等于章动齿轮400的自转转角，并且在任何转角下，输出机构的刚性是恒定的，不会产生输出转角的波动误差；其次是几乎没有能量损失，不产生额外热量；再次是发挥了关节轴承的作用，无须额外设置轴承，环形弹性膜片本身就承担了章动齿轮400的径向力，并实现了章动齿轮400的定心功能，与传统采用关节轴承的章动减速器相比，结构更加紧凑，缩小了减速器的内部空间，在输出相同扭矩的情况下可使减速器体积做的更小，应用场合更加的广泛。
进一步，如图6-图8所示，环形弹性体103为一侧凸另一侧凹的环形凸起结构，所述内环与所述环形弹性体103内周边相切，所述外环102与所述环形弹性体103外周边相切。进一步，所述凸起结构的凹面和凸面由圆弧面、样条曲面或余弦曲面构造形成。用于补偿环形弹性膜片在安装过程中产生的拉伸变形量的预拉伸伸长量，可以显著降低用于补偿环形弹性体在安装过程中产生的拉伸变形量的预拉伸伸长量，可以显著降低环形弹性膜片的安装应力。适量的预拉伸变形几乎不会降低环形弹性膜片的径向刚性，但过大的预拉伸变形量会降低其径向刚性，乃至导致弹性失稳。
需要特别说明的是，本实施例中内环101的轴线和外环102的轴线相交指的是环形弹性膜片安装后的状态，由于环形弹性膜片安装后为了使章动齿轮400和非章动齿轮500的轴间角小于180°，环形弹性体103在安装后会挤压产生形变。环形弹性体103在自然状态下(安装前未产生形变的状态)内环101的轴线和外环102的轴线重合。在安装后，由于内环101和外环102具有一定的偏转角度，使环形弹性体103的凸起结构局部被抻直。
具体可选的，如图1所示，减速器输出轴301由第一减速器输出轴 3011和第二减速器输出轴3012两部分组成，非章动齿轮500的背部设有轴承安装孔，圆锥滚子轴承设置在轴承安装孔内，第一减速器输出轴3011安装在圆锥滚子轴承内圈上，第二减速器输出轴3012通过圆锥滚子轴承转动安装在壳体300内，且第一减速器输出轴3011和第二减速器输出轴3012均设有圆锥面，圆锥面的轴线与其所在的轴的轴线重合，第一减速器输出轴3011和第二减速器输出轴3012通过圆锥面配合并通过螺钉固定连接，使第一减速器输出轴3011和第二减速器输出轴3012如刚性轴一样同相位转动，第一减速器输出轴和第二减速器输出轴抵消章动齿轮章动运动过程中产生的轴向力，相互传递扭矩，保持同步同相位的输出运动。斜盘600通过轴承转动设置在减速器输出轴上，斜盘600与减速器输出轴连接的轴承可以为调心轴承。
优选的，壳体300由第一壳体和第二壳体组成，第一壳体和第二壳体扣合固定在一起，内部形成容纳空间，其中一对章动齿轮副中的非章动齿轮固定在第一壳体上或与第一壳体一体成型，另一对章动齿轮副中的非章动齿轮固定在第二壳体上或与第二壳体一体成型。且两对章动齿轮副中的两个非章动齿轮共轴线设置。
实施例2
在上述实施例1的基础上，如图2所示，所述驱动机构为电机，直接驱动斜盘600转动。电机磁路采用轴向布局，其中，电机可以为盘状空心电机，盘状空心电机的转子901为空心结构，转子901的内圆形成法兰，法兰通过第一环形弹性膜片903与斜盘600外圆固定连接，以避免斜盘600轴向浮动对转子的干扰，转子上不包含构成内磁路的铁芯，转动惯量大幅降低，动态响应性能更好。而转子的外圆与壳体内表面之间设有第一轴承903，电机的定子902设置转子的两侧，并安装在壳体902内。可缩小章动减速器轴向方向的体积。
实施例3
在上述实施例1的基础上，如图3所示，所述驱动机构为电机，直接驱动斜盘600转动，电机磁路采用传统的径向布局，斜盘600具有颈缩轴段610，斜盘600的两个斜面601位于颈缩轴段610轴向方向的两侧，斜盘600设有与其共轴线的通孔，减速器输出轴301的外圆表面设有第二轴承904，第二轴承904安装在斜盘600的通孔内，使斜盘600 可相对减速器输出轴301转动，第二轴承904可设置两个，起到对斜盘600径向定位及支撑的作用，所述颈缩轴段作为所述电机的转子901，电机的定子902设置在壳体300内与转子901配合。
实施例4
在上述实施例1的基础上，所述驱动机构包括电机和传动机构，电机通过传动机构驱动斜盘600转动。进一步优选的，传动机构包括链条和链轮，斜盘600的外圆圆周形成有多个沿其周向均匀分布的链轮齿，电机轴上固定设有链轮，链轮通过链条与斜盘600上的链轮齿连接。进一步优选的，传动机构为包括传动齿轮，斜盘600的外圆圆周形成有多个沿其周向均匀分布的齿轮齿，电机轴上固定设有齿轮，齿轮与斜盘600上的齿轮齿啮合传动。
实施例5
在上述实施例1的基础上，所述斜盘600外圆周形成有齿轮齿，传动机构可以为圆锥齿轮副，其中一个圆锥齿轮作为主动齿轮通过电机驱动，另一个圆锥齿轮作为从动齿轮，且另一个圆锥齿轮上设有与其同轴的齿轮轴，所述齿轮轴上设有圆柱齿轮，所述圆柱齿轮与斜盘600的齿轮齿啮合，电机轴与减速器输出轴呈90°，可应用于多轴机器手的机械臂上，将电机隐藏在机械臂内驱动机械臂摆动。
实施例6
在上述实施例1的基础上，如图10所示，驱动机构包括驱动电机620和传动机构，传动机构包括第一传动轴631、第二传动轴632、人字齿轮633、两个斜齿轮634和两个圆柱齿轮635，第一传动轴631和第二传动轴632上分别固定设有一个圆柱齿轮635和斜齿轮634，斜盘600外圆形成有齿轮齿并与两个圆柱齿轮635啮合，驱动电机620轴上固定设有人字齿轮633，两个斜齿轮634分别与人字齿轮633啮合，两个斜齿轮634的旋向可以为相反的。人字齿轮633分别与两个圆柱斜齿轮的啮合来实现动力分流和自动均载，再通过两个圆柱齿轮与斜盘外缘齿轮啮合来实现将动力汇聚到斜盘上去的。采用动力分流可以将斜盘厚度减小一半，以减轻减速器的重量，提高功率密度。
在上述实施例1-6中，通过双斜面601的斜盘600和在一个减速器内镜像对称布置两套章动齿轮400，可以显著提高减速装置的功率密度， 减小轴承摩擦损失，进一步提高减速装置的传动效率。该布局特别适用于具有双输出端的减速器，如图16为章动减速器应用在DELTA机器人中，每个摆臂需要两个输出法兰，本实施例中章动减速器具有两个输出法兰(第一减速器输出轴3011和第二减速器输出轴3012上的输出法兰)可驱动每个摆臂转动，可使结构紧凑，具有较大的输出扭矩和结构刚性。
在实施例1-6任一基础上，进一步可选的，斜盘600厚度较大的一侧设有用于斜盘600转动时实现斜盘600动平衡的开口(图中未示出)，满足斜盘600在高转速下的动平衡。
以上具体地示出和描述了本公开的示例性实施例。应可理解的是，本公开不限于这里描述的详细结构、设置方式或实现方法；相反，本公开意图涵盖包含在所附权利要求的精神和范围内的各种修改和等效设置。

Claims (10)

  1. 一种章动减速器，其特征在于，包括：
    壳体；
    两对章动齿轮副，设置在所述壳体内，每对所述章动齿轮副由章动齿轮和非章动齿轮啮合形成，所述非章动齿轮固定设置在所述壳体内或与所述壳体一体成型，每对所述章动齿轮副中所述章动齿轮的齿数比所述非章动齿轮的齿数多一个；
    减速器输出轴，转动设置在所述壳体内；
    两个预拉伸的环形弹性膜片，每个所述环形弹性膜片具有内环、外环和连接于内环和外环之间的环形弹性体；所述内环和所述外环沿各自的圆周方向均设有若干个铰制孔，每个所述章动齿轮副中的所述章动齿轮通过第一铰制螺栓与所述环形弹性膜片上的所述外环固定连接，且所述第一铰制螺栓穿过所述外环的铰制孔并与外环的所述铰制孔配合，所述减速器输出轴通过第二铰制螺栓与所述环形弹性膜片上的内环固定连接，且所述第二铰制螺栓穿过所述内环的铰制孔并与所述内环的铰制孔配合，所述章动齿轮做章动运动时，所述环形弹性膜片利用所述环形弹性体产生的弹性形变将所述章动齿轮的章动运动转换为所述减速器输出轴的单一回转运动；
    章动发生机构，设置在所述壳体内，两对章动齿轮副对称设置在所述章动发生机构的两侧，所述章动发生机构用于驱动所述章动齿轮做章动运动，使所述章动齿轮的齿在所述非章动齿轮的齿上滚动。
  2. 如权利要求1所述的章动减速器，其特征在于，所述章动发生机构包括：
    斜盘，转动设置在所述壳体内的所述减速器输出轴上，所述斜盘两侧设有对称的斜面，所述斜盘通过驱动机构驱动转动；
    平面密珠轴承，所述斜盘与每对所述章动齿轮副中的章动齿轮之间均设有所述平面密珠轴承，所述斜盘的两侧面和两对所述齿轮副中各自 的所述章动齿轮的背面作为所述平面密珠轴承的滚道；
    两对所述章动齿轮副中的两个所述章动齿轮齿数相等，两对所述章动齿轮副中的两个所述非章动齿轮的齿数相等；
    所述斜盘转动时，斜盘两侧的斜面驱动章动齿轮做章动运动，使所述章动齿轮的齿在所述非章动齿轮的齿上滚动。
  3. 如权利要求2所述的章动减速器，其特征在于，所述内环和与所述内环连接的所述减速器输出轴共轴线设置，所述外环和与所述外环连接的所述章动齿轮共轴线设置，所述内环的轴线和所述外环的轴线相交。
  4. 如权利要求3所述的章动减速器，其特征在于，所述环形弹性体为一侧凸另一侧凹的环形凸起结构，所述内环与所述环形弹性体内周边相切，所述外环与所述环形弹性体外周边相切。
  5. 如权利要求4所述的章动减速器，其特征在于，所述凸起结构的凹面和凸面由圆弧面、样条曲面或余弦曲面构造所形成环形波纹凸起。
  6. 如权利要求2所述的章动减速器，其特征在于，所述斜盘厚度较大的一侧设有用于斜盘转动时实现斜盘动平衡的开口。
  7. 如权利要求2-6任一所述的章动减速器，其特征在于，所述驱动机构为电机，直接驱动所述斜盘转动。
  8. 如权利要求7所述的章动减速器，其特征在于，所述壳体作为所述电机的外壳，所述电机的定子设置在所述外壳内，和/或所述斜盘的两个斜面之间具有颈缩轴段，所述颈缩轴段作为所述电机的转子。
  9. 如权利要求2-6任一所述的章动减速器，其特征在于，所述驱动机构包括电机和传动机构，所述电机通过所述传动机构驱动所述斜盘转动。
  10. 如权利要求9所述的章动减速器，其特征在于，所述传动机构包括传动齿轮，所述斜盘的外圆圆周形成有多个沿其周向均匀分布的齿轮齿，所述电机轴上固定设有齿轮，所述齿轮与所述斜盘上的齿轮齿啮合传动。
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