CN101004201A - New type annular plate type RV actuator - Google Patents

Abstract

The new type ring plate structure RV transmission device includes the body, the sun gear installed on the input shaft, the planetary gear installed on the eccentric shaft and meshed with the sun gear, the inner gear ring plate installed on the eccentric shaft, and the coupling shaft passing through The load sharing plate, the output shaft plate and the bearing connected by the internal gear ring plate. Its structure is: it also includes an external gear fixedly installed on the front end plate of the machine body; the ring plate of the internal gear meshes with the external gear installed on the front end plate of the machine body. The utility model has the advantages that the service life of the rotating arm bearing is improved, the dynamic performance of the device is good, the rotation precision is high, the structure is compact and simple, and the efficiency is high.

Description

New ring plate type RV transmission

technical field

The invention relates to a hybrid planetary gear transmission.

Background technique

The existing RV transmission device is found in the invention patent disclosed by the Chinese Patent Office with the CN1366590A number: "Transmission device with internal meshing planetary gear structure" and the paper "The robot uses Research on high-precision RV transmission". The disadvantage of the existing RV transmission is that the eccentric shaft is placed inside the internal gear, so that the size of the rotating arm bearing on the eccentric shaft is limited by the diameter of the internal gear. At the same time, due to the harsh working conditions of the pivot arm bearing, the service life of the pivot arm bearing is relatively short, which often directly affects the life of the entire transmission device.

In addition, there are only two external gear plates in the existing RV transmission. The inertial force generated by the eccentric shaft in the RV transmission with two external gear plates can be balanced, but the inertial moment generated by the inertial force cannot be balanced, which will inevitably affect the The dynamic performance of the transmission, especially in the case of high-speed motion, is prone to vibration and noise.

Contents of the invention

The purpose of the present invention is to aim at the above-mentioned shortcomings of the disclosed RV transmission device, to design a new type of structural RV transmission device, to change the position of the eccentric shaft, thereby improving the limit conditions of the size of the rotating arm bearing and improving the mechanical properties of the transmission device. improve.

The technical solution of the present invention is: a new ring plate structure RV transmission device, including the body, the sun gear installed on the input shaft, the planetary gear engaged with the sun gear installed on the eccentric shaft, and the internal gear ring installed on the eccentric shaft plate, the load sharing plate and the output shaft plate connected by the coupling shaft passing through the ring plate of the internal gear, and the bearing. Its structure is: it also includes an external gear fixedly installed on the front plate of the body, and the ring plate of the internal gear meshes with the external gear installed on the front plate of the body;

The structure of the new ring-plate type RV transmission device of the present invention is: multiple planetary gears 4 mesh with the sun gear 3; multiple eccentric shafts 5 are mechanically coupled to corresponding planetary gears 4; multiple coupling shafts 16 pass through the gear ring plate The output shaft plate 11 and the equalizing plate 7 are mechanically coupled.

The structure of the novel ring-plate type RV transmission device of the present invention is that the internal gear ring plate adopts a three-gear ring plate structure, the mass of the middle internal gear ring plate is twice that of the internal gear ring plates on both sides, and the eccentric shaft The eccentric phase on the ring plate of the middle internal gear has a corresponding phase difference with the eccentric phases on the ring plates of the internal gears on both sides; gear meshing;

The novel ring plate type RV transmission device of the present invention is characterized in that: the meshing between the ring plate of the internal gear and the external gear installed on the front plate of the machine body can adopt the tooth shape of cycloid pin tooth or involute tooth;

The structure of the novel ring plate type RV transmission device of the present invention is that the input shaft and the output shaft are solid shafts or hollow shafts with inner spline grooves.

The main advantages of the present invention are:

Because the present invention adopts the structure in which the internal gear ring plate is engaged with the external gear installed on the front end plate of the body, the internal gear arranged on the body is changed to the external gear installed on the front end plate of the body, so that the eccentric shaft and the rotating arm bearing Placed outside the gear meshing, so that the size of the arm bearing is not limited by the diameter of the gear, the selection of the bearing has more space, and the life of the arm bearing can be improved.

Due to the three-gear ring-plate structure, if the mass of the middle internal gear plate is twice the mass of the internal gear plates on both sides, the eccentric phase of the eccentric shaft on the middle internal gear plate and the eccentric phase of the eccentric shaft on the two internal gear plates A difference of 180 degrees. The balance of the inertial force and the moment of inertia generated by the eccentric shaft can always be guaranteed, so that the transmission device can always maintain dynamic balance, and the dynamic performance of the transmission device can be improved.

There are two types of input shaft and output shaft in the present invention, one is a solid shaft, and the other is a hollow shaft; the solid shaft structure is suitable for coupling with a shaft coupling or a hollow shaft, and the hollow shaft structure is suitable for directly coupling with a shaft.

The bearing on the frame of the present invention can adopt no preload or preload hollow roller bearing, no preload or preload deep cavity hollow roller bearing, and can also adopt deep cavity roller bearing and Surface-modified roller bearings; the use of deep-pocket roller bearings and surface-modified roller bearings can improve the fatigue life of the bearing; the use of non-preload hollow roller bearings and non-preload deep-pocket hollow roller bearings can improve the bearing life. The fatigue life of the shaft system can be improved, the tolerance ability and rotation accuracy of the shaft system can be improved, and the vibration stability can also be improved; the use of preloaded hollow roller bearings and preloaded deep cavity hollow roller bearings can improve the fatigue life of the bearing and increase the capacity of the shaft system. Poor ability and rotation accuracy can also improve vibration stability, especially by increasing the stiffness of the shafting.

The working principle of the present invention is: according to the meshing principle, when the input shaft rotates, the sun gear installed on the input shaft drives the three planetary gears to rotate. The axis rotates. At the same time, the planetary gear drives the eccentric shaft to do the same rotation of rotation and revolution, and the eccentric shaft drives the ring plate of the middle internal gear and the ring plates of the internal gears on both sides with corresponding eccentric phase difference to move. Under the constraint of the outer gear of the body, the middle The inner gear ring plate and the inner gear ring plates on both sides perform cycloidal motion; at the same time, the output shaft plate and the output shaft output the revolution motion of the eccentric shaft.

Under the working conditions of low speed and small inertial force, the present invention can also adopt a two-ring plate structure, the mass of the two gear ring plates is the same, and the eccentric phase of the eccentric shaft on the two internal gear ring plates has a corresponding phase Difference. The two-ring plate structure has a smaller dimension in the axial direction than the three-ring plate structure. A three-ring plate structure with the same mass of three gear ring plates can also be used, and the eccentric phases of the eccentric shaft on the three internal gear ring plates have corresponding phase differences.

Description of drawings

The present invention has five accompanying drawings, wherein:

Figure 1-1 Schematic diagram of the structural axis section of the new ring plate type RV transmission device.

Figure 1-2 Schematic cross-sectional view of the structure of the new ring-plate involute RV transmission.

Figure 2 Schematic diagram of the structure of the new ring-plate cycloidal pin tooth RV transmission.

Fig. 3 is a structural schematic diagram of a novel ring-plate type RV transmission device with a hollow output shaft according to the present invention.

Fig. 4 is a structural schematic diagram of a novel ring plate type RV transmission device with two gear plates.

In the attached drawings: 1. Body front plate, 2. Input shaft, 3. Sun gear, 4. Planetary gear, 5. Eccentric shaft, 6. Middle internal gear ring plate, 7. Loading plate, 8. Internal gears on both sides Ring plate, 9, body, 10, body rear end plate, 11, output shaft plate, 12, eccentric sleeve, 13, eccentric shaft bearing, 14, input shaft bearing, 15, output shaft bearing, 16, coupling shaft, 17, Body bearing, 18, external gear, 19, output shaft, 20, pin gear pin, 21, pin gear cover, 22, body, 66, middle hypocycloid gear ring plate, 88, both sides hypocycloid gear ring plate.

Detailed ways

The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings.

Attached Figure 1-1 and Figure 1-2 show the involute tooth-shaped new ring plate type RV transmission device, which uses three planetary gears 4 to mesh with the sun gear 3; three eccentric shafts 5 are mechanically connected to the corresponding planetary gears Gear 4; three connecting shafts 16 pass through the gear ring plate to mechanically connect the output shaft plate 11 and the load plate 7. The basic composition of the transmission device is: an open planetary transmission mechanism plus an eccentric differential transmission mechanism plus a parallelogram mechanism plus an output mechanism. The open planetary transmission mechanism consists of a sun gear 3 and three planetary gears 4 installed on the input shaft 2; the eccentric differential transmission mechanism consists of a middle inner gear ring plate 6, two inner gear ring plates 8 on both sides and The external gear 18 installed on the front end plate of the body is composed of; the parallelogram mechanism is composed of three eccentric shafts 5, a middle internal gear ring plate 6, and two internal gear ring plates 8 on both sides; the output mechanism is composed of an output shaft plate 11.

The load equalizing plate 7, the three connecting output shaft plates and the connecting shaft 16 of the equalizing plate, the output shaft plate 11 and the three eccentric shafts 5 together constitute a closed load equalizing and high rigidity structure, which improves the motion accuracy and dynamic performance of the transmission .

The internal gear plate adopts a three-gear plate structure, and the mass of the middle internal gear plate is twice that of the internal gear plates on both sides. A difference of 180 degrees.

The eccentric shaft bearing 13 supports the eccentric shaft on the middle inner gear ring plate 6, the inner gear ring plates 8 on both sides, the output shaft plate 11 and the load-sharing plate 7, so that the eccentric shaft and the middle inner gear ring plate 6, two Friction and wear between the internal gear ring plate 8 on both sides, the output shaft plate 11 and the load-sharing plate 7. The front end plate 1 of the body, the body 9 and the rear end plate 10 of the body are connected by threads to form a closed transmission box; the input shaft support bearing 14 is installed in the bearing seat of the front end plate 1 of the body; the output shaft bearing 15 is installed on the rear end plate of the body In the bearing housing of 10; two body bearings 17 support the load-sharing plate 7 and the output shaft plate 11 respectively. The eccentric sleeve 12 is mounted on the eccentric shaft through a key connection, which facilitates the assembly of the three gear plates and the three eccentric shafts. The three eccentric shafts 5 and the three planetary wheels 4 are uniformly distributed on the gear plate with a difference of 120 degrees; the three connecting shafts 16 connecting the load plate and the output shaft plate are evenly distributed on the load plate and the output shaft plate with a difference of 120 degrees through the gear plate. shaft plate. The coupling shaft 16 is 60 degrees different from the eccentric shaft. The output shaft plate 11 and the output shaft 19 are integrated.

Figure 3 is a schematic diagram of the structure of a new ring-plate type RV transmission device for cycloid pin gears, in which the middle internal gear ring plate and the two-side internal gear ring plates are replaced by the middle cycloidal wheel 66 and the two-side cycloidal wheel 88, which are installed on The external gear on the front end plate of the body is changed into a pin tooth pin 20 and a pin tooth cover 21, which constitutes a novel ring plate type RV transmission device of the cycloid pin tooth gear.

Fig. 4 is a structural schematic diagram of a new ring-plate type RV transmission device in which the input shaft and the output shaft are hollow shafts, and both the input shaft and the output shaft are hollow shafts with internal spline grooves. The hollow shaft facilitates the connection with the input power device and the working machine.

The invention is applicable to various mechanical transmissions. It can be used as both a reducer and a speed increaser. It can be used to change various ordinary motors into low-speed motors. It can also be applied to various electric wrenches and grinders, etc.

Claims (5)

1. A ring plate type RV transmission device, including a body (1, 9, 10), a sun gear (3) mounted on an input shaft (2), and a planet meshed with the sun gear mounted on an eccentric shaft (5) Gear (4), internal gear ring plate (8), load sharing plate (7) and output shaft plate (11) connected by coupling shaft (16) through internal gear ring plate, bearings (13, 14, 15, 17 ), characterized in that it also includes an external gear fixedly mounted on the front end plate of the body, and the ring plate of the internal gear meshes with the external gear mounted on the front end plate of the body. 2. The new ring plate type RV transmission device according to claim 1, characterized in that: a plurality of planetary gears 4 mesh with the sun gear 3; a plurality of eccentric shafts 5 are mechanically connected to the corresponding planetary gears 4; a plurality of coupling shafts 16 passes through the gear ring plate to mechanically couple the output shaft plate 11 and the load-sharing plate 7 . 3. The new ring-plate type RV transmission device according to claim 1, characterized in that: the internal gear ring plate adopts a three-gear ring plate structure, and the mass of the middle internal gear ring plate (6) is that of the inner gear rings on both sides. Twice the mass of the plate (8), the eccentric phase of the eccentric shaft (5) on the middle internal gear ring plate (8) has a corresponding phase difference with the eccentric phase on both sides of the internal gear ring plates (6); The inner gear ring plate (6) and the inner gear ring plates (8) on both sides are respectively meshed with the external gears installed on the front end plate of the body. 4. The new ring plate type RV transmission device according to claim 1, characterized in that: the meshing between the ring plates (6, 8) of the internal gear and the external gear installed on the front plate of the machine body can adopt cycloid pin teeth Tooth profile or involute tooth profile meshing. 5. The new ring plate type RV transmission device according to claim 1, characterized in that: said input shaft and output shaft are solid shafts or hollow shafts with internal spline grooves.

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