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WO2023115805A1 - 一种齿轮副及章动减速器 - Google Patents

一种齿轮副及章动减速器 Download PDF

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Publication number
WO2023115805A1
WO2023115805A1 PCT/CN2022/094547 CN2022094547W WO2023115805A1 WO 2023115805 A1 WO2023115805 A1 WO 2023115805A1 CN 2022094547 W CN2022094547 W CN 2022094547W WO 2023115805 A1 WO2023115805 A1 WO 2023115805A1
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WO
WIPO (PCT)
Prior art keywords
gear
reducer
pin
pin gear
swash plate
Prior art date
Application number
PCT/CN2022/094547
Other languages
English (en)
French (fr)
Inventor
王小椿
Original Assignee
姜虹
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 姜虹 filed Critical 姜虹
Priority to JP2023540640A priority Critical patent/JP7466255B2/ja
Priority to EP22909140.0A priority patent/EP4273420A4/en
Priority to KR1020237013395A priority patent/KR20230107546A/ko
Publication of WO2023115805A1 publication Critical patent/WO2023115805A1/zh
Priority to US18/219,704 priority patent/US11835113B2/en

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Classifications

    • 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
    • F16H1/24—Toothed gearings for conveying rotary motion without gears having orbital motion involving gears essentially having intermeshing elements other than involute or cycloidal teeth
    • 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
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • 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
    • F16H55/08—Profiling
    • 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
    • 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
    • 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
    • F16H1/203—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with non-parallel axes
    • 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
    • F16H2057/02034—Gearboxes combined or connected with electric machines

Definitions

  • the invention relates to the field of reducers, in particular to a gear pair and a nutating reducer.
  • the nutating cycloidal pinwheel pair is easy to realize a large transmission ratio structure with one tooth difference, and can be made into a face gear pair through forced displacement, but the effective working arc length on the pinwheel tooth surface is very short, and local wear is prone to occur in long-term work Problem; at the same time, although there are many teeth involved in the work at the same time, the relative curvature between the pin wheel and the tooth surface of the cycloid gear is large, so the contact stress on the tooth surface is large.
  • the present invention discloses a gear pair and a nutating reducer, which are used to solve the problem that the effective working arc length on the pin wheel tooth surface of the existing nutating cycloid pin wheel pair is very short, and local wear is prone to occur in long-term work. Problem; at the same time, although there are many teeth involved in the work at the same time, the relative curvature between the pin wheel and the tooth surface of the cycloidal gear is large, resulting in a large contact stress on the tooth surface.
  • 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 gear pair, the gear pair is formed by meshing the respective teeth of a pin gear and a non-instantaneous envelope gear, and the working tooth surface of the pin gear is constructed by an outwardly convex elliptical conical surface. and the distance between the highest point and the lowest point of the elliptical conical surface on the same cross section gradually decreases along the generatrix of the conical surface from outside to inside; the working tooth surface of the enveloping gear without instantaneous center is the pin gear A non-instantaneous envelope surface generated during nutating motion; said pin gear has one more tooth number than the non-instantaneous envelope gear.
  • the tooth surface of the pin gear is composed of a tooth top curved surface, an elliptical cone surface, a plane, and a dedendum curved surface.
  • the root curved surface, and the addendum curved surface, the elliptical cone surface, the plane and the tooth root curved surface are adjacent to each other, and the addendum curved surface is a convex smooth curved surface, and the dedendum curved surface is a concave smooth curved surface;
  • the tooth surface of the non-instantaneous enveloping gear is composed of the tooth top surface, the non-instantaneous enveloping tooth surface, the plane, and the tooth root surface.
  • the dedendum surface and the dedendum surface, the non-instantaneous enveloping tooth surface, the plane and the dedendum surface are adjacent to each other, the dedendum surface is a convex smooth surface, and the dedendum surface is concave smooth surface.
  • the dedendum curved surface and the dedendum curved surface are respectively constructed by spline curved surfaces.
  • the inter-shaft angle T between the pin gear and the non-instantaneous envelope gear is: 177° ⁇ T ⁇ 180°.
  • the ratio of the major axis to the minor axis of the elliptical conical surface is between 1.3 and 2.5.
  • the tooth height of the pin gear gradually decreases from outside to inside along the radial direction of the pin gear.
  • the pressure angle ⁇ of the working tooth surface of the pin gear satisfies: 40°-R ⁇ 50°-R, where R is the friction angle between the pin gear and the envelope gear without instantaneous center.
  • a first indexing cone surface is provided between the tooth top and the dedendum of the pin gear, the axis of the first indexing cone coincides with the axis of the pin gear, and the first indexing cone
  • the cone angle of the surface is ⁇
  • a second indexing cone surface is provided between the addendum and the dedendum of the non-instantaneous center envelope gear, and the axis of the second indexing cone surface is in line with the non-instantaneous center envelope
  • the axes of the gears are coincident, the cone angle of the second indexing cone surface is W, the interaxial angle between the pin gear and the non-instant center enveloping gear is T, and the cone angle of the pin gear is ⁇ , the root cone angle of the pin gear is P, the face cone angle of the non-instantaneous enveloping gear is K, and the root cone angle of the non-instantaneous enveloping gear is L, where ⁇ , W, T, ⁇ , K, L satisfy:
  • the second aspect of the present invention discloses a nutating reducer, the nutating reducer also includes: a casing; the output shaft of the reducer is rotatably arranged in the casing; the gear pair described in the first aspect, The non-instantaneous center enveloping gear is fixedly arranged in the housing or integrally formed with the housing; the annular elastic diaphragm has an inner ring, an outer ring and an annular elastic deformation body connected between the inner ring and the outer ring.
  • the inner ring is provided with a first connecting portion
  • the outer ring is provided with a second connecting portion
  • the first connecting portion is fixedly connected to the output shaft of the reducer
  • the second connecting portion is fixedly connected to the pin gear
  • the inner ring is arranged coaxially with the output shaft of the reducer
  • the outer ring is arranged coaxially with the pin gear
  • the nutating mechanism is set in the housing for driving the pin gear
  • the teeth of the pin gear roll on the teeth of the enveloping gear without instantaneous center, and the annular elastic deformation body is deformed to adapt to the nutating motion of the pin gear.
  • the nutating reducer also includes a reducer input shaft, the reducer input shaft is rotatably arranged in the housing;
  • the nutating mechanism includes: a swash plate, the swash plate is rotatably arranged On the input shaft of the reducer, one side of the swash plate is an inclined plane, and the other side is perpendicular to the axis of the swash plate; the drive mechanism, the swash plate is driven to rotate by the drive mechanism; the plane dense ball bearing, the The plane dense ball bearings are arranged on both sides of the swash plate; the inner surface of the housing is formed with an annular boss protruding radially along the input shaft of the reducer, and one side of the annular boss is in contact with the plane The balls of the dense ball bearing are attached, and one side of the annular boss is perpendicular to the input shaft of the reducer.
  • the end face of the annular boss, the back of the pin gear and the two sides of the swash plate are used as the The race
  • the driving mechanism is a motor
  • the output shaft of the motor is fixedly connected to the swash plate
  • the output shaft of the motor serves as the input shaft of the reducer to drive the swash plate to rotate.
  • the housing serves as a casing of the motor, a stator of the motor is embedded in the housing, and a rotor of the motor is rotatably disposed in the housing.
  • 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 pin gears in the two pairs of gear pairs are used as the plane The raceway of the dense ball bearing; the number of teeth of the two pin gears in the two pairs of pin gear pairs is equal.
  • the angle between the slope on the swash plate and the axis of the swash plate is C
  • the working tooth surface of the pin gear in the present invention is set as an elliptical conical surface sheet, which effectively increases the arc length of the working tooth surface of the pin gear compared with the end face cycloidal pin wheel pair.
  • the arc length of the working tooth surface of the pin wheel can be increased by about 60%, reducing the local wear of the tooth surface of the pin gear and prolonging 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%. %.
  • Fig. 1 shows the axonometric view of pin gear embodiment in the gear pair of the present invention
  • Fig. 2 is an axonometric view of a single tooth profile embodiment of the pin gear in Fig. 1;
  • Figure 3 is a front view of a single toothed embodiment of the pin gear in Figure 2;
  • Fig. 4 is the left view of Fig. 3;
  • Fig. 5 shows the front view of a single tooth profile embodiment without instantaneous center envelope gear in the gear pair of the present invention
  • Fig. 6 is the left side view of Fig. 5;
  • Fig. 7 shows the overall axonometric view of the gear pair embodiment of the present invention
  • Figure 8 is an exploded view of Figure 7;
  • Fig. 9 is the front view of Fig. 7 gear pair embodiment
  • Fig. 10 shows the overall structure diagram of the gear pair embodiment of the present invention applied in the first embodiment of the nutating reducer
  • Fig. 11 is the axonometric view of the swash plate embodiment in Fig. 10;
  • Fig. 12 is a side view of the embodiment in Fig. 11;
  • Fig. 13 shows the overall structure diagram of the gear pair embodiment of the present invention applied in the second embodiment of the nutating reducer
  • Fig. 14 shows the axonometric view of the embodiment of the plane dense ball bearing in the embodiments of the nutating reducer of Fig. 10 and Fig. 13;
  • Figure 15 shows an isometric view of the embodiment of the swash plate in Figure 13;
  • Figure 16 is a side view of the embodiment of the swash plate in Figure 15;
  • Fig. 17 shows a schematic diagram of an embodiment of an annular elastic diaphragm in each embodiment of the nutating reducer in Fig. 10 and Fig. 13;
  • Fig. 18 shows a schematic diagram of the application of the nutating reducer embodiment of the present invention in the swing arm of the DELTA robot;
  • Fig. 19 shows a schematic diagram of the nutating reducer embodiment of the present invention applied to a SCARA robotic arm
  • the dotted lines in FIG. 4 and FIG. 6 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 reducer adopts the cycloidal pinwheel pair.
  • the effective working arc length of the pinwheel tooth surface is very short, and the problem of local wear is prone to occur in long-term work;
  • the relative curvature between the tooth surfaces of the linear gear is large, which causes the problem of large contact stress on the tooth surfaces.
  • the present invention uses an elliptical conical surface as the working tooth surface of the pin gear meshing with the non-instant center enveloping gear, which increases the length of the working tooth surface of the pin gear, reduces the contact stress of the tooth surface, improves the bearing capacity of the tooth, and reduces the Wear of the working tooth surface of the pin wheel.
  • a gear pair is provided.
  • the tooth surface is constructed of a convex elliptical conical surface b, and the distance between the highest point and the lowest point of the elliptical conical surface b on the same cross section gradually decreases from outside to inside along the generatrix of the conical surface;
  • the working tooth surface of the pericardial gear 500 is the non-instantaneous enveloping surface generated by the pin gear 400 during the nutating motion;
  • the elliptical cone surface piece in this embodiment refers to a part of the elliptical cone surface cut off from the complete ellipse cone surface.
  • the teeth of the pin gear 400 and the teeth of the non-instantaneous center enveloping 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 sectional area of the respective teeth is From the top of the tooth to the root of the tooth, it gradually becomes larger, 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 tooth surface of the pin gear 400 is composed of tooth top curved surface a, elliptical conical surface b, plane c, and dedendum curved surface d.
  • the elliptical conical surface b, the plane c and the dedendum curved surface d, and the addendum curved surface a, the elliptical conical surface b, the plane c and the dedendum curved surface d are adjacent to each other, and the dedendum curved surface a is convex A smooth curved surface, the dedendum curved surface d is a concave smooth curved surface;
  • the tooth surface of the non-instantaneous center enveloping gear 500 is composed of the addendum curved surface a, the non-instantaneous center enveloping tooth surface e, the plane c, and the dedendum curved surface d, wherein , the two ends of the tooth top surface a are respectively connected with the
  • the respective addendum curved surfaces a of the pin gear 400 and the non-instantaneous center-less envelope 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 pin gear 400 during forward and reverse rotation.
  • the addendum curved surface a and the dedendum curved surface d of the pin gear 400 and the non-instantaneous envelope 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 pin gear 400 are symmetrical to each other.
  • the non-instantaneous center enveloping tooth surface e, plane c and dedendum curved surface d of the top addendum surface a of the non-instantaneous center enveloping gear 500 are mutually symmetrical.
  • the traditional pin gear 400 design it is usually designed based on the concept of pitch cone.
  • the so-called pitch cone is the relative motion of the two gears. From a kinematic point of view, it is equivalent to the pure rolling of the pitch cones on the two gears.
  • the common tangent of the two pitch cone surfaces is called the instantaneous center line, that is, the relative movement of the two gears at this moment is equivalent to rotating around the instantaneous center line.
  • the instantaneous center line is usually arranged near the middle of the working tooth height.
  • the tooth shape design does not need to consider the instantaneous center line at all, that is, there is no instantaneous center line in the effective height of the tooth profile, so it is called the enveloping tooth surface without instantaneous center.
  • This design method is to arrange the tooth profile around the indexing cone surface; if the indexing cone surfaces of the two gears are not inner cone surfaces, the inner bevel gear can be avoided, the end face meshing gear pair can be realized, and the shaft of the gear pair can be compressed To the size, improve the power density of the gear pair.
  • the elliptical conical surface piece b is used as the working tooth surface to replace the involute gear pair and the relatively new cycloid gear pair used in the traditional nutation reduction device, which not only solves the Various interference problems (tooth top interference, tooth profile overlapping interference, etc.), also solve the problems and defects such as large relative curvature between the tooth surfaces of the end cycloidal gear pair, short effective working tooth surface length of the pin wheel, and easy wear.
  • the present invention adopts the one-tooth-difference end-meshing gear pair, which can obtain about twice the number of simultaneously working teeth of the two-tooth-difference gear pair under the same nutating teeth number.
  • the interaxial angle of the gear pair is determined according to the tooth height of the gear pair, that is, it is necessary to ensure that the working tooth surface can fully participate in the meshing, and it is also necessary to ensure that the tooth tops of the two gears do not interfere during a full revolution. . Therefore, the inter-shaft angle must be at least greater than the arc tangent of the quotient of half the sum of the addendum heights of the two gears divided by the length of the bus bar of the gear pair. The actual shaft angle will be slightly larger to ensure minimum tooth tip clearance in the non-meshing area.
  • the tooth height coefficient of the gear pair is basically fixed, and the ratio of the tooth height to the busbar length will decrease linearly with the increase in the number of teeth of the gear pair, so the larger the transmission ratio, the less the tooth difference For a gear pair, the closer the shaft angle is to 180°.
  • the pin gear 400 is used as an output mechanism through the annular elastic diaphragm 103, and the specific structure will be described in detail below. The smaller the number of teeth of the pin gear 400, the larger the inter-axis angle, and too small an inter-axis angle will affect the force and strain state of the annular elastic diaphragm 103 as the output mechanism.
  • the inter-axis angle In order to realize the nutating motion, the inter-axis 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 larger the transmission ratio, the lower the efficiency. Therefore, the inter-shaft angle T between the pin gear 400 and the non-instantaneous center envelope gear 500 in this embodiment is set to be 177° ⁇ T ⁇ 180°.
  • the ratio of the major axis to the minor axis of the elliptical conical surface b is between 1.3 and 2.5. If the ratio is too small, the contact stress between the tooth surfaces will increase, and the effect of increasing the working length of the tooth surface is not obvious; Large, resulting in tooth surface interference, reducing the number of simultaneous working teeth.
  • the tooth height of the pin gear 400 decreases gradually along the radial direction of the pin gear 400 from outside to inside, so as to avoid interference during meshing.
  • a first indexing cone surface whose axis coincides with the axis of the pin gear 400 is provided between the tooth tip and the tooth root of the pin gear 400, the cone angle of the first indexing cone surface is ⁇ , and there is no instantaneous center envelope gear 500
  • a second indexing cone whose axis coincides with the axis of the non-instantaneous envelope gear 500 between the tooth top and the tooth root.
  • the cone angle of the second indexing cone is W.
  • the inter-shaft angle between 500 gears is T
  • the face cone angle of 400 pin gears is ⁇
  • the cone angle of 400 pin gears is P
  • the face cone angle of 500 non-instantaneous enveloping gears is K
  • the face cone angle of 500 non-instantaneous enveloping gears is L, where ⁇ , W, T, ⁇ , K, L satisfy:
  • the length of the working tooth surface of the pin gear can be further increased, the contact stress of the tooth surface can be reduced, and the bearing capacity of the tooth can be improved.
  • the cone angle of the first indexing cone surface is the angle between the generatrix of the first indexing cone surface and the axis of the first indexing cone surface
  • the cone angle of the second indexing cone surface is the angle between the generatrix of the second indexing cone surface and the axis of the second The included angle of the axis of the cone.
  • Forcibly setting the index plane of the pin gear 400 as an approximate plane can increase the interaxial angle between the pin gear 400 and the mating gear, thereby creating conditions for the use of an elastic diaphragm as an output mechanism; Increasing the number of meshing teeth at the same time creates conditions.
  • the pressure angle ⁇ of the working tooth surface of the pin gear 400 satisfies: 40°-R ⁇ 50°-R, where R is the friction angle between the pin gear 400 and the non-instantaneous envelope gear 500, which can reduce friction loss , Improve mechanical efficiency.
  • R is the friction angle between the pin gear 400 and the non-instantaneous envelope gear 500, which can reduce friction loss , Improve mechanical efficiency.
  • the reducer can obtain the highest possible transmission efficiency and reasonable bearing life. If the tooth surface friction coefficient is about 0.08-0.1, the transmission efficiency of the gear pair (excluding bearing friction loss) can reach about 80% to 83%.
  • the present embodiment lists several pin gears 400 with different parameters and the envelope gear 500 without instantaneous center, as follows:
  • the number of teeth of the pin gear 400 is 45
  • the number of teeth of the non-instantaneous envelope gear 500 is 44
  • the interaxial angle of the gear pair is 178.02726°
  • the outer diameter of the pin gear 400 is 165 mm
  • the tooth surface width is 25 mm
  • the indexing cone angle is 90 °(setting value)
  • the face cone angle is 91.48813°
  • the root cone angle is 87.51994°
  • the angle is 86.41190°.
  • the pin gear 400 has 120 teeth
  • the non-instant center enveloping gear 500 has 119 teeth
  • the interaxial angle of the gear pair is 179.25997°
  • the outer diameter of the pin gear 400 is 165 mm
  • the tooth surface width is 25 mm
  • the indexing cone angle is 90 °(setting value)
  • the face cone angle is 90.55853°
  • the root cone angle is 89.06907°
  • the angle is 88.65370°.
  • the pin gear 400 has 160 teeth
  • the non-instantaneous enveloping gear 500 has 159 teeth
  • the interaxial angle of the gear pair is 179.44496°
  • the outer diameter of the pin gear 400 is 80 mm
  • the tooth surface width is 12 mm
  • the indexing cone angle is 90 °(setting value)
  • the face cone angle is 90.41893°
  • the root cone angle is 89.30179°
  • the angle is 88.99022°.
  • the gear pair in this embodiment is a nutating gear pair
  • the working tooth surface of the pin gear and the non-instant center enveloping gear is an elliptical conical surface, which can increase the arc length of the working tooth surface of the pin gear and reduce the local wear of the pin gear tooth surface , prolong the service life, applied in the nutating reducer, can significantly improve the service life of the nutating reducer, at the same time, optimize the tooth shape parameters (grading cone surface, face cone angle, root cone angle, etc.), so that The arc length of the working tooth surface of the pin wheel is increased by about 60% compared with the cycloidal pinwheel pair using the conical surface as the working tooth surface of the pin wheel, which can significantly reduce the local wear of the tooth surface of the pin gear and prolong the service life.
  • the nutating reducer also includes: a housing 300; body 300; the gear pair described in Embodiment 1, the non-instant center enveloping gear 500 is fixedly arranged in the housing 300 or integrally formed with the housing 300; the annular elastic diaphragm 103 has an inner ring 101 and an outer ring 102 And the annular elastic deformation body connected between the inner ring 101 and the outer ring 102, the inner ring 101 is provided with a first connecting portion, and the outer ring 102 is provided with a second connecting portion, the first connecting portion is connected to the The output shaft 301 of the reducer is fixedly connected, the second connecting part is fixedly connected with the pin gear 400, the inner ring 101 is coaxially arranged with the output shaft 301 of the reducer, and the outer ring 102 is connected with the pin gear 400.
  • the gear 400 is coaxially arranged; the nutating mechanism is arranged in the housing 300, and is used to drive the pin gear 400 to perform nutating motion, so that the teeth of the pin gear 400 are in the center of the non-instantaneous enveloping gear 500 rolls on the teeth, and the annular elastic deformable body deforms to adapt to the nutating motion of the pin gear 400 .
  • both the first connecting portion and the second connecting portion are hinged holes
  • the inner ring 101 is fixedly connected to the output shaft 301 of the reducer through hinged hole bolts
  • the outer ring 102 is fixedly connected to the pin gear 400 through hinged hole bolts .
  • the inner ring 101 and the outer ring 102 form a flange to facilitate fixing with the output shaft 301 of the reducer and the pin gear 400 by screws, the inner ring 101 is coaxial with the output shaft 301 of the reducer, and the outer ring 102 and the pin gear 400 are coaxial.
  • the axis of the inner ring 101 and the axis of the outer ring 102 are not parallel, and they are set at an included angle, that is, the annular elastic diaphragm 103 produces elastic deformation to adapt to the nutating motion of the pin gear 400, and the annular elastic diaphragm 103 Available in pre-drawn form.
  • the annular elastic deformation body is an annular convex structure with one side convex and the other side concave
  • the inner ring 101 is tangent to the inner periphery of the annular elastic deformation body
  • the outer ring 102 is tangent to the inner periphery of the annular elastic deformation body. Tangent to the outside perimeter.
  • the concave surface and the convex surface of the convex structure are formed by arc surface, spline surface or cosine surface structure.
  • the annular elastic diaphragm 103 is arranged in an annular convex structure, and under the force of the pin gear 400, a certain angle of deflection occurs between the axis of the inner ring 101 and the axis of the outer ring 102, and the axes intersect without twisting in the circumferential direction. Therefore, it has high transmission accuracy.
  • the deflection between the axis of the inner ring 101 and the axis of the outer ring 102 is the direction that bears the radial force, and the direction of the annular protrusion structure that bears the radial force is always kept straight, and the annular protrusion
  • the bending stress and strain generated when the structure is stretched into a plane are almost negligible, which can not only improve the radial stiffness of the annular elastic diaphragm 103, but also increase the safety factor of its elastic instability.
  • the pre-stretching elongation used to compensate the tensile deformation of the annular elastic diaphragm 103 during the installation process can significantly reduce the pre-tensioning used to compensate the tensile deformation of the annular elastic diaphragm 103 during the installation process.
  • the amount of elongation can significantly reduce the installation stress of the annular elastic diaphragm 103 .
  • An appropriate amount of pre-stretching deformation will hardly reduce the radial rigidity of the annular elastic diaphragm 103 , but excessive pre-stretching deformation will reduce its radial rigidity, and even lead to elastic instability.
  • annular elastic diaphragm 103 will not produce theoretical motion errors, and the rotation angle transmitted to the output shaft 301 of the reducer is theoretically strictly equal to the rotation angle of the pin gear 400, and at any rotation angle, the rigidity of the output mechanism is constant, and there will be no The fluctuation error of the output rotation angle; secondly, there is almost no energy loss, and no additional heat is generated; thirdly, the role of the joint bearing is played, and no additional bearing is needed.
  • the spring diaphragm itself bears the radial force of the pin gear 400, and realizes The centering function of pin gear 400 makes the structure more compact and reduces the internal space of the reducer compared with the joint bearing used in the transmission. Under the condition of outputting the same torque, the volume of the reducer can be made smaller, and the application is more convenient. widely.
  • the nutation reducer of this embodiment also includes a reducer input shaft 716, which is rotatably arranged in the casing 300;
  • the nutation generating mechanism of this embodiment includes: a swash plate 600, and the swash plate 600 rotates Set on the reducer input shaft 716, one side of the swash plate 600 is a slope, and the other side is perpendicular to the axis of the swash plate 600; the drive mechanism, the swash plate 600 is driven to rotate by the drive mechanism; the plane dense ball bearing 200, the plane dense ball The bearing 200 is arranged on both sides of the swash plate 600; the inner surface of the housing 300 is formed with an annular boss 300a protruding radially along the input shaft 716 of the reducer, and one side of the annular boss 300a is in contact with the ball of the plane dense ball bearing 200.
  • the raceway of the plane dense ball bearing 200 in this embodiment is a plane raceway.
  • the balls on one plane dense ball bearing 200 fit together with one end surface of the annular boss 300a and one side surface of the swash plate 600, and the balls on the other plane dense ball bearing 200 fit the other side surface of the swash plate 600 and the other side surface of the swash plate 600.
  • the back of the pin gear 400 is attached.
  • a plane is preferably used as the raceway of the plane dense ball bearing 200 .
  • the inclined plane 601 of the swash plate 600 drives the pin gear 400 to nutate, so that the pin gear 400 rolls on the envelope gear 500 without instantaneous center.
  • the number of teeth of the pin gear 400 is i, and there is no instant center
  • the number of teeth of the network gear 500 is i-1, and the reduction ratio of the two is 1:i, which has the characteristics of a large reduction ratio.
  • the planar dense ball bearing in this embodiment includes: a cage 201 with multiple sets of ball holes, and inside the ball holes are balls 202 protruding from both sides of the cage, 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.
  • Example 1 the pressure angle ⁇ of the working tooth surface of the pin gear 400 satisfies: 40°-R ⁇ 50°-R, and the value of the working pressure angle of the tooth surface is slightly smaller than the theoretical optimal pressure angle of the gear pair efficiency. This is because the larger the working pressure angle, the greater the positive pressure and friction loss of the balls on the plane dense ball bearing 200 acting on the contact surface, and the optimum efficiency working pressure angle of the entire reducer will be slightly smaller than the optimum working pressure angle considering only the gear pair. Optimal working pressure angle; moreover, the bearing capacity of the thrust ball bearing is already in a critical state.
  • the driving mechanism is a motor 900
  • the output shaft of the motor 900 is fixedly connected to the swash plate 600
  • the output shaft of the motor 900 serves as the input shaft 716 of the reducer to drive the swash plate 600 to rotate.
  • the casing 300 is used as the casing of the motor 900
  • the stator and the rotor of the motor 900 are all arranged in the casing 300
  • the input shaft 716 of the reducer (the output shaft of the motor) is fixedly connected with the swash plate 600
  • the shaft of the motor 900 The rotation is provided in the housing 300 .
  • the housing 300 is used as the housing of the motor 900
  • the stator of the motor 900 is embedded in the housing 300
  • the rotor of the motor 900 is installed in the housing 300 to reduce the speed reduction.
  • the volume of the device is used as the housing of the motor 900
  • the stator of the motor 900 is embedded in the housing 300
  • the rotor of the motor 900 is installed in the
  • the housing 300 can be composed of two parts, the first housing and the second housing.
  • the first housing and the second housing are fastened together by bolts to form the housing 300, wherein there is no instantaneous center envelope
  • the gear 500 can be integrally formed with the first housing, and is arranged in the first housing, the second housing is used as the casing of the motor 900, the stator is embedded in the second housing, and the rotor of the motor 900 is arranged on the second housing to rotate The stator cooperates, and the shaft of the motor 900 is coaxially arranged with the axis of the bearing cage and the axis of the swash plate 600.
  • the internal structure of the reducer can be simplified, the reducer is more compact, and the volume is smaller under the same output torque as the existing reducer.
  • the included angle between the inclined plane 601 on the swash plate 600 and the axis of the swash plate 600 is C
  • the interaxial angle between the pin gear 400 and the non-instantaneous center envelope gear 500 is T
  • C T-90°
  • the nutating swash plate 600 is driven by the motor 900 to rotate, so that the pin gear 400 performs nutating motion on the plane dense ball bearing 200, makes the pin gear 400 roll on the non-instant center envelope gear 500, and the pin gear 400 performs nutating motion
  • the annular elastic diaphragm 103 deforms, and at the same time transmits the torque of the pin gear 400 to the output shaft 301 of the reducer to realize power output.
  • the mechanical efficiency is high, but the use of the annular elastic diaphragm 103 can make the speed reducer
  • the mechanism is more compact, and the occasions where the reducer should be added can be applied in the occasions where the space is small.
  • the casing 300 is used as the casing of the motor 900, and the front end (motor output end) of the casing 300 is fixedly connected with a non-instantaneous envelope gear 500, the inside of the casing 300 is embedded with a motor stator, and the rotor of the motor is installed Cooperate with the stator on the motor shaft (reducer input shaft 716), and the front end of the motor shaft (reducer input shaft 716) is rotated and installed in the housing 300 through the first bearing 711.
  • the first bearing 711 is an angular contact ball Bearing
  • the end of the motor shaft is rotationally connected with the motor end cover 714 through the second bearing 712
  • the second bearing is a deep groove ball bearing
  • the motor end cover 715 is fixedly connected with the rear end of the housing 300
  • the inside of the housing 300 is An annular protrusion 300a is formed at the front end of the motor shaft, and a first annular boss is provided on the annular protrusion 300a facing the side of the plane dense ball bearing 200, and a positioning hole is provided on the cage 201 of the plane dense ball bearing 200, and the positioning hole It is sleeved on the first annular boss and cooperates with the first annular boss in clearance, so that the plane dense ball bearing 200 can be radially positioned, and the motor shaft 716 is fixedly connected to one side of the swash plate, and this side is connected to the swash plate
  • the axis of 600 is vertical
  • the inclined surface 601 of the swash plate 600 is provided with a second
  • the third bearing 710 is a tapered roller bearing
  • the fourth bearing 713 is an RV-80E bearing
  • the RV-80E bearing is a bearing on the RV-80E reducer
  • the end surface of the reducer output shaft 301 facing the motor shaft 716 is fixedly connected to the inner ring 101 of the annular elastic diaphragm 103 through hinged hole bolts, and the inner ring 101 is coaxial with the reducer output shaft 301, and the annular elastic diaphragm 103
  • the outer ring 102 is fixedly connected with the pin gear 400 through hinged hole bolts, the outer ring 102 is coaxial with the pin gear 400, the teeth of the pin gear 400 mesh with the teeth of the non-instantaneous envelope gear 500, and the pin gear 400 and the non-instantaneous center
  • the interaxial angle T of the envelope gear 500 is less than 180°.
  • the output shaft 301 of the reducer can be composed of a first shaft section and an output flange.
  • An output flange is formed on the output shaft 301 of the reducer, which can be fixedly connected with the inner ring 101 of the annular elastic diaphragm through hinged hole bolts, and hinged
  • the hole bolts also fixedly connect the output flange to the first shaft section, so as to fix the inner ring of the third bearing 710 to realize the axial positioning of the output shaft 301 of the reducer.
  • the nutating reducer also includes: a housing 300; a reducer output shaft 301, which is rotatably arranged in the housing 300;
  • the non-instant center enveloping gear 500 is fixedly arranged in the housing 300 or integrally formed with the housing 300;
  • the annular elastic diaphragm 103 has a first connecting part on its inner ring 101, and its The outer ring 102 is provided with a second connection part, the first connection part is fixedly connected with the output shaft 301 of the reducer, and the second connection part is fixedly connected with the pin gear 400;
  • the pin gear 400 is driven to perform a nutating motion, so that the teeth of the pin gear 400 roll on the teeth of the non-instantaneous envelope gear 500 .
  • the nutating mechanism includes: a swash plate 600, which is rotatably arranged on the output shaft 301 of the reducer in the casing 300, and symmetrical inclined planes 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 two sides of the swash plate 600 are respectively provided with the plane dense ball bearing 200, the two sides of the swash plate 600 and the respective pin gears in the two pairs of gear pairs are used as the raceways of the plane dense ball bearing 200 ;
  • the number of teeth of the two pin gears 400 in the two pairs of pin gear pairs is equal.
  • the structure of the plane dense ball bearing 200 in this embodiment is the same as that of the plane dense ball bearing 200 in the first embodiment.
  • 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-instantaneous center envelope gear 500 is provided with a bearing installation hole, and the tapered roller bearing is provided In the bearing installation hole, the output shaft of the first reducer is rotatably installed on the inner ring of the tapered roller bearing, the output shaft of the second reducer is rotatably installed in the housing through the tapered roller bearing, and the output shaft of the first reducer and the second
  • the output shafts of the reducer are equipped with conical surfaces, and the two are fitted through the conical surfaces and fixedly connected by screws, so that the output shaft of the first reducer and the output shaft of the second reducer can offset the axial force generated during the nutating motion of the pin gear , transmit torque to each other, and maintain synchronous output motion with the same phase.
  • the swash plate is rotatably arranged on the output shaft of the reducer through bearings, and the bearing connecting the swash plate and the
  • the included angle between the inclined plane 601 on the swash plate 600 and the axis of the swash plate 600 is C
  • the two pairs of pin gears 400 in this embodiment are symmetrically arranged on both sides of the swash plate 600, and two symmetrical slopes 601 are provided on both sides of the swash plate 600.
  • the two pairs of pin gears 400 simultaneously and the two pin gears 400 use the same reducer output shaft 301 to output torque, so that under the same output power, between the plane dense ball bearing 200 and the pin gear 400 and between the plane dense ball bearing 200 and the swash plate 600
  • the friction loss between is reduced by 50%, and its value is about the transmission ratio times 0.0005.
  • the reduced friction loss is close to about half of the friction loss on the tooth surface, which significantly improves the working efficiency of the reducer.
  • gear teeth are arranged on the outer circumference of the swash plate, and the driving mechanism includes a motor 900 and a gear 901.
  • the gears mesh with the gear teeth of the swash plate, and the gears are driven by the motor to realize the rotation of the swash plate.
  • the elliptical working tooth surface provided by Embodiment 1 has no instantaneous center enveloping end meshing gear pair, and the nutating reducer based on the end meshing gear pair (the nutating reducer exemplified in Embodiments 1 and 2) is suitable for It is used in various types of automation equipment, especially all kinds of serial manipulators and parallel manipulators, such as manipulators on automobile assembly lines, surgical robots, automatic loading and unloading manipulators on production lines, SCARA manipulators on automatic lines, etc.
  • Figure 18 shows nutation The reducer H is used in the SCARA robotic arm.
  • the swash plate 600 with double slopes 601 and two sets of pin gears 400 arranged mirror-symmetrically in a reducer can significantly increase the power density of the reducer, reduce bearing friction loss, and further improve the transmission efficiency of the reducer.
  • This layout is especially suitable for reducers with dual outputs, as shown in Fig. 17 for nutating reducers used in DELTA robots, and swing joints in tandem manipulators.

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Abstract

一种齿轮副及章动减速器，用以解决现有的章动摆线针轮副存在针轮齿面上有效工作弧长很短，长期工作容易出现局部磨损的问题；同时还存在虽然同时参与工作的齿数比较多，但针轮与摆线齿轮齿面之间的相对曲率大，造成齿面接触应力大的问题。齿轮副由针齿轮(400)和无瞬心包络齿轮(500)各自的齿啮合形成，所述针齿轮(400)的工作齿面由外凸的椭圆锥面片(b)构造而成，且在同一横截面上所述椭圆锥面片(b)上最高点和最低点的距离沿所述针齿轮的径向由外向内沿锥面母线逐渐变小。采用椭圆锥面片（b）作为针齿轮(400)与无瞬心包络齿轮(500)啮合的工作齿面，增加了工作齿面的长度，提高齿的承载能力，同时降低了齿的磨损，降低了工作齿面的磨损。

Description

一种齿轮副及章动减速器
相关申请交叉引用
本申请要求2021年12月22日提交至中华人民共和国国家知识产权局(CNIPA)的申请号为202111579019.2，名称为“一种齿轮副及章动减速器”的中国在先申请的权益，通过引用将上述申请的全部内容并入本申请。
技术领域
本发明涉及减速机领域，尤其涉及一种齿轮副及章动减速器。
背景技术
大传动比减速器在自动化领域有很大的需求量，如各类工业机械臂、机械手等。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。在要求结构紧凑的场合，目前多选用谐波减速器和RV减速器，主要是因为蜗杆减速器的效率比较低，由于热平衡问题，难以满足频繁高速运行的要求；多级行星减速机构的体积比较大，低背隙行星减速器的工艺要求和制造成本高。章动减速器出现得比较晚，目前还没有看到比较完善的成系列的成熟产品。从目前公布的资料来看，多数章动减速装置都采用渐开线齿形。渐开线锥齿轮副的设计通常要遵循基于节锥面相切的设计原则，若要求大传动比，其中一个齿轮只能做成内锥齿轮，加工难度大，制造成本高；渐开线齿轮的另一个固有缺陷是重合度低，同时工作齿数少通常不会超过3个齿，即使从接触应力的角度考虑，每个齿的承载能力可以做的比较大，受齿根弯曲应力和剪切应力的限制，齿轮副的功率密度很难提升。章动摆线针轮副容易实现一齿差的大传动比结构，可以通过强制变位做成端面齿轮副，但存在针轮齿面上有效工作弧长很短，长期工作容易出现局部磨损的问题；同时还存在虽然同时参与工作的齿数比较多，但针轮与摆线齿轮齿面之间的相对曲率大，故而齿面接触应力大。
发明内容
鉴于此，本发明公开了一种齿轮副及章动减速器，用以解决现有的章动摆线针轮副存在针轮齿面上有效工作弧长很短，长期工作容易出现局部磨损的问题；同时还存在虽然同时参与工作的齿数比较多，但针轮与摆线齿轮齿面之间的相对曲率大，造成齿面接触应力大的问题。
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齿轮副，所述齿轮副由针齿轮和无瞬心包络齿轮各自的齿啮合形成，所述针齿轮的工作齿面由外凸的椭圆锥面片构造而成，且所述椭圆锥面片在同一横截面上最高点和最低点的距离由外向内沿锥面母线逐渐变小；所述无瞬心包络齿轮的工作齿面为所述针齿轮在章动运动过程中产生的无瞬心包络面；所述针齿轮的齿数比无瞬心包络齿轮的齿数多一个。
进一步可选的，所述针齿轮的齿面由齿顶曲面、椭圆锥面片、平面、齿根曲面构造而成，其中，齿顶曲面两端分别依次连接有椭圆锥面片、平面和齿根曲面，且齿顶曲面、椭圆锥面片、平面和齿根曲面相邻两者相切，所述齿顶曲面为外凸的光滑曲面，所述齿根曲面为凹陷的光滑曲面；所述的无瞬心包络齿轮的齿面由齿顶曲 面、无瞬心包络齿面、平面、齿根曲面构成，其中，齿顶曲面两端分别依次连接有无瞬心包络齿面、平面和齿根曲面，且齿顶曲面、无瞬心包络齿面、平面和齿根曲面相邻两者相切，所述齿顶曲面为外凸的光滑曲面，所述齿根曲面为凹陷的光滑曲面。
进一步可选的，所述齿顶曲面和所述齿根曲面分别由样条曲面构造而成。
进一步可选的，所述针齿轮和无瞬心包络齿轮之间的轴间角T为：177°≤T＜180°。
进一步可选的，所述椭圆锥面的长轴和短轴的比为1.3～2.5之间。
进一步可选的，所述针齿轮的齿高沿所述针齿轮的径向由外向内逐渐变小。
进一步可选的，所述针齿轮工作齿面的压力角α满足：40°-R≤α≤50°-R，其中R为针齿轮与无瞬心包络齿轮之间的摩擦角。
进一步可选的，所述针齿轮的齿顶和齿根之间设有第一分度锥面，所述第一分度锥面的轴线与所述针齿轮的轴线重合，第一分度锥面的锥角为β，所述无瞬心包络齿轮的齿顶和齿根之间设有第二分度锥面，所述第二分度锥面的轴线与所述无瞬心包络齿轮的轴线重合，所述第二分度锥面的锥角为W，所述针齿轮和所述无瞬心包络齿轮之间的轴间角为T，所述针齿轮面锥角为γ，所述针齿轮根锥角为P，所述无瞬心包络齿轮的面锥角为K，所述无瞬心包络齿轮的根锥角为L，其中，β、W、T、γ、K、L满足：
89°≤β≤91°，W＝T-β，β+0.3°≤γ≤β+2.1°，β-2.9°≤P≤β-0.5°，W+0.3°≤K≤W+2.3°，W-3.1°≤L≤W-0.6°。
本发明第二方面公开了一种章动减速器，所述章动减速器还包括：壳体；减速器输出轴，转动设置在所述壳体内；第一方面所述的齿轮副，所述无瞬心包络齿轮固定设置在所述壳体内或与所述壳体一体成型；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变形体，其内环上设有第一连接部，其外环上设有第二连接部，所述第一连接部与所述减速器输出轴固定连接，所述第二连接部与所述针齿轮固定连接，所述内环与所述减速器输出轴共轴线设置，所述外环与所述针齿轮共轴线设置；章动发生机构，设置在所述壳体内，用于驱动所述针齿轮做章动运动，使所述针齿轮的齿在所述无瞬心包络齿轮的齿上滚动，并使所述环形弹性变形体产生形变以适应针齿轮的章动运动。
进一步可选的，所述章动减速器还包括减速器输入轴，所述减速器输入轴可转动设置在所述壳体内；所述章动发生机构包括：斜盘，所述斜盘转动设置在所述减速器输入轴上，所述斜盘的一个侧面为斜面，另一个侧面与所述斜盘的轴线垂直；驱动机构，所述斜盘通过驱动机构驱动转动；平面密珠轴承，所述平面密珠轴承设置在所述斜盘的两侧；所述壳体内表面形成有沿所述减速器输入轴径向凸伸的环形凸台，所述环形凸台的一侧面与所述平面密珠轴承的滚珠贴合，且所述环形凸台的一侧面与所述减速器输入轴垂直，所述环形凸台的端面、所述针齿轮的背面和所述斜盘的两侧面作为所述平面密珠轴承的滚道。
进一步可选的，所述驱动机构为电机，所述电机的输出轴与所述斜盘固定连接，所述电机的输出轴作为所述减速器输入轴以驱动所述斜盘转动。
进一步可选的，所述壳体作为所述电机的外壳，所述电机的定子嵌入所述壳体内，所述电机的转子转动设置在所述壳体内。
进一步可选的，所述齿轮副为两对，对称设置在所述章动发生机构的两侧。
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针齿轮背面作为所述平面密珠轴承的滚道；两对所述针齿轮副中的两个所述针齿轮齿数相等。
进一步可选的，所述斜盘上的斜面与所述斜盘轴线的夹角为C，所述针齿轮与所述无瞬心包络齿轮轴间角为T，其中，C＝T-90°。
有益效果：本发明针齿轮的工作齿面设置成椭圆锥面片，与端面摆线针轮副相比，有效地增加了针齿轮工作齿面的弧长，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，降低针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％。
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示出了本发明齿轮副中针齿轮实施例的轴测图；
图2为图1中针齿轮的单个齿形实施例的轴测图；
图3为图2中针齿轮的单个齿形实施例的主视图；
图4为图3的左视图；
图5示出了本发明齿轮副中无瞬心包络齿轮的单个齿形实施例的主视图；
图6为图5的左视图；
图7示出了本发明齿轮副实施例的整体轴测图；
图8为图7的爆炸视图；
图9为图7齿轮副实施例的主视图；
图10示出了本发明齿轮副实施例应用在章动减速器第一实施例中的整体结构图；
图11为图10中斜盘实施例的轴测图；
图12为图11中实施例的侧视图；
图13示出了本发明齿轮副实施例应用在章动减速器第二实施例中的整体结构图；
图14示出了图10和图13章动减速器各实施例中平面密珠轴承实施例的轴测图；
图15示出了图13中斜盘实施例的轴测图；
图16为图15中斜盘实施例的侧视图；
图17示出了图10和图13章动减速器各实施例中环形弹性膜片实施例的示意图；
图18示出了本发明章动减速器实施例应用在DELTA机器人摆臂中的示意图；
图19示出了本发明章动减速器实施例应用在SCARA机械臂的示意图；
其中，图4和图6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-环形弹性膜片；200-平面密珠轴承；201-保持架；202-滚珠；300-壳体；301-减速器输出轴；400-针齿轮；401-针齿轮的工作齿面；402-第二环形滚道；500-无瞬心包络齿轮；501-无瞬心包络齿轮齿面的工作齿面；600-斜盘；601-斜面；602-第一环形滚道；900-电机；901-齿轮；a-齿顶曲面；b-椭圆锥 面片；c-平面；d-齿根曲面；e-无瞬心包络齿面；710-第三轴承；711-第一轴承；712-第二轴承；713-第四轴承；714-电机端盖；715-轴承端盖；716-减速器输入轴；H-章动减速器；3011-第一减速器输出轴；3012-第二减速器输出轴。
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。
现有的减速器采用摆线针轮副存在针轮齿面上有效工作弧长很短，长期工作容易出现局部磨损的问题；同时还存在虽然同时参与工作的齿数比较多，但针轮与摆线齿轮齿面之间的相对曲率大，造成齿面接触应力大的问题。
本发明采用椭圆锥面片作为针齿轮与无瞬心包络齿轮啮合的工作齿面，增加了针齿轮工作齿面的长度，减小了齿面接触应力，提高齿的承载能力，同时降低了针轮工作齿面的磨损。
为进一步阐述本发明中的技术方案，现结合图1-图18，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齿轮副，如图1-图8所示，所述齿轮副由针齿轮400和无瞬心包络齿轮500各自的齿啮合形成，所述针齿轮400的工作齿面由外凸的椭圆锥面片b构造而成，且所述椭圆锥面片b在同一横截面上最高点和最低点的距离由外向内沿锥面母线逐渐变小；所述无瞬心包络齿轮500的工作齿面为所述针齿轮400在章动运动过程中产生的无瞬心包络面；所述针齿轮400的齿数比无瞬心包络齿轮500的齿数多一个。
本实施例中的椭圆锥面片指的是完整的椭圆锥面上所截取的一部分椭圆锥面。
本实施例中针齿轮400的齿和无瞬心包络齿轮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，齿宽为齿内圆端面与齿外圆端面的距离。
如图4和图6所示，针齿轮400的齿面由齿顶曲面a、椭圆锥面片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片b、平面c和齿根曲面d，且齿顶曲面a、椭圆锥面片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；无瞬心包 络齿轮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。针齿轮400和无瞬心包络齿轮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。可满足针齿轮400正反转时的承载能力。优选的，针齿轮400和无瞬心包络齿轮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，针齿轮400上齿顶曲面a两端的椭圆锥面片b、平面c和齿根曲面d相互对称。无瞬心包络齿轮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。
在传统的针齿轮400设计中，通常会基于节锥面的概念进行设计。所谓的节锥面，就是两个齿轮的相对运动，从运动学上来说，相当于两个齿轮上的节锥面做纯滚动。这两个节锥面的公切线，称为瞬心线，即两个齿轮在此瞬时的相对运动，相当于围绕瞬心线转动。在传统的设计方法中，通常将瞬心线安排在工作齿高的中部附近。而在本实施例中，齿形设计完全不需考虑瞬心线，即在齿廓的有效高度内根本不存在瞬心线，故称为无瞬心包络齿面。此设计方法是围绕分度锥面来布置齿廓的；若两个齿轮的分度锥面均非内锥面，就可以避免出现内锥形齿轮，实现端面啮合齿轮副，压缩齿轮副的轴向尺寸，提高齿轮副的功率密度。
本实施例中椭圆锥面片b作为工作齿面，替代传统章动减速装置中使用的渐开线齿轮副和比较新颖的摆线齿轮副，不仅解决了使用渐开线端面齿形传动时出现的各种干涉问题(齿顶干涉，齿廓重叠干涉等)，也解决了端面摆线齿轮副齿面间相对曲率大，针轮有效工作齿面长度短，易磨损等问题和缺陷。
通过采用一齿差端面啮合的齿轮副，使得包络齿轮的一个齿从完全脱离状态，即齿顶对齿顶的状态，过渡到这个齿完全进入到针齿轮400的齿槽中的状态，包络齿轮和针齿轮400都需要绕各自的轴线回转将近180°的转角；而如果采用二齿差，这个过程是在90°转角范围内完成的；在距离最深进入点正负90°范围之外，两个齿轮处于完全脱离状态，即两个齿轮的齿顶圆处于完全分离的状态，不可能存在啮合的机会。故本发明采用一齿差端面啮合齿轮副，可以在相同的章动齿数下，获得的同时工作齿数约为二齿差齿轮副的两倍。
齿轮副的轴间角是根据齿轮副的齿高来确定的，即既要保证工作齿面可以完全参与啮合，又要保证两个齿轮的齿顶在一整圈的回转过程中都不发生干涉。故轴间角至少要大于两个齿轮齿顶高之和的一半除以齿轮副的母线长度之商的反正切值。实际轴间角会略大一些，以保证非啮合区域的最小齿顶间隙。对于确定的齿廓设计方法，齿轮副的齿高系数基本上是固定的，齿高与母线长度之比会随着齿轮副齿数的增加呈线性关系减小，故传动比越大的少齿差齿轮副，轴间角越接近于180°。本实施例中针齿轮400通过环形弹性膜片103作为输出机构，具体结构下面会详细介绍。针齿轮400的齿数越少，轴间角越大，而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要小于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，本实施例所述针齿轮400和无瞬心包络齿轮500之间的轴间角T设置为177°≤T＜180°。
优选的，所述椭圆锥面b的长轴和短轴的比为1.3～2.5之间，比值过小齿面之间的接触应力会上升，增加齿面工作长度的作用不明显；而比值过大，导致齿面干涉，减少同时工作齿数。
优选的，针齿轮400的齿高沿针齿轮400的径向由外向内逐渐变小，避免啮合时发生干涉。
优选的，针齿轮400的齿顶和齿根之间设有轴线与针齿轮400轴线重合的第一分度锥面，第一分度锥面的锥角为β，无瞬心包络齿轮500的齿顶和齿根之间设有轴线与无瞬心包络齿轮500轴线重合的第二分度锥面，第二分度锥面的锥角为W，针齿轮400和无瞬心包络齿轮500之间的轴间角为T，针齿轮400面锥角为γ，针齿轮400根锥角为P，无瞬心包络齿轮500面锥角为K，无瞬心包络齿轮500根锥角为L，其中，β、W、T、γ、K、L满足：
89°≤β≤91°，W＝T-β，β+0.3°≤γ≤β+2.1°，β-2.9°≤P≤β-0.5°，W+0.3°≤K≤W+2.3°，W-3.1°≤L≤W-0.6°。
通过上述参数的优化，可进一步增加针齿轮工作齿面的长度，减小齿面接触应力，提高齿的承载能力。
第一分度锥面的锥角为第一分度锥面母线与第一分度锥面轴线的夹角，第二分度锥面的锥角为第二分度锥面母线与第二分度锥面轴线的夹角。针齿轮400在无瞬心包络齿轮500上做章动运动时，第一分度锥面和第二分度锥面相切。
将针齿轮400的分度面强制设定为近似平面，可以增大针齿轮400与配对齿轮之间的轴间角，从而为采用弹性膜片作为输出机构创造了条件；同时也为最大限度地增加同时参与啮合齿数创造了条件。
所述针齿轮400工作齿面的压力角α满足：40°-R≤α≤50°-R，其中R为针齿轮400与无瞬心包络齿轮500之间的摩擦角，可降低摩擦损耗，提高机械效率。通过按照修正的齿面摩擦系数来确定工作齿面的压力角范围，可以使减速器获得尽可能高的传动效率以及合理的轴承寿命。若齿面摩擦系数在0.08-0.1左右，齿轮副的传动效率(不计轴承摩擦损失)可以达到80％至83％左右。
本实施例列举了几种不同参数的针齿轮400和无瞬心包络齿轮500，如下：
可选的，针齿轮400齿数为45，无瞬心包络齿轮500齿数为44，齿轮副的轴间角178.02726°，针齿轮400外圆直径为165mm，齿面宽25mm，分度锥角90°(设定值)，面锥角为91.48813°，根锥角为87.51994°；无瞬心包络齿轮500的分度锥角为88.02726°(计算值)，面锥角为90.38022°，根锥角为86.41190°。
可选的，针齿轮400齿数为120，无瞬心包络齿轮500齿数为119，齿轮副的轴间角179.25997°，针齿轮400外圆直径为165mm，齿面宽25mm，分度锥角90°(设定值)，面锥角为90.55853°，根锥角为89.06907°；无瞬心包络齿轮500的分度锥角为89.25997°(计算值)，面锥角为90.14317°，根锥角为88.65370°。
可选的，针齿轮400齿数为160，无瞬心包络齿轮500齿数为159，齿轮副的轴间角179.44496°，针齿轮400外圆直径为80mm，齿面宽12mm，分度锥角90°(设定值)，面锥角为90.41893°，根锥角为89.30179°；无瞬心包络齿轮500的分度锥角为89.44496°(计算值)，面锥角为90.10740°，根锥角为88.99022°。
本实施例的齿轮副为章动齿轮副，针齿轮和无瞬心包络齿轮的工作齿面为椭圆锥面片，可增加针齿轮工作齿面的弧长，降低针齿轮齿面的局部磨损，延长使用寿命，应用在章动减速器中，可显著提高章动减速器的使用寿命，同时，对齿形参数(分度锥面、面锥角、根锥角等)等的优化，使针轮工作齿面的弧长相对于采用圆锥面片作为针轮工作齿面的摆线针轮副增加60％左右，可显著降低针齿轮齿面的局部磨损，延长使用寿命。
实施例2
本实施例提供了一种章动减速器，如图9-图11、图13、图16所示，所述章动减速器还包括：壳体300；减速器输出轴301，转动设置在壳体300内；实施例1中所述的齿轮副，无瞬心包络齿轮500固定设置在壳体300内或与壳体300一体成型； 环形弹性膜片103，具有内环101、外环102和连接于内环101和外环102之间的环形弹性变形体，其内环101上设有第一连接部，其外环102上设有第二连接部，所述第一连接部与所述减速器输出轴301固定连接，所述第二连接部与所述针齿轮400固定连接，所述内环101与所述减速器输出轴301共轴线设置，所述外环102与所述针齿轮400共轴线设置；章动发生机构，设置在所述壳体300内，用于驱动所述针齿轮400做章动运动，使所述针齿轮400的齿在所述无瞬心包络齿轮500的齿上滚动，所述环形弹性变形体产生形变以适应针齿轮400的章动运动。
可选的，第一连接部和第二连接部均为铰制孔，内环101通过铰制孔螺栓与减速器输出轴301固定连接，外环102通过铰制孔螺栓与针齿轮400固定连接。
可选的，内环101和外环102形成法兰，以方便和减速器输出轴301和针齿轮400通过螺钉进行固定，内环101和减速器输出轴301同轴，外环102和针齿轮400同轴，安装后内环101的轴线和外环102的轴线不平行，呈夹角设置，即环形弹性膜片103产生弹性形变，以适应针齿轮400做章动运动，环形弹性膜片103可采用预拉成型。优选的，所述环形弹性变形体为一侧凸另一侧凹的环形凸起结构，所述内环101与所述环形弹性变形体内周边相切，所述外环102与所述环形弹性变形体外周边相切。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。将环形弹性膜片103设置成环形凸起结构，受到针齿轮400的力作用，内环101轴线和外环102轴线之间产生一定角度的偏转，其轴线相交，而在圆周向不发生扭转，故具有较高的传动精度，同时内环101轴线和外环102轴线之间的偏转为承受径向力的方向，环形凸起结构承受径向力的方向始终保持伸直状态，将环形凸起结构拉伸成平面的时候产生的弯曲应力和应变几乎可以忽略不计，不仅可以提高环形弹性膜片103的径向刚度，还可以提高其弹性失稳的安全系数。用于补偿环形弹性膜片103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膜片103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103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103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。
采用环形弹性膜片103不会产生理论运动误差，传递给减速器输出轴301的转角理论上严格等于针齿轮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，弹簧膜片本身就承担了针齿轮400的径向力，并实现了针齿轮400的定心功能，与传动采用关节轴承相比，使结构更加紧凑，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，本实施例的章动减速器还包括减速器输入轴716，减速器输入轴716可转动设置在壳体300内；本实施例的章动发生机构包括：斜盘600，斜盘600转动设置在减速器输入轴716上，斜盘600的一个侧面为斜面，另一个侧面与斜盘600的轴线垂直；驱动机构，斜盘600通过驱动机构驱动转动；平面密珠轴承200，平面密珠轴承200设置在斜盘600的两侧；壳体300内表面形成有沿减速器输入轴716径向凸伸的环形凸台300a，环形凸台300a的一侧面与平面密珠轴承200的滚珠贴合，且环形凸台300a的一侧面与减速器输入轴716垂直，环形凸台300a的端面、针齿轮400的背面和斜盘600的两侧面作为平面密珠轴承200的滚道。本实施例中平面密珠轴承200的滚道为平面滚道。本实施例一个平面密珠轴承200上的滚珠与环形凸台300a的一侧端面和斜盘600的一侧面贴合，另一个平面密珠轴承200上的滚珠 与斜盘600的另一侧面和针齿轮400的背面贴合。本实施例中优选的以平面作为平面密珠轴承200的滚道。当斜盘600转动时，斜盘600的斜面601驱动针齿轮400章动运行，使针齿轮400在无瞬心包络齿轮500上进行滚动，针齿轮400的齿数为i个，无瞬心包络齿轮500的齿数为i-1个，则二者的减速比为1：i，具有大减速比的特点。
如图12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。
在实施例1中，针齿轮400工作齿面的压力角α满足：40°-R≤α≤50°-R，齿面工作压力角的数值略小于理论上的齿轮副效率最优压力角，是因为工作压力角越大，平面密珠轴承200上的滚珠作用在接触面上的正压力和摩擦损失也越大，整个减速器的最佳效率工作压力角会略小于仅考虑齿轮副的最优工作压力角；况且推力球轴承的承载能力也已经处于临界状态。
进一步可选的，驱动机构为电机900，电机900的输出轴与所述斜盘600固定连接，电机900的输出轴作为所述减速器输入轴716以驱动所述斜盘600转动。其中，所述壳体300作为所述电机900的外壳，电机900的定子和转子均设置在壳体300内，减速器输入轴716(电机的输出轴)与斜盘600固定连接，电机900轴转动设置在所述壳体300内。进一步优选的，所述壳体300作为所述电机900的外壳，所述电机900的定子嵌入所述壳体300内，所述电机900的转子转动设置在所述壳体300内，可缩小减速器的体积。
本实施例中壳体300可由第一壳体和第二壳体两部分组成，第一壳体和第二壳体通过螺栓固定连接扣合在一起形成壳体300，其中，无瞬心包络齿轮500可与第一壳体一体成型，并设置在第一壳体内，第二壳体作为电机900的外壳，定子嵌入到第二壳体内，电机900的转子转动设置在第二壳体上与定子配合，电机900轴与轴承保持架、斜盘600轴线共轴线设置。可以简化减速器内部结构，使减速器更加紧凑，与现有的减速器输出扭矩相同的扭矩下，体积更小。
进一步可选的，所述斜盘600上的斜面601与所述斜盘600轴线的夹角为C，所述针齿轮400与所述无瞬心包络齿轮500轴间角为T，其中，C＝T-90°，以满足针齿轮400在轴间角实现章动运行。
通过电机900轴驱动章动斜盘600转动，使针齿轮400在平面密珠轴承200上做章动运动，使针齿轮400在无瞬心包络齿轮500上进行滚动，针齿轮400做章动运动过程中，环形弹性膜片103产生形变，同时也将针齿轮400的扭矩传递给减速器输出轴301实现动力的输出，不仅机械效率较高，同时采用环形弹性膜片103可使减速器的机构更加紧凑，增加减速器应有的场合，在空间狭小的场合可以得到应用。
为方便理解，下面例举章动减速器的详细结构，但本发明的保护范围并不限于此。
如图8所示，壳体300作为电机900的外壳，在壳体300的前端(电机输出端)固定连接有无瞬心包络齿轮500，壳体300内部嵌入有电机定子，电机的转子安装在电机轴(减速器输入轴716)上与定子配合，电机轴(减速器输入轴716)前端通过 第一轴承711转动安装在壳体300内，可选的，第一轴承711为角接触球轴承，电机轴的末端通过第二轴承712与电机端盖714转动连接，可选的，第二轴承为深沟球轴承，电机端盖715与壳体300后端固定连接，壳体300内部在电机轴的前端位置形成有环形凸起300a，环形凸起300a上朝向平面密珠轴承200一侧设有第一环形凸台，平面密珠轴承200的保持架201上设有定位孔，定位孔与套设在第一环形凸台上并与第一环形凸台间隙配合，以使平面密珠轴承200能径向定位，电机轴716与斜盘的一侧面固定连接，且该侧面与斜盘600的轴线垂直，斜盘600的斜面601上设有第二环形凸台，平面密珠轴承200设置在第二环形凸台上以实现平面密珠轴承200的径向定位；无瞬心包络齿轮500上设有与其共轴线的第一轴承安装孔和第二轴承安装孔，第一轴承安装孔和第二轴承安装孔的安装方向相反，减速器输出轴301上设有第一轴承安装部和第二轴承安装部，第一轴承安装部通过第三轴承710转动设置在第一轴承安装孔内，第二轴承安装部通过第四轴承713转动设置在第二轴承安装孔内，轴承端盖715与无瞬心包络齿轮500齿背固定连接，可选的，第三轴承710为圆锥滚子轴承，第四轴承713为RV-80E轴承，RV-80E轴承为RV-80E减速机上的轴承，减速器输出轴301朝向电机轴716一侧端面通过铰制孔螺栓与环形弹性膜片103的内环101固定连接，且内环101与减速器输出轴301共轴线，环形弹性膜片103的外环102通过铰制孔螺栓与针齿轮400固定连接，外环102与针齿轮400共轴线，针齿轮400的齿与无瞬心包络齿轮500的齿啮合，且针齿轮400与无瞬心包络齿轮500的轴间角T小于180°。减速器输出轴301可以由第一轴段和输出法兰组成，减速器输出轴301上形成有输出法兰，可与环形弹性膜片的内环101通过铰制孔螺栓固定连接，同时铰制孔螺栓也将输出法兰与第一轴段固定连接，以将第三轴承710的内圈固定，以实现减速器输出轴301的轴向定位。
实施例3
本实施例提供了另一种章动减速器，如图12-图16所示，所述章动减速器还包括：壳体300；减速器输出轴301，转动设置在壳体300内；实施例1中所述的齿轮副，无瞬心包络齿轮500固定设置在壳体300内或与壳体300一体成型；环形弹性膜片103，其内环101上设有第一连接部，其外环102上设有第二连接部，第一连接部与所述减速器输出轴301固定连接，第二连接部与针齿轮400固定连接；章动发生机构，设置在壳体300内，用于驱动针齿轮400做章动运动，使针齿轮400的齿在无瞬心包络齿轮500的齿上滚动。
进一步，齿轮副为两对，对称设置在章动发生机构的两侧。
进一步，章动发生机构包括：斜盘600，转动设置在壳体300内的所述减速器输出轴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的两侧分别设有平面密珠轴承200，斜盘600的两侧面和两对所述齿轮副中各自的所述针齿轮作为平面密珠轴承200的滚道；两对针齿轮副中的两个针齿轮400齿数相等。
本实施例中平面密珠轴承200的结构与实施例1中的平面密珠轴承200结构相同。
具体可选的，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，无瞬心包络齿轮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，第一减速器输出轴转动安装在圆锥滚子轴承内圈上，第二减速器输出轴通过圆锥滚子轴承转动安装在壳体内，且第一减速器输出轴和第二减速器输出轴均设有圆锥面，且二者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和第二减速器输出轴抵消针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。斜盘通过轴承转动设置在减速器输出轴上，斜盘与减速器输出轴连接的轴承可以为调心轴承。
进一步，斜盘600上的斜面601与斜盘600轴线的夹角为C，针齿轮400与无瞬心包络齿轮500轴间角为T，其中，C＝T-90°。
本实施例的两对针齿轮400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，两对针齿轮400同时做章动运行，并且两个针齿轮400采用同一个减速器输出轴301输出扭矩，使得在相同的输出功率下，使得平面密珠轴承200与针齿轮400之间及平面密珠轴承200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，显著提高减速装置的工作效率。
本实施例斜盘外圆周上设有齿轮齿，驱动机构包括电机900和齿轮901，齿轮与斜盘的齿轮齿啮合，齿轮通过电机驱动，实现斜盘的转动。
实施例1提供的椭圆形工作齿面无瞬心包络端面啮合齿轮副，以及基于所述端面啮合齿轮副的章动减速器(实施例1和2中所例举的章动减速器)适用于各类自动化设备，特别是各类串联机械臂和并联机械手，如汽车装配线上的机械臂，手术机器人，生产线上的自动上下料机械臂，自动线上的SCARA机械臂等，图18为章动减速器H应用在SCARA机械臂的中。
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针齿轮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17为章动减速器应用在DELTA机器人中，以及串联机械臂中的摆动关节。
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 (15)

  1. 一种齿轮副，其特征在于，所述齿轮副由针齿轮和无瞬心包络齿轮啮合形成，所述针齿轮的工作齿面由外凸的椭圆锥面片构造而成，且所述椭圆锥面片在同一横截面上最高点和最低点的距离由外向内沿锥面母线逐渐变小；所述无瞬心包络齿轮的工作齿面为所述针齿轮在章动运动过程中产生的无瞬心包络面；
    所述针齿轮的齿数比无瞬心包络齿轮的齿数多一个。
  2. 如权利要求1所述的一种齿轮副，其特征在于，所述针齿轮的齿面由齿顶曲面、椭圆锥面片、平面、齿根曲面构造而成，其中，齿顶曲面两端分别依次连接有椭圆锥面片、平面和齿根曲面，且齿顶曲面、椭圆锥面片、平面和齿根曲面相邻两者相切，所述齿顶曲面为外凸的光滑曲面，所述齿根曲面为凹陷的光滑曲面；所述的无瞬心包络齿轮的齿面由齿顶曲面、无瞬心包络齿面、平面、齿根曲面构成，其中，齿顶曲面两端分别依次连接有无瞬心包络齿面、平面和齿根曲面，且齿顶曲面、无瞬心包络齿面、平面和齿根曲面相邻两者相切，所述齿顶曲面为外凸的光滑曲面，所述齿根曲面为凹陷的光滑曲面。
  3. 如权利要求2所述的一种齿轮副，其特征在于，所述齿顶曲面和所述齿根曲面分别由样条曲面构造而成。
  4. 如权利要求1所述的一种齿轮副，其特征在于，所述针齿轮和无瞬心包络齿轮之间的轴间角T为：177°≤T＜180°。
  5. 如权利要求1所述的一种齿轮副，其特征在于，所述椭圆锥面的长轴和短轴的比为1.3～2.5之间。
  6. 如权利要求1所述的一种齿轮副，其特征在于，所述针齿轮的齿高沿所述针齿轮的径向由外向内逐渐变小。
  7. 如权利要求1所述的一种齿轮副，其特征在于，所述针齿轮工作齿面的压力角α满足：40°-R≤α≤50°-R其中R为针齿轮与无瞬心包络齿轮之间的摩擦角。
  8. 如权利要求1-7任一所述的一种齿轮副，其特征在于，所述针齿轮的齿顶和齿根之间设有第一分度锥面，所述第一分度锥面的轴线与所述针齿轮的轴线重合，第一分度锥面的锥角为β，所述无瞬心包络齿轮的齿顶和齿根之间设有第二分度锥面，所述第二分度锥面的轴线与所述无瞬心包络齿轮的轴线重合，所述第二分度锥面的锥角为W，所述针齿轮和所述无瞬心包络齿轮之间的轴间角为T，所述针齿轮面锥角为γ，所述针齿轮根锥角为P，所述无瞬心包络齿轮的面锥角为K，所述无瞬心包络齿轮的根锥角为L，其中，β、W、T、γ、K、L满足：
    89°≤β≤91°，W＝T-β，β+0.3°≤γ≤β+2.1°，β-2.9°≤P≤β-0.5°，W+0.3°≤K≤W+2.3°，W-3.1°≤L≤W-0.6°。
  9. 一种章动减速器，其特征在于，所述章动减速器包括：
    壳体；
    减速器输出轴，可转动设置在所述壳体内；
    权利要求1-8任一所述的齿轮副，所述无瞬心包络齿轮固定设置在所述壳体内或与所述壳体一体成型；
    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变形体，其内环上设有第一连接部，其外环上设有第二连接部，所述第一连接部与所述减速器输出轴固定连接，所述第二连接部与所述针齿轮固定连接，所述内环与所述减速 器输出轴共轴线设置，所述外环与所述针齿轮共轴线设置；
    章动发生机构，设置在所述壳体内，用于驱动所述针齿轮做章动运动，使所述针齿轮的齿在所述无瞬心包络齿轮的齿上滚动，并使所述环形弹性变形体产生形变以适应针齿轮的章动运动。
  10. 如权利要求9所述的一种章动减速器，其特征在于，所述章动减速器还包括减速器输入轴，所述减速器输入轴可转动设置在所述壳体内；
    所述章动发生机构包括：
    斜盘，所述斜盘转动设置在所述减速器输入轴上，所述斜盘的一个侧面为斜面，另一个侧面与所述斜盘的轴线垂直；
    驱动机构，所述斜盘通过驱动机构驱动转动；
    平面密珠轴承，所述平面密珠轴承设置在所述斜盘的两侧；
    所述壳体内表面形成有沿所述减速器输入轴径向凸伸的环形凸台，所述环形凸台的一侧面与所述平面密珠轴承的滚珠贴合，且所述环形凸台的一侧面与所述减速器输入轴垂直，所述环形凸台的端面、所述针齿轮的背面和所述斜盘的两侧面作为所述平面密珠轴承的滚道。
  11. 如权利要求9所述的一种章动减速器，其特征在于，所述驱动机构为电机，所述电机的输出轴与所述斜盘固定连接，所述电机的输出轴作为所述减速器输入轴以驱动所述斜盘转动。
  12. 如权利要求11所述的一种章动减速器，其特征在于，所述壳体作为所述电机的外壳，所述电机的定子嵌入所述壳体内，所述电机的转子转动设置在所述壳体内。
  13. 如权利要求9所述的一种章动减速器，其特征在于，所述齿轮副为两对，对称设置在所述章动发生机构的两侧。
  14. 如权利要求13所述的一种章动减速器，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针齿轮背面作为所述平面密珠轴承的滚道；
    两对所述针齿轮副中的两个所述针齿轮齿数相等。
  15. 如权利要求9-14任一所述的章动减速器，其特征在于，所述斜盘上的斜面与所述斜盘轴线的夹角为C，所述针齿轮与所述无瞬心包络齿轮轴间角为T，其中，C＝T-90°。
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KR1020237013395A KR20230107546A (ko) 2021-12-22 2022-05-23 기어쌍 및 장동 감속기
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