Plane gear type toroidal planetary worm transmission device

Abstract

The invention discloses a face gear type toroidal planet worm transmission device which comprises a toroidal worm, a plurality of face gears, a toroidal inner gear ring and a planet carrier, two tooth surfaces of gear teeth of each face gear are a first tooth surface and a second tooth surface, the first tooth surface and the second tooth surface are both planes, and the toroidal inner gear ring and the planet carrier are arranged on the toroidal worm. The included angle between the first tooth surface and the rotating shaft of the face gear is beta, the included angle between the second tooth surface and the rotating shaft of the face gear is beta, and beta is larger than or equal to 15 degrees and smaller than or equal to 30 degrees; the included angle alpha between the first tooth surface and the second tooth surface is larger than or equal to 25 degrees and smaller than or equal to 35 degrees. Through the design of the angle alpha, the angle beta and the angle alpha, when the face gear bears loads, force can be effectively transmitted to the planet carrier, deformation or displacement of the face gear caused by uneven distribution or unreasonable transmission of the force is reduced, and therefore the structural stability of the whole transmission system is enhanced, and the reliability and the working precision of the system are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical transmission, and in particular relates to a plane gear type toroidal planetary worm transmission device. Background Art

[0002] In the field of mechanical transmission, high-performance transmission devices with high transmission precision, smooth operation, and strong adaptability to industrial and mining applications are currently the main development trend. The toroidal planetary worm drive integrates toroidal worm drive technology with planetary drive technology, aligning with the current development trend of mechanical transmissions pursuing high power, high torque, compact size, and low cost. Currently, there is considerable research on toroidal planetary worm drives that use rolling elements as the planetary gear tooth surfaces. Rolling elements include spheres, cones, and cylinders. Toroidal planetary worm drives reduce friction between tooth surfaces by rolling. However, planetary gears containing rolling elements are complex and difficult to manufacture. Furthermore, the tooth surfaces of both the center worm and the toroidal inner ring gear are the envelope surfaces of the rolling elements. However, rolling element-type grinding wheels are cone-shaped grinding wheels, which have low linear speeds during development and low tooth grinding efficiency. This ineffectively transmits force to the planetary carrier. Uneven force distribution and improper force transmission can lead to significant deformation or displacement of the face gears, weakening the structural stability of the entire transmission system, reducing system reliability and operating accuracy. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the object of the present invention is to provide a plane gear type toroidal planetary worm transmission device.

[0004] The present invention is achieved through the following technical solutions.

[0005] A face gear type toroidal planetary worm transmission device comprises: a toroidal worm, a plurality of face gears, a toroidal inner ring gear, and a planet carrier, wherein the toroidal worm serves as an input component and is located at the rotary axis of the toroidal inner ring gear; the plurality of face gears are mounted on the planet carrier and are distributed in the circumferential direction of the toroidal worm; the face gears are respectively meshed with the toroidal inner ring gear and the toroidal worm; and the planet carrier serves as an output component; The two tooth surfaces of each of the planar gear teeth are the first tooth surface and the second tooth surface, both of which are planes, the angle between the first tooth surface and the rotating axis of the planar gear is β, the angle between the second tooth surface and the rotating axis of the planar gear is β, β satisfies: 15°≤β≤30°; the angle between the first tooth surface and the second tooth surface is α, α satisfies: 25°≤α≤35°.

[0006] In the above technical solution, the rotation axis of the toroidal worm, the rotation axis of the toroidal inner gear ring and the rotation axis of the planet carrier coincide with each other.

[0007] In the above technical solution, the rotation axis of the plane gear does not intersect with the rotation axis of the toroidal worm.

[0008] In the above technical solution, the rotation axis of the plane gear is perpendicular to the rotation axis of the toroidal worm, and the distance a between the rotation axis of the plane gear and the rotation axis of the toroidal worm is 12 Satisfy: 80mm≤a 12 ≤150mm.

[0009] In the above technical solution, the tooth tops of the gear teeth of the face gear are upwardly convex arc surfaces.

[0010] In the above technical solution, the tooth groove of the planar gear is a plane parallel to the rotation axis of the planar gear.

[0011] In the plane gear type toroidal planetary worm transmission device of the present invention, the first tooth surface and the second tooth surface are both planes, and the processing difficulty of the plane is relatively low compared to the curved surface. During the manufacturing process, the plane tooth shape can be easily obtained using ordinary processing methods such as cutting and grinding, which can reduce processing costs, improve production efficiency, and make it easier to ensure processing accuracy. The design of angle β and angle α enables the plane gear to effectively transfer force to the planetary carrier when it is under load, reducing the deformation or displacement of the plane gear caused by uneven distribution or unreasonable transmission of force, thereby enhancing the structural stability of the entire transmission system and improving the reliability and working accuracy of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A cross-sectional view of a plane gear type toroidal planetary worm transmission device according to the present invention; Figure 2 This is a three-dimensional structural diagram of the plane gear type toroidal planetary worm transmission device of the present invention; Figure 3 This is a three-dimensional structural diagram of the plane gear.

[0013] Among them, 1: toroidal worm, 2: plane gear, 21: first tooth surface, 22: second tooth surface, 23: tooth top, 24: tooth groove, 3: toroidal inner ring gear, 4: planet carrier. DETAILED DESCRIPTION Example 1

[0014] like Figures 1-3As shown, a plane gear type toroidal planetary worm transmission device includes: a toroidal worm 1, multiple plane gears 2, a toroidal inner gear 3 and a planet carrier 4, the toroidal inner gear 3 is a fixed stator, and its tooth surface is an envelope surface; the toroidal worm 1 serves as an input component, the toroidal worm 1 is located at the rotating axis of the toroidal inner gear 3, the number of plane gears 2 is at least 2, the multiple plane gears 2 are all installed on the planet carrier 4, and the multiple plane gears 2 are distributed in the circumferential direction of the toroidal worm 1, and the plane gears 2 are respectively connected to the toroidal worm 1. The toroidal inner gear 3 is meshed with the toroidal worm 1, and the planet carrier 4 serves as the output component; the two tooth surfaces of the gear teeth of each face gear 2 are the first tooth surface 21 and the second tooth surface 22, both of which are planes, and the angle between the first tooth surface 21 and the rotating axis of the face gear 2 is β, and the angle between the second tooth surface 22 and the rotating axis of the face gear 2 is β, and β satisfies: 15°≤β≤30°; the angle between the first tooth surface 21 and the second tooth surface 22 is α, and α satisfies: 25°≤α≤35°.

[0015] The tooth tips 23 of face gear 2 are upwardly convex arcuate surfaces, with every point on the tooth tip 23 being equidistant from the axis of rotation of face gear 2. This arcuate design allows for a smoother transition when face gear 2 meshes with the toroidal worm 1 or the toroidal ring gear 3. Compared to a direct connection between the first tooth surface 21 and the second tooth surface 22, the arcuate surface reduces the impact of engagement and creates a softer contact between the tooth surfaces, thereby reducing vibration and noise and improving transmission smoothness.

[0016] The tooth grooves 24 of face gear 2 are planes parallel to the face gear 2's axis of rotation (S2). The relatively simple structure of the tooth grooves 24 facilitates fabrication using conventional machining methods, such as milling and grinding. This reduces machining complexity and costs, improves production efficiency, and facilitates large-scale production. Because the tooth grooves 24 are parallel to the face gear 2's axis of rotation, force transmission is evenly distributed along the axis of rotation, avoiding force concentration or eccentricity caused by the irregular shape of the tooth grooves 24. This improves the face gear 2's load-bearing capacity and transmission efficiency.

[0017] like Figure 2 As shown, the rotating axis (S1) of the toroidal worm 1, the rotating axis (S3) of the toroidal inner gear 3, and the rotating axis (S4) of the planet carrier 4 coincide. This ensures the relative positional accuracy between the toroidal worm 1, the toroidal inner gear 3, and the planet carrier 4, making the transmission process more stable and accurate. In this coaxial arrangement, the power transmission path from the toroidal worm 1 to the planet carrier 4 is more direct, reducing the deflection and vibration caused by axis misalignment, thereby improving the transmission accuracy of the entire face gear toroidal planetary worm transmission device and facilitating precise motion control and power transmission.

[0018] The extension line of the rotation axis of the plane gear 2 does not intersect with the extension line of the rotation axis of the toroidal worm 1 and is arranged perpendicularly. The distance a between the rotation axis of the plane gear 2 and the rotation axis of the toroidal worm 1 is 12 Satisfy: 80mm≤a 12 ≤150mm. Adjust according to the specific equipment size and transmission requirements. 12 , ensure that there is enough space between the components for installation, lubrication and heat dissipation, while avoiding 12 Too large or too small will cause problems such as structural instability or reduced transmission efficiency. 12 When the diameter is ≤150mm, the meshing state between the plane gear 2 and the toroidal worm 1 and the tooth surface contact stress distribution between the plane gear 2 and the toroidal inner gear 3 are more uniform, which can give full play to the load-bearing capacity of both and improve the transmission efficiency.

[0019] The toroidal worm 1 rotates at an angular velocity ω r The toroidal worm 1 is meshed with the teeth of the plane gear 2, and the motion is transmitted to the plane gear 2. The plane gear 2 rotates around the rotation axis of the plane gear 2 at ω 2z When the plane gear 2 rotates, the toroidal inner gear 3 provides a reaction force for the plane gear 2 and the toroidal inner gear 3 is stationary, so that the plane gear 2 revolves around the rotating axis of the toroidal worm 1 at a speed of ω. 2g Due to the constraints of the toroidal worm 1 and the toroidal inner gear 3, the plane gear 2 drives the planet carrier 4 to output, and the planet carrier 4 rotates around the rotation axis of the planet carrier 4 at ω c The angular velocity of the rotation is ω c The angular velocity ω of the plane gear 2 2g equal.

[0020] The transmission ratio of the plane gear type toroidal planetary worm transmission is , z1 is the number of helical teeth of the toroidal worm 1, and z3 is the number of teeth of the toroidal inner gear 3. Example 2

[0021] A plane gear type toroidal planetary worm transmission device, based on embodiment 1, the number of plane gears 2 is 3, a 12 The number of teeth of plane gear 2 is . , . . .

[0022] The transmission ratio of the plane gear type toroidal planetary worm transmission is , the plane gear type toroidal planetary worm transmission has a large reduction ratio. Example 3

[0023] A face gear-type toroidal planetary worm transmission, based on Example 2, with β = 10°, α = 26°, and a load torque of 100 N·m. After 500 hours of continuous operation under these conditions, the face gear-type toroidal planetary worm transmission developed significant axial scratches on the first tooth flank 21 and second tooth flank 22 of face gear 2, with an average wear depth of 25 μm. The tooth flanks exhibited uneven wear, with severe wear near the tooth tops and roots, and metal spalling in some areas. Example 4

[0024] A plane gear-type toroidal planetary worm transmission, based on Example 2, with β = 20°, α = 30°, and a load torque of 100 N·m. The plane gear-type toroidal planetary worm transmission operated continuously for 500 hours under the above operating conditions. The first and second tooth flanks exhibited slight and relatively uniform wear, with an average wear depth of 5 μm. The microstructures of the first and second tooth flanks remained largely intact, with only minor scratches. Example 5

[0025] A plane gear-type toroidal planetary worm transmission, based on Example 2, with β = 35°, α = 33°, and a load torque of 100 N·m. After 500 hours of continuous operation under these conditions, the plane gear-type toroidal planetary worm transmission exhibited severe normal wear on the tooth surfaces, with an average wear depth of 18 μm. Significant fatigue wear characteristics, such as pitting and craters, appeared in the tooth contact area. This was due to excessive normal force, which exacerbated fatigue damage on the tooth surfaces.

[0026] A β angle between 15° and 30° achieves optimal balance between the toroidal worm 1 and the planet carrier 4, reducing vibration and noise and improving transmission efficiency. β determines the inclination of the tooth flanks of face gear 2. When the included angle β satisfies the following conditions: 15° ≤ β ≤ 30°, the force action lines are relatively uniform when the face gear 2 meshes with the toroidal worm 1 and the toroidal ring gear 3. This ensures that the force is evenly transmitted along the tooth flanks to the planet carrier 4 under load. If the β angle is too large or too small, the force transmission direction may deviate significantly from the ideal direction, resulting in a large force component during transmission, which can cause deformation or displacement of the face gear. A small β angle may shorten the contact line and inadequate load capacity, while a large β angle may increase axial forces and increase bearing loads. For example, an excessively large β angle may result in excessive normal forces on the tooth flanks, potentially causing tooth wear and gear deformation. A small β angle may result in an excessively large axial force component, leading to axial gear movement. Therefore, in the technical solution of the present invention, β satisfies 15°≤β≤30°, which helps to make the contact line length of the plane gear 2 moderate during the meshing process, thereby improving the stability and load-bearing capacity of the gear transmission. Example 6

[0027] Finite element simulation analysis of face gear 2 in Example 2 was performed using the SolidWorks finite element module. The material used was 40Cr alloy steel with an elastic modulus of 206 GPa and a Poisson's ratio of 0.3. Loading method: A load of 10 N·m was applied to planet carrier 4 to simulate actual operating conditions.

[0028] When β = 17° and α = 20°, the maximum equivalent stress reached 450 MPa, occurring in the transition area between the first tooth flank 21 and the tooth root. The safety factor here is 1.2, close to the material yield strength, posing a structural strength risk. Stress distribution is uneven, and the coordinated load-bearing effect between the first tooth flank 21 and the second tooth flank 22 is poor, with significant stress concentration in some areas. After 1000 hours of operation, face gear 2 developed multiple fatigue cracks, the longest of which reached 2 mm in length. The tooth wear depth exceeded 50 μm, and the gear failed.

[0029] When β = 20° and α = 30°, the maximum equivalent stress reached 300 MPa, located at the center of the contact area between the first and second tooth surfaces 21 and 22. The safety factor was 1.8, and the structural strength met the design requirements. The stress was evenly distributed across the first and second tooth surfaces 21 and 22, effectively utilizing the load-bearing capacity of the inclined planes of the first and second tooth surfaces 21 and 22. After 3000 hours of operation, only slight wear on the tooth surfaces, with a wear depth of 10 μm, was observed, with no obvious fatigue cracks.

[0030] When β = 28° and α = 40°, the maximum equivalent stress reached 420 MPa, concentrated on the second tooth flank 22 near the tooth tip. The safety factor was 1.3, indicating relatively insufficient structural strength. The stress was primarily concentrated on the second tooth flank 22, resulting in excessively high stress locally there. After 1500 hours of operation, the second tooth flank 22 showed severe wear and fatigue spalling, resulting in significant material loss and the gear becoming inoperable.

[0031] α determines the angle between the first tooth flank 21 and the second tooth flank 22, which in turn affects the tooth flank shape and the area of force application. When the angle α is too large or too small, the force distribution becomes uneven. For example, if the angle α is too large, the force may be primarily concentrated on the second tooth flank, causing the second tooth flank to bear excessive load. If the angle α is too small, the synergistic effect between the first tooth flank 21 and the second tooth flank 22 will be weakened, which is not conducive to effective force transmission and uniform distribution. If the angle α is too small, the force distribution may be too concentrated in certain areas, resulting in severe localized wear. If the angle α is too large, the structural strength of the gear may be affected, and when transmitting the same torque, a greater driving force may be required, increasing energy loss. Therefore, in the technical solution of the present invention, α is set to meet the following requirements: 25° ≤ α ≤ 35°. This angle range facilitates a more even distribution of the force applied to the face gear during transmission. When the face gear meshes with other components, the force is rationally distributed across the first tooth flank 21 and the second tooth flank 22, avoiding force concentration in a single area and extending the gear's service life.

[0032] The combination of 15°≤β≤30° and 25°≤α≤35° ensures a more even distribution of force on the face gear tooth surface and a more optimal transmission path when meshing with the toroidal worm and toroidal ring gear. This effectively reduces face gear deformation or displacement caused by uneven force distribution or improper force transmission, thereby enhancing the structural stability of the entire transmission system and improving system reliability and operating accuracy.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means two or more, unless otherwise specifically defined.

[0034] The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A plane gear type toroidal planetary worm transmission device, comprising: An annular worm (1), a plurality of plane gears (2), a toroidal inner gear ring (3) and a planet carrier (4), wherein the annular worm (1) serves as an input component, the annular worm (1) is located at the rotation axis of the toroidal inner gear ring (3), the plurality of plane gears (2) are all mounted on the planet carrier (4), the plurality of plane gears (2) are distributed in the circumferential direction of the annular worm (1), the plane gears (2) are respectively engaged with the toroidal inner gear ring (3) and the annular worm (1), and the planet carrier (4) serves as an output component; The two tooth surfaces of the gear teeth of each of the planar gears (2) are a first tooth surface (21) and a second tooth surface (22), and are characterized in that the first tooth surface (21) and the second tooth surface (22) are both planes, the angle between the first tooth surface (21) and the rotary axis of the planar gear (2) is β, the angle between the second tooth surface (22) and the rotary axis of the planar gear (2) is β, and β satisfies: 15°≤β≤30°; the angle between the first tooth surface (21) and the second tooth surface (22) is α, and α satisfies: 25°≤α≤35°.

2. The plane gear type toroidal planetary worm transmission according to claim 1, characterized in that: The rotation axis of the toroidal worm (1), the rotation axis of the toroidal inner gear (3), and the rotation axis of the planet carrier (4) coincide with each other.

3. The plane gear type toroidal planetary worm transmission according to claim 1, characterized in that: The rotation axis of the plane gear (2) does not intersect with the rotation axis of the annular worm (1).

4. The plane gear type toroidal planetary worm transmission according to claim 3, characterized in that: The rotation axis of the plane gear (2) is arranged perpendicular to the rotation axis of the annular worm (1), and the distance a between the rotation axis of the plane gear (2) and the rotation axis of the annular worm (1) is 12 Satisfy: 80mm≤a 12 ≤150mm.

5. The plane gear type toroidal planetary worm transmission according to claim 1, characterized in that: The tooth tops (23) of the gear teeth of the planar gear (2) are upwardly convex arc surfaces.

6. The plane gear type toroidal planetary worm transmission according to claim 1, characterized in that: The tooth groove (24) of the plane gear (2) is a plane parallel to the rotation axis of the plane gear (2).

Images