Cycloidal gear hollow ring transmission

Abstract

According to the cycloid gear transmission, the two symmetrical eccentric bearings drive the gears to be meshed, through the design of the number of teeth of the gears and innovation of the gear connecting mode, the transmission ratio of the two gears of n2: 1 and n: 1 is obtained in a small space with few parts, and more choices are provided for mechanical transmission.

Description

Technical Field

[0001] The invention relates to a transmission device of a speed changer, and belongs to the technical field of machinery. Background Art

[0002] Currently known cycloid gear transmissions consist of a pin gear meshing with a cycloid gear, or a cycloid gear meshing with a pin gear. Typically, two gears with the same number of teeth oscillate 180 degrees around the axis of a third gear. Because the oscillating and fixed-axis gears have different numbers of teeth, transmission is achieved, typically resulting in a fixed ratio. Because each tooth on the pin gear or pin gear has a necessary radial structure and requires a certain amount of radial space, the number of teeth is limited for the same diameter, and therefore the reduction ratio is also limited.

[0003] In order to solve the above problems, the present invention is proposed. The purpose of the present invention is to provide a transmission that can achieve a large reduction ratio in a small space and can output two gear ratios, providing a wider range of application options for mechanical transmission. Summary of the Invention

[0004] The cycloid gear hollow ring transmission is characterized in that it includes at least four gears with the same axis position, gear A1 and gear A2 are cycloid gears, gear B1 and gear B2 are pin gears, and the pin sleeves on the pin gears are driven by eccentric bearings to mesh with the cycloid gears, gear A1 meshes with gear B1, and gear A2 meshes with gear B2. The number of teeth of gear B1 is N, the number of teeth of gear A1 is N+1, the number of teeth of gear B2 is N+1, and the number of teeth of gear A2 is N+2. The gear combination method includes the following two methods: the first method is that gear A1 and gear A2 are fixedly connected, one of gear B1 and gear B2 can be fixed and prevented from rotating, and the other can drive the output shaft; the second combination method is that gear B1 and gear B2 are fixedly connected, one of gear A1 and gear A2 can be fixed and prevented from rotating, and the other can drive the output shaft.

[0005] The obvious advantage of the above design is that a larger transmission ratio is achieved in a smaller space.

[0006] Furthermore, the so-called cycloid gear hollow ring transmission also includes a clutch C. The clutch C has two installation methods. The first installation method is to install it at the fixed end of the outer shell, and the fixed cycloid gear or the pin gear is selected by switching the clutch C. The second installation method is to install it at the output shaft end, and the output by the cycloid gear or the pin gear is selected by switching the clutch C, including a combination of the above two gears and a combination of the two clutch installation methods.

[0007] The obvious advantage of the above design is that two gear ratios are achieved in a smaller space.

[0008] Furthermore, it includes a clutch C, which has two installation methods. The first installation method is to install it at the fixed end of the housing, and the fixed cycloid gear A2 or the pin gear B2 is selected by switching the clutch C; the second installation method is to install it at the output shaft end, and the output by the cycloid gear A1 or the pin gear B1 is selected by switching the clutch C. The clutch C can switch the output speed ratio of the cycloid gear hollow ring transmission according to the external load or machine needs.

[0009] The purpose of the above design is to realize two gears with exponential relationship and the same direction, namely N 2 The obvious advantage of the two gear ratios of N:1 and N:1 is that it can be used in scenarios where the load is constantly changing, such as the joints of reciprocating handling machinery, or the joints of machinery running with loads, or vehicles that need to travel on different road conditions.

[0010] As an improvement, a retainer is installed between the inner cavity of the pin sleeve and the pin in the pin gear. The retainer maintains the relative position of the pin and the pin sleeve. The retainer is made of a copper-containing material or plastic. The retainer prevents collision between the pin sleeve and the pin.

[0011] Alternatively, the number of teeth of cycloid gear A1 and cycloid gear A2 is not a prime number among natural numbers. The purpose of not having a prime number of teeth is to enable the gears to be quickly machined using a grinding machine with multiple grinding heads, thereby reducing production costs.

[0012] The cycloid hollow ring transmission disclosed in this invention features a further improvement: the sum of the weights of all the pin sleeves in pin gear B1 is M1, and the sum of the weights of all the pin sleeves in pin gear B2 is M2. The eccentric bearing driving pin gear B1 also drives a counterweight, M3, whereby M2 - M1 = M3. This achieves angular momentum balance between the two oscillating shafts.

[0013] Furthermore, the two eccentric bearings of the drive pin gears are installed at 180 degrees, the number of teeth of pin gear B1 is N, and the number of teeth of pin gear B2 is N+1. The gear designs include the following: first, the diameter of pin gear B1 is larger than the diameter of pin gear B2; second, the diameter of cycloid gear A1 is larger than the diameter of cycloid gear A2; third, the axial height of the pin sleeve in pin gear B1 is larger than the axial height of the pin sleeve in pin gear B2; fourth, the outer diameter of the pin sleeve in pin gear B1 is larger than the outer diameter of the pin sleeve in pin gear B2, or a combination of one or more of the above four design methods. The purpose is to provide a method for achieving angular momentum balance.

[0014] As an option, the outer ring of the eccentric bearing of the driving pin gear B1 includes a washer. The outer ring radius of each pin sleeve in the pin gear B1 is R1, the inner ring radius is R2, the height of the so-called washer is the same as the height of the pin sleeve, the outer ring radius of the so-called washer is R3, and the outer ring radius of the eccentric bearing is R4, then (R1) 2 -(R2) 2 ≥(R3) 2 -(R4) 2 In addition to achieving angular momentum balance, this design also has the obvious advantage that the pin sleeve and the so-called washer will wear synchronously during long-term use, so angular momentum balance can also be achieved over a long period of time.

[0015] Alternatively, the pin sleeve in the pin gear has outwardly flared openings at both ends, and the mating pin also has a tapered design. This serves to axially position the pin sleeve and increase the contact area between the pin sleeve and the pin, reducing wear.

[0016] The cycloid gear hollow ring transmission of the present invention can be combined with various engines to form a power output module. The engines may include but are not limited to: an axial flux motor, an outer rotor motor, an inner rotor motor, or a turbine.

[0017] The cycloid gear hollow ring transmission of the present invention can be used in various mechanical transmission systems, and its application scenarios include but are not limited to propeller drive or hub drive or mechanical joints, where mechanical joints include but are not limited to rotary joints of industrial machinery, or wearable robotic arms, or human-machine collaborative mechanical devices, or robotic arms, or vehicle steering systems, or aircraft steering rudder transmission systems, or ship steering rudder transmission systems.

[0018] The technical advantages and protection scope of the present invention will be more clearly understood with reference to the accompanying drawings. The accompanying drawings and accompanying descriptions are intended to specifically illustrate the advantages of the present invention, and the specific examples therein are not intended to limit the protection scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Explanation of symbols in the figure: A1 - Cycloidal gear No. 1; A2 - Cycloidal gear No. 2; B1 - Pin gear No. 1; B2 - Pin gear No. 2; B11 - Retainer; B12 - Pin on the pin gear, B121 - Taper on the pin; B13 - Pin sleeve on the pin gear; B131 - Tapered opening on the pin sleeve; C - Clutch; D - Fixed plate connected to the housing; E1 - Eccentric shaft No. 1; E2 - Eccentric shaft No. 2; Input shaft - G; F1 - First bearing; F2 - Second bearing; F3 - Third bearing; F4 - Fourth bearing; F5 - Fifth bearing; F6 - Sixth bearing; F7 - Seventh bearing; F8 - Eighth bearing; H1 - First section position; H2 - Second section position; O - Axis center position; J - Washer; K1 - Connecting ring No. 1; K2 - Connecting ring No. 2.

[0020] Figure 1 It is an axial cross-sectional view of a cycloid gear hollow ring transmission designed according to the principles disclosed in this invention.

[0021] Figure 2 yes Figure 1 Radial cross-sectional view of the first cross-sectional position H1 in the lower middle part.

[0022] Figure 3 yes Figure 1 A radial cross-sectional view of the second cross-sectional position H2 in the upper middle part.

[0023] Figure 4 It is a radial cross-sectional view of a pin sleeve including a retainer in the present invention.

[0024] Figure 5 It is an axial cross-sectional view of a pin sleeve including a tapered opening according to the present invention. DETAILED DESCRIPTION

[0025] The advantages of the present invention and preferred embodiments of the present invention are described with reference to the accompanying drawings. Specific examples are provided to illustrate the advantages of the present invention and are not intended to limit the scope of protection of the present invention.

[0026] Figure 1 This is an axial cross-section of a cycloid hollow ring transmission designed according to the principles disclosed in this invention. The center of the figure shows input shaft G, with its axis at O2. Input shaft G is mounted on a fixed plate D connected to the outer housing via bearing F1. Clutch C is mounted below fixed plate D, which is connected to the outer housing. Clutch C can connect to either outer cycloid gear A2 (No. 2) or inner pin gear B2 (No. 2). In the figure, clutch C is connected to cycloid gear A2, so cycloid gear A2 is fixed and does not rotate, while pin gear B2 is able to rotate.

[0027] Figure 1The No. 2 cycloid gear A2 is connected to the No. 2 pin gear B2 through the second bearing F2 and the fourth bearing F4. The third bearing F3 is connected to the input shaft G through the No. 1 eccentric shaft E1. The axis of the third bearing F3 is O3. Therefore, when the input shaft G rotates, the third bearing F3 will drive the pin sleeve B13 on the No. 2 pin gear B2 to perform eccentric motion around the pin shaft B12, and at the same time engage with the cycloid gear A2.

[0028] Figure 1 Connecting ring K1 is fixedly attached to pin gear B2 (No. 2), which in turn is connected to pin gear B1 (No. 1). Pin gear B1 is connected to cycloid gear A1 (No. 1) via bearings F5 and F7. Eccentric shaft E2 is located between input shaft G and bearing F6 (No. 6). The axis of bearing F6 is O1. Similar to the upper diagram, when input shaft G rotates, bearing F6 drives the pin sleeve on pin gear B1 (No. 1) into engagement with cycloid gear A1. However, unlike the upper diagram, a washer J is located between bearing F6 and pin gear B1. This washer maintains angular momentum balance between the upper and lower eccentric systems.

[0029] Figure 1 The lower end of the pin gear No. 1 is connected to the input shaft G through the No. 2 connecting ring K2 and the eighth bearing F8. In the example shown in the figure, the No. 1 cycloid gear A1 is the output gear.

[0030] Figure 2 yes Figure 1 A radial cross-section at the first section H1 in the lower center. The center of the image is input shaft G, with its axis at O2. Eccentric shaft E2 is securely attached to its periphery. Eccentric shaft E2 is also attached to bearing F6, which has its axis at O1. Bearing F6 oscillates around axis O2, pushing pin sleeve B13 through washer J to oscillate around pin B12 while simultaneously meshing with cycloid gear A1.

[0031] Figure 3 yes Figure 1 A radial cross-section of the second section at position H2 in the upper center. The center of the image is input shaft G, with its axis at O2. Eccentric shaft E1 is securely attached to its periphery. Eccentric shaft E1 is also attached to the third bearing F3, whose axis is at O3. Axis O3 oscillates around axis O2. Rotation of input shaft G pushes pin sleeve B13, which oscillates around pin B12 through third bearing F3, while simultaneously meshing with cycloid gear A2.

[0032] The following combination Figure 1 、 Figure 2 、 Figure 3To illustrate the operation and advantages of this embodiment of the present invention, the third bearing F3 and the sixth bearing F6 are arranged 180 degrees symmetrically. When the input shaft G rotates one revolution clockwise, pin gear No. 2 B2 engages with cycloid gear No. 2 A2. Because cycloid gear No. 2 is fixed to fixed plate D connected to the housing by clutch C and cannot rotate, pin gear No. 2 rotates counterclockwise 1 / 14 of a revolution. Pin gear No. 2 is connected to pin gear No. 1 B1 via connecting ring No. 1 K1, forcing pin gear No. 1 B1 to rotate counterclockwise 1 / 14 of a revolution. Since pin gear No. 1 B1 simultaneously engages clockwise with cycloid gear No. 1 A1, cycloid gear No. 1 rotates clockwise 1 / 196 of a revolution, resulting in a reduction ratio of 196:1.

[0033] When clutch C releases No. 2 cycloid gear A2 and switches to fixed No. 2 pin gear B2, No. 1 pin gear B1 is also fixed. Then the input shaft G rotates 1 circle clockwise and the cycloid gear A1 rotates 1 / 14 circle clockwise. The reduction ratio is 14:1 and the rotation direction is the same.

[0034] Figure 4 This is a radial cross-section of a pin sleeve with a retainer according to the present invention. The center of the figure shows pin B12, which contacts the inner ring of pin sleeve B13. Inside the inner ring of pin sleeve B13 is retainer B11, which prevents collision between pin sleeve B13 and pin B12. Retainer B11 can be made of a copper alloy or plastic.

[0035] Figure 5 This is an axial cross-section of a pin sleeve with a tapered opening, according to the present invention. The center of the figure shows the pin B12, with the outer ring of the pin sleeve B13 forming the outer ring. Pin B12 is larger at both ends and smaller in the middle, with the transition portion being the tapered opening B121 on the pin. The inner ring of the pin sleeve B13 features a tapered opening B131, which mates with it. This design axially positions the pin sleeve, increases the contact area between the sleeve and the pin, and reduces wear.

[0036] Other specific cases can also be designed based on the principle of the cycloid gear hollow ring transmission proposed in the present invention. Application scenarios include but are not limited to being combined with a turboshaft engine to form a power module, or being combined with an electric motor to form a power module. The electric motor can be an axial flux motor, an outer rotor motor, or an inner rotor motor.

[0037] From the above cases, it can be seen that the cycloid gear hollow ring transmission of the present invention can obtain n 2 The transmission ratios of n:1 and n:1 can be used in more application scenarios, such as driving vehicles to adapt to various complex road conditions, or driving robots to gain explosive power and endurance in running and jumping.

[0038] The present invention is applied in a mechanical transmission device, and its application scenarios include but are not limited to applications in propeller drive or hub drive or mechanical joints, where mechanical joints include but are not limited to rotary joints of industrial machinery, or wearable robotic arms, or human-machine collaborative mechanical devices, or robotic arms, or vehicle steering systems, or aircraft steering rudder transmission systems, or ship steering rudder transmission systems, or other various application scenarios, or other mechanical actuators, which are not listed here.

Claims

1. Cycloid gear hollow ring transmission, characterized by: It contains at least four gears with the same axis position. Gear A1 and gear A2 are cycloid gears, gear B1 and gear B2 are pin gears. The pin sleeve on the pin gear is driven by an eccentric bearing to mesh with the cycloid gear. Gear A1 meshes with gear B1, and gear A2 meshes with gear B2. The number of teeth of gear B1 is N, the number of teeth of gear A1 is N+1, the number of teeth of gear B2 is N+1, and the number of teeth of gear A2 is N+2. The combination of gears includes the following two methods: the first method is that gear A1 and gear A2 are fixed, and one of gear B1 and gear B2 can be fixed and not rotate, and the other can drive the output Shaft, the second combination is that gear B1 and gear B2 are fixedly connected, one of gear A1 and gear A2 can be fixed and not rotated, and the other can drive the output shaft; the so-called cycloid gear hollow ring transmission also includes a clutch C, and the clutch C has two installation methods. The first installation method is to install it at the fixed end of the shell, and the fixed cycloid gear or the pin gear is selected by switching the clutch C. The second installation method is to install it at the output shaft end, and the output by the cycloid gear or the pin gear is selected by switching the clutch C, which includes a combination of the above two gear combinations and a combination of the two clutch installation methods.

2. The transmission according to claim 1, wherein: A retainer is installed between the inner cavity of the pin sleeve and the pin in the pin gear. The function of the retainer is to maintain the relative position of the pin and the pin sleeve. The material of the retainer includes copper-containing material or plastic.

3. The transmission according to claim 1, wherein: The outer ring of the eccentric bearing of the driving pin gear B1 contains a washer. The outer ring radius of each pin sleeve in the pin gear B1 is R1, the inner ring radius is R2, the outer ring radius of the washer is R3, and the outer ring radius of the eccentric bearing is R4. Then (R1) 2 -(R2) 2 ≥(R3) 2 -(R4) 2 .

4. The transmission according to claim 1, wherein: The number of teeth of the cycloid gear A1 and the cycloid gear A2 is not a prime number among natural numbers.

5. The transmission according to claim 1, wherein: The sum of the weights of all the pin sleeves in the pin gear B1 is M1, and the sum of the weights of all the pin sleeves in the pin gear B2 is M2. The eccentric bearing that drives the pin gear B1 also drives a counterweight, and the weight of the counterweight is M3, so M2-M1=M3.

6. The transmission according to claim 1, wherein: The two eccentric bearings driving the pin gear are installed at 180 degrees, the number of teeth of the pin gear B1 is N, and the number of teeth of the pin gear B2 is N+1. The gear design includes the following methods: the first method is that the diameter of the pin gear B1 is larger than the diameter of the pin gear B2; or the second method is that the diameter of the cycloid gear A1 is larger than the diameter of the cycloid gear A2; the third design method is that the axial height of the pin sleeve in the pin gear B1 is larger than the axial height of the pin sleeve in the pin gear B2; the fourth design method is that the outer diameter of the pin sleeve in the pin gear B1 is larger than the outer diameter of the pin sleeve in the pin gear B2, or a combination of one or more of the above four design methods.

7. The transmission according to claim 1, characterized in that: It includes a clutch C, which has two installation methods. The first installation method is to install it at the fixed end of the housing, and the fixed cycloid gear A2 or the pin gear B2 is selected by switching the clutch C; the second installation method is to install it at the output shaft end, and the output by the cycloid gear A1 or the pin gear B1 is selected by switching the clutch C. The clutch C can switch the output speed ratio of the cycloid gear hollow ring transmission according to the external load or machine requirements.

8. The transmission according to claim 1, wherein: Both ends of the inner cavity of the pin shaft sleeve in the pin shaft gear have openings that expand outward, and the pin shaft that matches therewith also has a tapered design that matches therewith.

9. The transmission according to claim 1, characterized in that: The cycloid gear hollow ring transmission cooperates with an engine to form a power output module. The engine can be any one of an axial flux motor, an outer rotor motor, an inner rotor motor, or a turbine.

10. The transmission according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 or 9, characterized in that: The cycloid gear hollow ring transmission is used in a transmission system, and its application scenarios include but are not limited to propeller drive or hub drive or mechanical actuators, where the mechanical actuators include but are not limited to rotary joints of industrial machinery, or wearable robotic arms, or human-machine collaborative mechanical devices, or robotic arms, or vehicle steering systems, or aircraft steering rudder transmission systems, or ship steering rudder transmission systems.

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