Roller gear and toroidal worm drive pair, and modeling and machining methods therefor and transmission device comprising same

Abstract

A roller gear and toroidal worm drive pair, and modeling and machining methods therefor and a transmission device comprising same. The roller gear and toroidal worm drive pair comprises a roller gear and a toroidal worm, and transmits motion and power between two axes that are interlaced in space. The transmission device mainly comprises the roller gear and toroidal worm drive pair, a motor or pump or handwheel, a base, and a bearing.

Description

Roller wheel and toroidal worm gear transmission pair and its modeling, processing method and transmission device Technical Field

[0001] The present invention relates to the field of mechanical transmission, in particular to key basic components in the new energy vehicle and high-end equipment manufacturing industries, as well as military and medical equipment. It relates to a roller wheel and toroidal worm transmission pair, a modeling and processing method thereof, and a transmission device. Background Art

[0002] The worm gear transmission is a key component used in the new energy vehicle industry, high-end equipment manufacturing industries including intelligent manufacturing, aviation, aerospace, rail transportation, marine engineering, integrated circuit equipment, military industry, and medical equipment.

[0003] As the requirements of main equipment for transmission system accuracy, backlash and life are continuously improved, worm gear transmission is developing towards the direction of simplified structure, easy processing, high precision, high efficiency, high load, high speed, no backlash, low cost, low noise and good interchangeability.

[0004] The disadvantages of existing worm gear transmission are: poor interchangeability of different specifications, difficult and costly processing and assembly of precision worm gear transmission, easy heat generation due to sliding friction of worm gear, and unsuitable for high speed; low strength of roller bearing worm tooth root, complex single-sided support structure of roller bearing; small load-bearing capacity of ball worm, and easy wear.

[0005] Existing patent literature:

[0006] Patent document 1: US277802A;

[0007] Patent document 2: US1256440A;

[0008] Patent document 3: CS196771B1;

[0009] Patent document 4: FR2596128B1;

[0010] Patent document 5: WO9612901A1. Solution

[0011] In order to overcome the existing defects, the technical solution adopted by the present invention is: a roller wheel and toroidal worm transmission pair, comprising: a roller wheel and a toroidal worm;

[0012] The roller wheel includes a rolling body and a rolling body bracket;

[0013] The rolling element includes a roller or a roller and a steel sleeve or a roller and a bushing or a roller and a bearing combination;

[0014] The rolling element support is a roller support, a bushing support or a bearing support;

[0015] The rolling element holder is provided with a center line and holes distributed according to a pitch circle. The rolling element is provided with an axis, and its outer contour is a straight line or a combination of a straight line and an oblique line or a straight line and an arc, which rotates along the axis. A plurality of rolling elements are placed in the holes of the rolling element holder to form a roller wheel. The toroidal worm is provided with an axis line, an annular spiral groove, an annular spiral line, an envelope contact curve and a large arc tooth root. It is a rotating body formed by rotating the outer contour ring roller wheel along the axis line with the arc as the generatrix. The roller wheel containing the rolling element is meshed with the toroidal worm to form a roller wheel and toroidal worm transmission pair.

[0016] The roller wheel and the toroidal worm transmission pair transmit motion and power between two axes that are spatially staggered. The staggered angle between the two axes can be any value, and is usually 90°.

[0017] The toroidal worm is formed by rotating the outer contour of the rolling body along the toroidal spiral line according to the axis, and the toroidal spiral groove is cut out, which is in line contact and meshing with the rolling body. The contact line is an envelope contact curve that envelops the rolling body, and it engages with the rolling body in a progressive manner. At the same time, a single or multiple rolling bodies are in contact with the toroidal worm, forming a single or multiple contact curves. The distance between the axis line of the toroidal worm and the center line of the roller wheel is adjusted to eliminate transmission clearance, apply preload or compensate for wear.

[0018] The transmission ratio of the roller wheel and the toroidal worm gear pair is 360 / α;

[0019] The 3D curve equation of the toroidal spiral in the Cartesian coordinate system is:

[0020] x=-Pd / 2*sin(90°-tα°);

[0021] y=(Pc-Pd / 2*sin(tα°))cos(t*360°);

[0022] z=(Pc-Pd / 2*sin(tα°))sin(t*360°);

[0023] Wherein, Pd: pitch circle diameter; Pc: center distance; α: torus helix angle; 0≤t≤180 / α;

[0024] Preferably, the holes of the rolling element holder are evenly distributed along the pitch circle and are parallel to the center line, the axis of the rolling element is parallel to the center line of the pitch circle, and its outer contour is a straight line rotating along the axis. Multiple rolling elements with the same cross-section are placed in the holes of the rolling element holder to form a roller wheel. The axial position error does not affect the meshing accuracy with the toroidal worm gear. The rolling elements are interchangeable and worn rolling elements can be replaced individually.

[0025] Preferably, the roller wheel is a roller or a combination of a roller and a steel sleeve, a bushing or a bearing and a bushing bracket or a bearing bracket. The bushing or the bearing is fixed in the bushing bracket or the bearing bracket. The roller or the roller and the steel sleeve can rotate in the bushing or the bearing. The bushing or the bearing bears unidirectional or omnidirectional forces. The roller or the steel sleeve and the toroidal worm are engaged by rolling instead of sliding, which reduces friction and wear and improves efficiency and life.

[0026] The toroidal worm is a single-start or multi-start worm, and its outer contour generatrix is ​​a convex arc located inside the roller wheel and a concave arc located outside the roller wheel. Roller wheels with the same pitch circle diameter are meshed with different toroidal worms to form roller wheel and toroidal worm transmission pairs with different transmission ratios.

[0027] The roller wheel and toroidal worm transmission pair can be composed of the same roller wheel meshing with different toroidal worms to form the same or different transmission ratios; in the roller wheel and toroidal worm transmission pair with the same transmission ratio, the number of rolling elements simultaneously meshing with the same toroidal worm is adjustable.

[0028] The angle between the rolling elements is an integer multiple of the toroidal helix angle of the toroidal worm. The larger the multiple, the more proportional the number of rolling elements decreases, and the transmission ratio remains unchanged. The same toroidal worm can be equipped with different roller wheels. When the angle between the rolling elements is equal to the toroidal helix angle, the load-bearing capacity of the transmission pair is the largest. Increasing the angle between the rolling elements can reduce friction and simplify the structure, and the load-bearing capacity is correspondingly reduced.

[0029] A roller bar and straight worm transmission pair, comprising: a roller bar and a straight worm;

[0030] When the pitch circle diameter of the roller wheel in the roller wheel and toroidal worm transmission pair is infinite, the roller wheel becomes a straight roller strip, and the toroidal worm becomes a straight worm, and its outer contour changes from an arc to a straight line parallel to the roller strip;

[0031] The roller strip includes a rolling body and a rolling body support;

[0032] The rolling element includes a roller or a roller and a steel sleeve or a roller and a bushing or a roller and a bearing combination;

[0033] The rolling element support is a roller support, a bushing support or a bearing support;

[0034] The rolling elements are distributed in parallel and placed in the holes of the rolling element holder to form a roller strip. The straight worm is provided with an axis line, a spiral groove, a spiral line, an envelope curve and a large arc tooth root. The outer contour of the rolling element rotates along the axis to cut a spiral groove along the spiral line. It is a single-head or multi-head worm, which is a rotating body formed by rotating along an axis line parallel to or at an acute angle to the straight line with the outer contour parallel to the roller strip as the main line. The roller strip containing the rolling element is meshed with the straight worm to form a roller strip and straight worm transmission pair. The straight worm is in line contact with the rolling element, and the contact line is the envelope curve of the enveloping rolling element.

[0035] Preferably, the outer contour straight line of the straight worm is parallel to the axis center line, the helical line has a constant pitch, and a spiral groove with a constant pitch is cut out. The contact line is the tangent envelope curve of the enveloped rolling body. The position error of the rolling body in the axial direction does not affect the meshing accuracy with the straight worm. Doubling the distance between the two rolling bodies can simplify the structure and reduce costs.

[0036] A modeling method for a roller wheel and toroidal worm transmission pair comprises the following steps:

[0037] S1: Set the basic parameters of the roller wheel and toroidal worm gear transmission pair;

[0038] S2: According to the basic parameters of step S1, stretch and rotate to generate the blank rotating body of the roller wheel and the toroidal worm;

[0039] S3: Cutting a toroidal spiral groove on the surface of the rotating body to generate a toroidal worm solid;

[0040] The basic parameters of the roller wheel and toroidal worm gear transmission pair in step S1 include: the pitch circle diameter Pd of the roller wheel, the center distance Pc between the axis of the toroidal worm and the center line of the roller wheel, the toroidal helix angle α, the angle β between the rolling elements, the outer contour arc radius, aperture and length of the toroidal worm, the outer diameter and length of the rolling element, and the inner and outer diameters and thickness of the rolling element bracket;

[0041] In step S3, a solid body formed by rotating the outer contour of the rolling body about the axis AX3 is cut into a toroidal spiral groove along the toroidal spiral line on the surface of the rotating body;

[0042] The 3D curve equation of the toroidal helix Cartesian coordinate system is the same as that of the above-mentioned roller wheel and toroidal worm transmission pair.

[0043] A modeling method for a roller wheel and toroidal worm transmission pair, comprising steps S1 to S3;

[0044] The basic parameters in step S1 are the same as those mentioned above. In step S3, the entity formed by the outer contour of the rolling body rotating along the axis AX3 rotates synchronously along the center line AX2 at each angle and rotates along the axis line AX1 at a corresponding angle with a transmission ratio of 360 / α to continuously cut annular spiral grooves on the surface of the rotating body.

[0045] A method for machining a roller wheel and a toroidal worm transmission pair, comprising the steps of:

[0046] S10: Processing of rolling elements, including profile or turning - heat treatment - fine grinding - surface coating or purchasing standard parts;

[0047] S20: Processing of rolling element supports, including direct 3D printing or cavity mold forming (injection molding, stamping, casting, powder metallurgy) or machining (turning, boring, milling, wire cutting, laser cutting) or rough machining-heat treatment-finishing;

[0048] S30: Processing of toroidal worms, including direct 3D printing or cavity mold forming (injection molding, casting, powder metallurgy) or machining (turning, boring, milling and grinding) or first machining the toroidal worm blank and then finishing the toroidal spiral groove;

[0049] S40: The rolling element and the rolling element bracket are assembled into a roller wheel, which is meshed with the toroidal worm to form a roller wheel and toroidal worm transmission pair.

[0050] Preferably, the method for processing the toroidal worm in step S30 is to first process the toroidal worm blank and then perform fine processing, comprising the steps of:

[0051] S31: Machining of toroidal worm blanks, rough turning of the toroidal worm's rotating body and toroidal spiral grooves - heat treatment - finish turning of the toroidal worm's outer contour arc and inner hole, and semi-finish turning of the toroidal spiral grooves;

[0052] S32: Use a grinding wheel to grind the spiral grooves on the annular surface and then apply surface coating;

[0053] In step S32, the grinding wheel head is rotated and fed along the center line AX2 at an angle, and the synchronously linked rotating body is fed along the axis line AX1 at a corresponding angle with a transmission ratio of 360 / α times to continuously cut a toroidal spiral groove on the surface of the rotating body, or the grinding wheel head is rotated and fed along the toroidal spiral trajectory to cut a toroidal spiral groove on the surface of the rotating body. The 3D curve equation of the toroidal spiral in the Cartesian coordinate system is the same as that of the above-mentioned roller wheel and toroidal worm transmission pair.

[0054] A roller wheel and toroidal worm transmission device comprises the above-mentioned roller wheel and toroidal worm transmission pair, and also comprises a motor or a pump or a handwheel, a base and a bearing;

[0055] The motor, pump or handwheel drives the toroidal worm or roller wheel on the base to rotate. The roller wheel and the toroidal worm transmission pair transmit motion and power between the two shafts, and are supported by bearings to withstand unidirectional loads or combined loads in any direction.

[0056] Preferably, a roller wheel and toroidal worm transmission device comprises: a roller wheel and toroidal worm transmission pair, a turntable seat, a motor, a motor seat, an encoder, a drive control board, and a bearing group;

[0057] The roller wheel includes a roller, a bushing, an upper turntable and a lower turntable;

[0058] The bearing set includes a needle roller and a needle roller cage;

[0059] The drive control board, which uses the encoder to provide real-time feedback and correct the precise position, drives the motor to rotate. The motor rotor drives the toroidal worm to engage with the roller wheel to transmit motion and power. The motor stator is fixed to the turntable seat by the motor seat. The position of the motor seat is adjusted to eliminate transmission clearance, apply preload or compensate for wear.

[0060] The motor includes a bearing assembly to withstand radial and axial forces. The upper and lower turntables in the roller wheel are positioned by a roller and bushing assembly and fastened with bolts to form an inner ring. The bearing assembly is supported between the inner ring and the outer ring turntable seat, and can withstand combined loads in any direction.

[0061] The shortening of the roller length can make the roller wheel thinner. The upper turntable is provided with an upper turntable avoidance groove, and the lower turntable is provided with a lower turntable avoidance groove, so that the inner ring thereof does not interfere with the outer contour of the toroidal worm.

[0062] Preferably, a roller wheel and toroidal worm transmission device further includes a rolling element self-lubricating device;

[0063] The rolling element self-lubricating device comprises porous resin, high-density fiber mesh and elastic force contact blocks;

[0064] The porous resin with high oil content in the elastic contact block stores lubricant, which is transported to the surface of the rolling element by the basic principle of capillary action of the resin and the high-density fiber mesh. The flow rate of the lubricant is adjusted by adjusting the elastic force between the rolling element and the elastic contact block, thus achieving true maintenance-free.

[0065] The rolling elements and toroidal worm gear parts have simple features and are made of hardened bearing steel. The surface is DLC coated after fine grinding. When the transmission pair is engaged with lubricant, the toroidal worm gear can rotate at a speed of more than 6,000 revolutions. Beneficial effects

[0066] The beneficial effects of the present invention are: the root arc of the toroidal worm is large, which avoids stress concentration, and the curve equation of the toroidal helix is ​​established to make its modeling and processing accurate and convenient. The roller wheel and the toroidal worm transmission pair are mainly in rolling friction curve contact. The overall structure is streamlined, high precision, high efficiency, high load-bearing, high speed, no side clearance, low cost, low noise, good interchangeability and long service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 is a schematic diagram of the three-dimensional structure of the roller wheel and the toroidal worm transmission pair.

[0068] FIG2 is a schematic front view of the cylindrical and toroidal worm structure.

[0069] Figure 3 is a schematic diagram of the three-dimensional structure of the cylinder and the rotating body.

[0070] Figure 4 is a schematic diagram of the three-dimensional structure of the cylinder and the straight worm.

[0071] Figure 5 is a schematic example of the meshing of rolling elements and a toroidal worm.

[0072] Figure 6 shows an example of a schematic outline of the outer contour of a rolling body.

[0073] FIG7 is a front view and a top cross-sectional view of the roller wheel and the toroidal worm gear transmission.

[0074] FIG8 is a perspective view of a roller wheel and a toroidal worm gear transmission device.

[0075] Explanation of the accompanying drawings: 1-first toroidal worm; 1a-toroidal spiral groove; 1b-toroidal helix; 1c-envelope contact curve; 2-first roller; 3-first shoulder bushing; 4-bushing bracket; 11-rotating body; 12-straight worm; 12a-equal pitch spiral groove; 12b-equal pitch helix; 12c-tangent envelope curve; 21-first cylinder; 22-second cylinder; 31-second toroidal worm; 32-second roller; 33-second shoulder bushing; 41-upper turntable; 41a-upper turntable avoidance groove; 42-lower turntable; 42a-lower turntable avoidance groove; 43-turntable seat; 51-motor; 52-motor seat; 53-encoder; 54-drive control board; 61-first needle roller; 62-second needle roller; 63-third needle roller; 71-first needle roller cage; 72-second needle roller cage. Specific embodiments

[0076] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Example 1

[0077] As shown in FIG1 , a roller wheel and toroidal worm transmission pair of the present invention comprises: a roller wheel and a first toroidal worm 1;

[0078] The roller wheel includes a rolling element and a bushing bracket 4;

[0079] The rolling element includes a first roller 2 and a first shoulder bushing 3;

[0080] The bushing bracket 4 is provided with a center line AX2 and holes uniformly distributed along a pitch circle. The first roller 2 is provided with an axis AX3 parallel to the center line AX2 of the pitch circle, and its outer contour is a straight line that rotates along the axis AX3. A plurality of identical first rollers 2 and a first shouldered bushing 3 are placed in the holes of the bushing bracket 4 to form a roller wheel. The roller wheel containing the first rollers 2 is meshed with the first toroidal worm 1 to form a roller wheel and toroidal worm transmission pair.

[0081] The transmission pair of the roller wheel and the first toroidal worm 1 transmits motion and power between two spatially staggered axes, and the staggered angle between the two axes is 90°.

[0082] As shown in Figures 1 to 3, the first toroidal worm 1 is provided with an axial centerline AX1, an annular spiral groove 1a, an annular spiral line 1b, an envelope contact curve 1c and a large arc tooth root. The first cylinder 21 with the same diameter as the first roller 2 cuts the annular spiral groove 1a along the annular spiral line 1b. It is a single-head worm and is located inside the roller wheel. It is a rotating body 11 formed by rotating the outer contour ring roller wheel with a convex arc as the generatrix along the axial centerline AX1. It is in line contact with the first roller 2, and the contact line is the envelope contact curve 1c that envelops the first roller 2.

[0083] As shown in FIG1 and FIG3 , the transmission ratio of the transmission pair between the roller wheel and the first toroidal worm 1 is 360 / α.

[0084] As shown in Figures 1 to 3, the 3D curve equation of the toroidal spiral 1b in the Cartesian coordinate system is:

[0085] x=-Pd / 2*sin(90°-tα°);

[0086] y=(Pc-Pd / 2*sin(tα°))cos(t*360°);

[0087] z=(Pc-Pd / 2*sin(tα°))sin(t*360°);

[0088] Where, Pd: pitch circle diameter; Pc: center distance; α: torus helix angle; 6≤t≤30.

[0089] As shown in Figure 1, the first toroidal worm 1 engages with the first roller 2 in a progressive manner, and three first rollers 2 are in contact with it at the same time, forming three envelope contact curves 1c. The position error in the direction of the axis AX3 of the first roller 2 does not affect the engagement accuracy between it and the first toroidal worm 1. The center distance Pc between the axis AX1 of the first toroidal worm 1 and the center line AX2 of the roller wheel is adjusted to eliminate transmission clearance, apply preload or compensate for wear.

[0090] As shown in Figure 1, the roller wheel is a combination of a first roller 2, a first shoulder bushing 3 and a bushing bracket 4. The first shoulder bushing 3 is fixed in the bushing bracket 4. The first roller 2 can rotate in the self-lubricating first shoulder bushing 3. The first shoulder bushing 3 bears radial and axial forces. The two are in sliding friction. The first roller 2 and the first toroidal worm 1 are engaged by rolling instead of sliding.

[0091] As shown in FIG1 , the angle β between the two first rollers 2 is an integral multiple of the angle α of the toroidal helix 1b of the first toroidal worm 1 . When β changes from 1 times α to 4 times α, the number of first rollers 2 is reduced to 1 / 4, and the transmission ratio remains unchanged. Example 2

[0092] A roller wheel and toroidal worm transmission pair, comprising: a roller wheel and a toroidal worm;

[0093] The roller wheel includes a rolling element and a bearing bracket;

[0094] Rolling elements include rollers, steel sleeves, needle roller bearings and plane thrust bearings.

[0095] The outer contour of the rolling element is shown in Figure 6b. The bearing assembly is fixed in the holes distributed on the pitch circle of the bearing bracket. The roller is tightly fitted with the steel sleeve and can rotate in the bearing assembly. The bearing assembly bears radial and axial forces. The steel sleeve is in rolling friction engagement with the toroidal worm.

[0096] The toroidal worm is the same as that in the first embodiment. Example 3

[0097] A roller wheel and toroidal worm transmission pair, comprising: a roller wheel and a toroidal worm;

[0098] The roller wheel includes a roller and a roller bracket.

[0099] The outer contour of the roller is any straight line or a combination of a straight line and an oblique line or a straight line and an arc as shown in Figure 6 from a to o. The roller is fixed in a hole distributed along a pitch circle in a single or a pair of roller brackets, and the roller is in sliding and frictional engagement with the toroidal worm.

[0100] The toroidal worm is the same as that in the first embodiment. Example 4

[0101] A roller wheel and toroidal worm transmission pair, comprising: a roller wheel and a toroidal worm;

[0102] The roller wheel includes a rolling body and a rolling body support.

[0103] The rolling element and the toroidal worm are meshed in any group as shown in a to l in Figure 5. The toroidal worm is a single-start or multi-start worm. Its outer contour generatrix is ​​a convex arc when located inside the roller wheel and a concave arc when located outside the roller wheel. Roller wheels with the same pitch circle diameter are meshed with different toroidal worms to form roller wheel and toroidal worm transmission pairs with different transmission ratios.

[0104] As shown in Figure 5 d, g and h, Figure 5 a and i, Figure 5 e and f, and Figure 5 k and l, the same roller wheel can engage with different toroidal worms to form roller wheel and toroidal worm transmission pairs with the same or different transmission ratios.

[0105] As shown in Figures 5d and e and Figures 5f and g, in the roller wheel and toroidal worm transmission pair with the same transmission ratio, the number of rolling elements simultaneously engaged with the same toroidal worm can be adjusted. Example 5

[0106] As shown in FIG4 , a roller bar and straight worm transmission pair includes: a roller bar and a straight worm 12;

[0107] The roller strip includes a rolling element and a rolling element support;

[0108] The rolling element is the second cylinder 22 .

[0109] As shown in FIG1 , in the first embodiment, when the pitch circle diameter Pd of the roller wheel is infinite, the roller wheel becomes a straight roller strip, and the outer contour of the toroidal worm changes from an arc to a straight line parallel to the roller strip.

[0110] As shown in Figure 4, multiple second cylinders 22 are evenly distributed in parallel and placed in the holes of the rolling element bracket to form a roller strip. The straight worm 12 is provided with an axis line, an equal-pitch spiral groove 12a, an equal-pitch spiral line 12b and a tangent envelope curve 12c. The equal-pitch spiral groove 12a has a pitch of Pp, and the second cylinder 22 cuts out the equal-pitch spiral groove 12a along the equal-pitch spiral line 12b. It is a double-headed worm, which is a rotating body formed by rotating an axis line parallel to the straight line with the outer contour parallel to the roller strip as the main line. The roller strip containing the second cylinder 22 is meshed with the straight worm 12 to form a roller strip and straight worm transmission pair. The straight worm 12 is in line contact with the second cylinder 22, and the contact line is the tangent envelope curve 12c enveloping the second cylinder 22.

[0111] As shown in FIG4 , the position error of the second cylinder 22 in the axial direction does not affect the meshing accuracy between the second cylinder 22 and the straight worm 12 . The distance between the two second cylinders 22 is Ps. Doubling Ps can simplify the structure and reduce costs. Example 6

[0112] As shown in FIG1 to FIG3, a modeling method of a roller wheel and a toroidal worm transmission pair includes the following steps:

[0113] S1: Set the basic parameters of the roller wheel and toroidal worm gear transmission pair;

[0114] S2: According to the basic parameters of step S1, stretching and rotating to generate the blank rotating body 11 of the roller wheel and the first toroidal worm 1;

[0115] S3: cutting a toroidal spiral groove 1a on the surface of the rotating body 11 to generate a first toroidal worm 1 entity;

[0116] The basic parameters of the roller wheel and toroidal worm gear transmission pair in step S1 include: the pitch circle diameter Pd of the roller wheel, the center distance Pc between the axis AX1 of the first toroidal worm 1 and the center line AX2 of the roller wheel, the angle α of the toroidal helix 1b, the angle β between the two first rollers 2, the radius, aperture and length of the convex arc of the outer contour of the first toroidal worm 1, the outer diameter and length of the first roller 2, the inner and outer diameters and lengths of the first shoulder bushing 3, and the inner and outer diameters and thickness of the bushing bracket 4.

[0117] As shown in FIG. 1 to FIG. 3 , in step S3 , a first cylinder 21 having the same diameter as the first roller 2 cuts a toroidal spiral groove 1 a on the surface of the rotating body 11 along a toroidal spiral line 1 b.

[0118] The 3D curve equation of the toroidal helix 1b in the Cartesian coordinate system is the same as that in the first embodiment. Example 7

[0119] A modeling method for a roller wheel and toroidal worm transmission pair, wherein steps S1 to S3 are the same as those in Example 6;

[0120] The basic parameters of the roller wheel and the toroidal worm gear transmission pair in step S1 are the same as those in the sixth embodiment.

[0121] As shown in FIG1 to FIG3, in step S3, the first cylinder 21 rotates along the center line AX2 by one angle each time and synchronously rotates along the axis AX1 by a corresponding angle with a transmission ratio of 360 / α times to continuously cut an annular spiral groove 1a on the surface of the rotating body 11. Example 8

[0122] As shown in Figures 1 to 3, a method for machining a roller wheel and a toroidal worm transmission pair includes the following steps:

[0123] S10: Processing the first roller 2, including turning - quenching and tempering - fine grinding - DLC coating; purchasing the first shoulder bushing 3 as a standard part;

[0124] S20: Processing the bushing bracket 4, including turning-quenching and tempering-fine grinding;

[0125] S31: machining the blank of the first toroidal worm 1, rough turning the rotating body 11 and the toroidal spiral groove 1a of the first toroidal worm 1 - quenching and tempering - finish turning the outer contour arc and inner hole of the rotating body 11 of the first toroidal worm 1, and semi-finish turning the toroidal spiral groove 1a;

[0126] S32: Rotate the first cylindrical 21-shaped grinding wheel head and feed it along the center line AX2 at an angle, and synchronously link the rotating body 11 to feed along the axis AX1 at a corresponding angle with a transmission ratio of 360 / α times, and continuously grind out the annular spiral groove 1a on the surface of the rotating body 11, and then apply DLC coating on the surface. Mass production can be achieved using an ordinary circular grinding wheel head or a vertical milling cutter and a general CNC milling machine, or the vertical milling cutter can be rotated to feed along the trajectory of the toroidal spiral line 1b to mill out the toroidal spiral groove 1a on the surface of the rotating body 11. The 3D curve equation of the toroidal spiral line 1b in the Cartesian coordinate system is the same as that in Example 1.

[0127] S40: Assemble the first roller 2, the first shoulder bushing 3 and the bushing bracket 4 into a roller wheel, which is meshed with the first toroidal worm 1 to form a roller wheel and toroidal worm transmission pair. Embodiment 9

[0128] A method for machining a roller wheel and a toroidal worm transmission pair, comprising the steps of:

[0129] S10: The rolling element is purchased as a standard part. Its outer contour is shown in Figure 6b, including rollers, steel sleeves and shoulder bushings.

[0130] S20: Bushing bracket stamping or laser cutting;

[0131] S30: Toroidal worm injection molding, the toroidal worm wall thickness is designed to be uniform, and there is no undercut feature in the parting surface direction, which is suitable for cavity mold molding and mass production;

[0132] S40: Assemble the roller, steel sleeve, shoulder bushing and bushing bracket to form a roller wheel, which meshes with the toroidal worm to form a roller wheel and toroidal worm transmission pair. Example 10

[0133] A roller wheel and toroidal worm transmission device of the present invention comprises the roller wheel and toroidal worm transmission pair of embodiment 1, and further comprises a hand wheel, a base and a bearing;

[0134] The handwheel drives the roller wheel on the base to rotate, meshing with the annular worm to transmit motion and power between the two shafts. The bearing is supported to withstand unidirectional loads or combined loads in any direction. Example 11

[0135] As shown in FIG7 and FIG8 , a roller wheel and toroidal worm transmission device includes: a roller wheel and a second toroidal worm 31 transmission pair, a turntable base 43, a motor 51, a motor base 52, an encoder 53, a drive control board 54, and a bearing group;

[0136] The roller wheel includes a second roller 32, a second shoulder bushing 33, an upper turntable 41, and a lower turntable 42;

[0137] The bearing assembly includes a first needle roller 61, a second needle roller 62, a third needle roller 63, a first needle roller cage 71 and a second needle roller cage 72;

[0138] The drive control board 54, which uses the encoder 53 to provide real-time feedback and correct the precise position, drives the motor 51 to rotate, driving the second annular worm 31 fastened to the outer casing of the outer rotor motor 51 to engage with the roller wheel to transmit motion and power. The stator of the motor 51 is fixed to the turntable seat 43 by the motor seat 52. The position of the motor seat 52 is adjusted to eliminate transmission clearance, apply preload or compensate for wear.

[0139] The motor 51 includes a pair of angular contact bearings that withstand radial and axial forces. The upper turntable 41 and the lower turntable 42 in the roller wheel are positioned by a second roller 32 and a second shoulder bushing 33 and fastened with bolts to form an inner ring. The inner ring is supported by a bearing group between the outer ring turntable seat 43 and can withstand combined loads in any direction.

[0140] The shortening of the second roller 32 can make the roller wheel thinner. The upper turntable 41 is provided with an upper turntable avoidance groove 41a, and the lower turntable 42 is provided with a lower turntable avoidance groove 42a, so that their inner rings do not interfere with the outer contour of the second annular worm 31. Example 12

[0141] A roller wheel and toroidal worm transmission device, comprising a roller wheel and a toroidal worm transmission pair, and also comprising a rolling element self-lubricating device;

[0142] The rolling element self-lubricating device includes porous resin, high-density fiber mesh and elastic contact blocks;

[0143] The highly oil-rich porous resin in the elastic contact block stores lubricant, which is then transported to the surface of the rolling element through the basic principle of capillary action between the resin and the high-density fiber mesh. The flow of lubricant is adjusted by regulating the elastic force between the rolling element and the elastic contact block, truly achieving maintenance-free operation.

[0144] The rest of the structure is the same as that of the eleventh embodiment.

[0145] The rolling elements and toroidal worm gear parts have simple features and are made of hardened bearing steel. The surface is DLC coated after fine grinding. When the transmission pair is engaged with lubricant, the toroidal worm gear can rotate at a speed of more than 6,000 revolutions.

[0146] The present invention should not be limited to the above-mentioned preferred embodiments. Additions, changes, deletions and modifications made according to the technical essence of the present invention all fall within the scope of protection of the claims of the present invention.

Claims

1. A roller wheel and toroidal worm gearing pair, characterized in that, Comprising: A roller wheel and a toroidal worm; The roller wheel includes rolling elements and a rolling element support; The rolling elements include rollers or a combination of rollers and steel sleeves or rollers and bushings or rollers and bearings; The rolling element support is a roller support or a bushing support or a bearing support; The rolling element support is provided with a center line and holes distributed according to the pitch circle. The rolling elements are provided with axes, and their outer contours are combinations of straight lines or straight lines and oblique lines or straight lines and arcs that rotate along the axes. Multiple rolling elements are placed in the holes of the rolling element support to form a roller wheel. The toroidal worm is provided with an axis line, a toroidal spiral groove, a toroidal spiral line, an envelope contact curve, and an arc tooth root. It is a rotating body formed by rotating a toroidal roller wheel with an arc as the generatrix around the axis line. The roller wheel containing rolling elements meshes with the toroidal worm to form a roller wheel and toroidal worm transmission pair; The roller wheel and toroidal worm transmission pair transmits motion and power between two spatially intersecting axes, and the included angle between the two axis lines is an arbitrary value.

2. The roller wheel and toroidal worm gearing pair according to claim 1, characterized in that, The toroidal worm is cut out with a toroidal spiral groove along the toroidal spiral line by the rotation of the outer contour of the rolling element along the axis, and is in line contact meshing with the rolling element. The contact line is the envelope contact curve that envelopes the rolling element, and it meshes with the rolling element gradually approaching and receding. At the same time, single or multiple rolling elements are in contact with the toroidal worm, forming single or multiple contact curves.

3. The roller wheel and toroidal worm gearing pair according to claim 1, characterized in that, Its transmission ratio is 360 / α, and the 3D curve equation of the toroidal spiral line in the Cartesian coordinate system is: x = -Pd / 2 * sin(90° - tα°); y = (Pc - Pd / 2 * sin(tα°))cos(t * 360°); z = (Pc - Pd / 2 * sin(tα°))sin(t * 360°); Wherein, Pd: pitch circle diameter; Pc: center distance; α: toroidal spiral line included angle; 0 ≤ t ≤ 180 / α.

4. The preferred roller wheel and toroidal worm gearing pair according to claim 1, characterized in that, The holes evenly distributed according to the pitch circle of the rolling element support are parallel to the center line. The axis of the rolling element is parallel to the pitch circle center line, and its outer contour is a straight line that rotates along the axis. Multiple rolling elements with the same cross-section are placed in the holes of the rolling element support to form a roller wheel.

5. The preferred roller wheel and toroidal worm gearing pair according to claim 1, characterized in that, The roller wheel is a roller or a combination of a roller and a steel sleeve, a bushing, or a bearing and a bushing support or a bearing support. The bushing or bearing is fixed in the bushing support or bearing support. The roller or the combination of the roller and the steel sleeve can rotate in the bushing or bearing. The roller or the steel sleeve and the toroidal worm are in rolling instead of sliding meshing.

6. The roller wheel and toroidal worm gearing pair according to claim 1, characterized in that, The toroidal worm is a single-start or multi-start worm. Its outer contour generatrix is a convex arc when located inside the roller wheel and a concave arc when located outside the roller wheel. Roller wheels with the same pitch circle diameter mesh with different toroidal worms to form roller wheel and toroidal worm transmission pairs with different transmission ratios.

7. The roller wheel and toroidal worm gearing pair according to claim 1, characterized in that, The roller wheel and toroidal worm transmission pair can be composed of the same roller wheel meshing with different toroidal worms to form the same or different transmission ratios; in the roller wheel and toroidal worm transmission pair with the same transmission ratio, the number of rolling elements meshing with the same toroidal worm at the same time is adjustable.

8. The roller wheel and toroidal worm gearing pair according to claim 1, characterized in that, The included angle between the rolling elements is an integral multiple of the toroidal spiral line included angle of the toroidal worm. The larger the multiple, the proportionally fewer the number of rolling elements, and the transmission ratio remains unchanged. The same toroidal worm can be paired with different roller wheels.

9. A roller bar and a straight worm transmission pair, characterized in that, Comprising: A roller bar and a straight worm; When the pitch circle diameter of the roller wheel in the roller wheel and toroidal worm gear transmission pair as claimed in claim 1 is infinite, the roller wheel becomes a straight roller strip, and the toroidal worm becomes a straight worm, and its outer contour changes from an arc to a straight line parallel to the roller strip; The roller strip comprises a rolling body and a rolling body support; The rolling element comprises a roller or a roller and a steel sleeve or a roller and a bushing or a roller and a bearing combination; The rolling element support is a roller support, a bushing support or a bearing support; The rolling bodies are distributed in parallel and placed in the holes of the rolling body bracket to form a roller strip. The straight worm is provided with an axial centerline, a spiral groove, a helical line, an envelope curve and an arc tooth root. The outer contour of the rolling body rotates along the axis to cut out a spiral groove along the helical line. It is a single-head or multi-head worm, which is a rotating body formed by rotating the straight line parallel to the roller strip as the generatrix and the axial centerline parallel to it or forming an acute angle with it. The roller strip containing the rolling body is meshed with the straight worm to form a roller strip and straight worm transmission pair. The straight worm is in line contact with the rolling body, and the contact line is the envelope curve of the enveloping rolling body.

10. The preferred roller bar and straight worm transmission pair according to claim 9, characterized in that, The outer contour straight line of the straight worm is parallel to the axis center line, the helical line has a constant pitch, and a spiral groove with a constant pitch is cut out, and the contact line is a tangent envelope curve of the envelope rolling body.

11. A modeling method for the roller wheel and toroidal worm gear transmission pair as claimed in claim 1, comprising the steps of: S1: Set the basic parameters of the roller wheel and toroidal worm gear transmission pair; S2: According to the basic parameters of step S1, the blank rotating body of the roller wheel and the toroidal worm is generated by stretching and rotating; S3: Cutting a toroidal spiral groove on the surface of the rotating body to generate a toroidal worm solid; The basic parameters of the roller wheel and the toroidal worm gearing pair in step S1 include: The pitch circle diameter Pd of the roller wheel, the center distance Pc between the axis of the toroidal worm and the center line of the roller wheel, the toroidal helix angle α, the angle β between the rolling elements, the arc radius, aperture and length of the outer contour of the toroidal worm, the outer diameter and length of the rolling element, the inner and outer diameters and thickness of the rolling element bracket; In step S3, a solid body formed by the outer contour of the rolling body rotating about the axis AX3 cuts a toroidal spiral groove on the surface of the rotating body along the toroidal spiral line; The 3D curve equation of the toroidal helix Cartesian coordinate system is the same as that described in claim 3.

12. The modeling method of the roller wheel and toroidal worm transmission pair as claimed in claim 11, comprising steps S1 to S3; The step also includes step S3 in which a solid body formed by the outer contour of the rolling body rotating along the axis AX3 rotates synchronously along the axis line AX1 through a corresponding angle with a transmission ratio of 360 / α times every time the center line AX2 rotates one angle, and continuously cuts an annular spiral groove on the surface of the rotating body.

13. A method for machining the roller wheel and toroidal worm gear pair as claimed in claim 1, comprising the steps of: S10: Processing of rolling elements, including profile or turning - heat treatment - fine grinding - surface coating or purchasing of standard parts; S20: Processing of rolling element brackets, including direct 3D printing or cavity mold forming (injection molding, stamping, casting, powder metallurgy) or machining (turning, boring, milling, wire cutting, laser cutting) or rough machining-heat treatment-finishing; S30: Processing of toroidal worm gears, including direct 3D printing or cavity mold forming (injection molding, casting, powder metallurgy) or machining (turning, boring, milling and grinding) or first machining the toroidal worm gear blank and then finishing the toroidal spiral groove; S40: Assemble the rolling elements and the rolling element support into a roller wheel, and engage it with the toroidal worm to form a roller wheel and toroidal worm transmission pair.

14. The processing method of the roller wheel and toroidal worm transmission pair according to claim 13, wherein the preferred processing method of the toroidal worm in step S30 includes the steps of: S31: Machine the toroidal worm blank, rough turn the toroidal worm rotating body and the toroidal spiral groove - heat treatment - finish turn the outer contour arc and inner hole of the toroidal worm, and semi-finish turn the toroidal spiral groove; S32: Use a grinding wheel head to precisely grind the surface coating of the toroidal spiral groove; In step S32, when the grinding wheel head rotates and feeds at each angle along the center line AX2, the rotating body feeds synchronously and linkage along the axis AX1 by an angle corresponding to 360 / α times of the feed ratio, and continuously cuts out the toroidal spiral groove on the surface of the rotating body. Or the grinding wheel head rotates and feeds along the toroidal spiral line trajectory to cut out the toroidal spiral groove on the surface of the rotating body. The 3D curve equation of the toroidal spiral line in the Cartesian coordinate system is the same as that described in claim 3.

15. A roller wheel and toroidal worm gearing device, characterized in that, It includes the roller wheel and toroidal worm transmission pair according to any one of claims 1 to 10, and also includes a motor or a pump or a handwheel, a base, and bearings; The motor or the pump or the handwheel drives the toroidal worm or the roller wheel on the base to rotate. The roller wheel and toroidal worm transmission pair transmits motion and power between the two shafts, and is supported by bearings to bear unidirectional loads or combined loads in any direction.

16. The preferred roller wheel and toroidal worm gearing according to claim 15, characterized in that, It includes: The roller wheel and toroidal worm transmission pair, a turntable base, a motor, a motor base, an encoder, a drive control board, and a bearing set; The roller wheel includes rollers, bushings, an upper turntable, and a lower turntable; The bearing set includes needle rollers and a needle roller cage; The drive control board that corrects and precisely positions in real time by the encoder drives the motor to rotate. The motor rotor drives the toroidal worm to engage with the roller wheel to transmit motion and power. The motor stator is fixed on the turntable base by the motor base, and the position of the motor base is adjusted to eliminate the transmission clearance; The motor includes a bearing combination to bear radial and axial forces. The upper turntable and the lower turntable on the roller wheel are combined and positioned by rollers and bushings and fastened with bolts to form an inner ring, and are supported by the bearing set between the outer ring turntable base, and can bear combined loads in any direction; Shortening the length of the rollers can make the roller wheel thinner. The upper turntable is provided with an upper turntable clearance groove, and the lower turntable is provided with a lower turntable clearance groove, so that its inner ring does not interfere with the outer contour of the toroidal worm.

17. The preferred roller wheel and toroidal worm gearing according to claims 15 to 16, characterized in that, It also includes a rolling element self-lubricating device; The rolling element self-lubricating device includes porous resin, a high-density fiber mesh, and an elastic pressing block; The highly oil-containing porous resin in the elastic pressing block stores lubricant, and uses the basic principle of capillary action with the high-density fiber mesh to transport it to the surface of the rolling elements, and adjusts the elastic force between the rolling elements and the elastic pressing block to adjust the flow rate of the lubricant.

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