CN106337913A - Wave speed reducer with self-locking function and composite speed reducing device thereof - Google Patents

Abstract

The invention relates to a wave speed reducer with self-locking function and a composite speed reducer thereof, wherein the wave speed reducer with self-locking function is included in a mechanism that a cam drives a roller to drive a ball ring or a socket wheel to rotate with a given reduction ratio, and an arc convex part of the cam is designed to restrain the roller to generate reverse self-locking function.

Description

Wave reducer with self-locking function and its compound reducer

technical field

The invention relates to a structure configuration technology of a speed reducer, in particular to a wave speed reducer with self-locking function and a composite speed reduction device thereof.

Background technique

In the structural technical field of traditional speed reducers, the self-locking function to be discussed in the present invention refers to driving a driven member to generate a forward rotation output force with a predetermined reduction ratio (assumed to be forward rotation) by a driving member loaded with power, when the driving member When the free end is not loaded with power, even if the follower is loaded with power (including the driving force applied by the external power source, or the torque generated by the gravity of the follower itself or its linkage components), It is also not possible to drive the active part at the free end to reverse, which is called self-locking; moreover, the self-locking refers to the generation between the tooth surfaces of the active part and the driven part, but does not include other things that will increase Active latches and other configurations of component manufacturing costs (for example, stop rods or positioning latches or pins that can be driven to move back and forth, etc.).

Traditionally seen reducers generally include a worm-driven worm gear mechanism, a planetary gear set, a spin-wave driver, etc. Among them, only the worm-driven worm gear mechanism can rely on the tooth surface between the worm and the worm gear. The meshing angle is designed to produce the above-mentioned self-locking function.

Please refer to FIG. 1 and FIG. 2 together, which respectively disclose the configuration of the traditional worm and the worm wheel and the schematic diagrams of their lead angles, indicating that there is a lead angle α (or is called the friction angle), for the worm 71, this lead angle α is formed by the slope between the worm lead L and the circumference S of the worm; wherein, when the worm 71 as the active part rotates, it will pass through the worm 71 The tooth surface 71a of the worm wheel 72 as a follower exerts a positive force F on the tooth surface 72a of the worm wheel 72 as a follower. When the friction force μ×Fcosα generated between the tooth surfaces 71a, 72a (μ is the friction coefficient between the tooth surfaces 71a, 72a), that is, when Fsinα<μ×Fcosα, self-locking will occur; in other words, With this self-locking design, the worm wheel 72 cannot reversely drive the worm 71 to produce reverse rotation by virtue of the meshing between the tooth surfaces 71a and 72a. Therefore, the advantage of the self-locking function is to protect the transmission components in the reduction mechanism from unexpected reverse rotation and damage or danger.

In addition to the above-mentioned worm drive mechanism, conventional planetary gear sets and rotary wave transmissions, up to now, there is no design equipped with the self-locking function. Because the traditional rotary wave drive and the planetary gear set are typical reduction transmission mechanisms. Among them, the rotary wave drive is a deceleration mechanism that can generate a rotary wave; the principle of the rotary wave drive can be seen at the earliest in the harmonic drive (harmonic driver) disclosed by the US invention patent No. 2906143 filed by C.W. Musser in 1955; Secondly, through continuous improvement, for example, US Patent No. 5,643,128 further discloses the details of components of the rotary wave transmission (or called rotary wave deceleration) mechanism.

Compared with the traditional planetary gear, the traditional rotary wave transmission can provide more meshing teeth and a larger transmission range. Therefore, in terms of the output value of the overall reduction ratio, the rotary wave transmission has relatively better transmission accuracy and transmission efficiency.

It is known that the wave-motion reducer involved in the present invention is not disclosed in the prior art, and the closest one in the traditional art is the above-mentioned rotary wave transmission mechanism.

The composition of the traditional rotary wave transmission mechanism includes a coaxial cam (cam) (or wave generator), a plurality of rollers and a socket wheel (with a special internal tooth steel wheel) from the inside to the outside. circularspline wheel); where the cam is usually used as an input shaft, the plurality of rollers are surrounded and arranged between the cam and the socket wheel, and the socket wheel is annularly arranged with a plurality of rollers that can accommodate the engagement of the rollers For the socket, use the cam to provide input force to drive some of the rollers to engage in the corresponding socket of the socket wheel, so as to drive the bead ring to generate the output rotation of the reduction ratio.

Furthermore, it can be known from the technologies disclosed in the above-mentioned patents that each socket in the traditional rotary wave transmission mechanism includes an inclined tooth surface formed by extending from both sides of a tooth valley, and the tooth surfaces on both sides are extended and connected to The tooth peaks on both sides make the contour shape of each socket roughly V-shaped. Since only some of the multiple rollers described in the rotary wave transmission process will receive the drive of the cam surface and engage the tooth surface of the socket, the tooth surface of the socket is an effective contact for transmitting the driving force of the rollers. Secondly, for example, in the aforementioned U.S. Patent No. 5,643,128, it is disclosed that a roller ring (rollers ring) for accommodating multiple rollers is also arranged between the cam and the socket wheel, and the roller ring is partially implemented. It can also be used as an output end, so that the driving force of the cam can be transmitted through the tooth surface of the socket to provide a component force to the roller to push the bead ring to produce the output rotation of the reduction ratio.

From the above, it can be seen that the tooth surface of the socket can not only be used as an effective contact surface to transmit the force, but also can be used as an effective contact surface to provide the component force generated by the cam to the roller; in addition, it can be further detected in the process of rotary wave transmission , when the cam surface pushes the roller to contact the tooth surface of the socket, the pushed roller includes a displacement in the radial direction and the circumferential angular direction of the cam shaft center, which will also affect the tooth surface Whether it can be fully or truly used as an effective contact surface to transmit the force and provide the component force generated by the cam; although, in terms of the output value of the overall reduction ratio, the traditional rotary wave transmission can maintain good transmission accuracy and transmission efficiency; but , the prior art only discloses that the contour of the socket is roughly V-shaped, and does not further disclose, explore or teach whether the contour forming technology of the socket and the cam is sufficient to effectively transmit the force, for example, when the input shaft rotates half a circle, the roller will enter the lower For one socket position, the speed of this process will be unclear due to the unclear definition of the V-shaped socket profile, resulting in unstable speed of the roller entering the next socket, and even affecting the fine rotation angle of the output end of the traditional rotary wave drive. transmission accuracy.

Contents of the invention

In order to solve the above-mentioned technical problems, the purpose of the present invention is to use a wave-motion driver to improve the problem of insufficient transmission accuracy of the output end of the traditional rotary wave transmission mechanism on the fine rotation angle. The present invention goes one step further. The cam in the wave reducer is designed so that the cam, the roller, the bead ring and the socket can generate self-locking during reverse transmission, which solves the problem that the traditional rotary wave transmission mechanism does not have the self-locking function.

Among them, the wave reducer defined in the present invention has the functions of the main components such as cam, roller, bead ring and socket wheel, which are generally the same as the traditional rotary wave transmission mechanism, but the wave reducer of the present invention (or called The transmission waveform generated by the wave drive) is excluded from being a sine wave.

In order to achieve the above purpose, the technical solution adopted by the present invention is: a wave reducer with self-locking function, which is configured in concentric circles:

A cam, the circumference of its shaft center has a cam profile, and the cam profile includes forming at least one arc convex portion;

A socket wheel is arranged on the periphery of the cam, and the inner ring wall of the socket wheel is provided with a plurality of sockets;

A bead ring is arranged between the cam and the socket wheel. A plurality of bead grooves are arranged at equal intervals on the circumference of the bead ring. A roller is arranged in the movable space of each bead groove. The cam input force drives the arc convex part to rotate, The arc convex part exerts force to push the contact roller to move into the corresponding socket, and drives one of the socket wheel and the bead ring to generate an output rotation with a predetermined reduction ratio;

Wherein, the formation of the arc convex part is constrained by the following formula:

F×Rsinθ<R×μ×Fcosθ

0<θ≤4°

Among them: F is the normal force exerted by the roller on the arc convex part, R is the distance between the contact point between the arc convex part and the roller relative to the center of the cam shaft, θ is the lead angle of F, and μ is the arc convex part The relative coefficient of friction with the roller.

The wave reducer with self-locking function, wherein:

$\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; R</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}$

R×μ×Fcosθ=T ₂

Where: T1 is the rotational torque when the roller exerts force on the arc protrusion, and T2 is the rotational torque of the component force (μ × Fcosθ) of the friction force (μ × F) when the arc protrusion contacts the roller.

The wave reducer with self-locking function, wherein the cam profile is formed by the following steps:

Divide the radial movement trajectory and the circular rotation trajectory of the roller between the cam and the socket in equal proportions per unit time, and sequentially obtain the centers of the multiple trajectory circles and the tangent points of the circles during the movement of the rollers;

Then connect the plurality of circular surface tangent points to become the unit wheel surface profile in the cam profile;

Then, the cam profile is composed by mirroring the profile of the unit wheel surface with the X-axis and the Y-axis on the cam shaft respectively.

In the wave reducer with self-locking function, the center coordinates (X _m , Y _m ) of the multiple trajectory circles are obtained according to the following formula:

[X _m ,Y _m ]

=[(L _f -M.Δy′).sin(M.Δα),

(L _f -M.Δy′).cos(M.Δα),]

Among them, L _f is the distance between the center of the roller track circle farthest from the cam shaft center and the cam shaft center, M is the equal component divided by multiple track circles of the roller, and Δy' is the equal effective radial displacement The amount of radial displacement of each roller track circle, Δα is the moving angle of each roller track circle equal to the effective moving angle.

In the wave reducer with self-locking function, the circle tangent points (X′ _m , Y′ _m ) of the multiple trajectory circles are represented by the following formula:

$\begin{array}{c}<span\; class="notranslate">\; \{</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ,</span>{{\mathrm{<span\; class="notranslate">\; Y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; \}</span>\\ <span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; |</span>\frac{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; ,</span><span\; class="notranslate">\; \&rsqb;</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ <span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; |</span>\frac{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; \}</span>\end{array}$

Among them, m represents the number of the track circle that the roller moves, m is a natural number >0, Rd is the diameter of the roller, Xm, Ym are the center coordinates of the mth track circle, m-1 is the number of the mth roller The number of the previous roller track circle.

In the wave reducer with self-locking function, the contours of the unit wheel surface are formed by connecting the multiple circular surface tangent points with cloud-shaped lines.

In the wave reducer with self-locking function, the socket has a socket profile, and the socket profile is formed by the following steps:

Divide the radial movement trajectory and the circular rotation trajectory of the roller between the cam and the socket in equal proportions per unit time, and sequentially obtain the centers of the multiple trajectory circles and the tangent points of the circles during the movement of the rollers;

Then connect the multiple circular surface tangent points to form a single-side tooth surface profile between the tooth crest and the tooth valley on the socket;

Then, the single-side tooth surface profile is mirrored by the center line of the tooth valley to become the corresponding tooth surface profile, and the socket profile is formed by connecting the tooth valley profile between the single-side tooth surface profile and the corresponding tooth surface profile.

In the wave reducer with self-locking function, the center coordinates (X _n , Y _n ) of the multiple trajectory circles are obtained according to the following formula:

[X _n ,Y _n ]=[(L _f -N.Δy).sin(N.Δθ),

(L _f -N.Δy).cos(N.Δθ),]

Among them, L _f is the distance between the center of the roller track circle farthest from the center of the cam axis and the center of the cam axis, N is the equal component divided by the single-side tooth surface profile of the socket, and Δy is the equal effective radial displacement The amount of radial displacement of each roller track circle, Δθ is the movement angle of each roller track circle that equally divides the effective movement angle.

In the wave reducer with self-locking function, the circle tangent points (X′ _n , Y′ _n ) of the multiple trajectory circles are represented by the following formula:

$\begin{array}{c}<span\; class="notranslate">\; \{</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; ,</span>{{\mathrm{<span\; class="notranslate">\; Y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; \}</span>\\ <span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; |</span>\frac{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\\ <span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; |</span>\frac{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; \}</span>\end{array}$

Among them, n represents the number of the track circle where the roller moves, n is a natural number >0, Rd is the diameter of the roller, Xn, Yn are the center coordinates of the nth track circle, n-1 is the number of the nth roller The number of the previous roller track circle.

In the wave reducer with self-locking function, the tangent points of the multiple circular surfaces are connected by cloud-shaped lines to form a single-sided tooth surface profile.

In the wave reducer with self-locking function, the tooth trough profile is formed by connecting the tangent points of the two closest locus circles between the tooth profile of a single side and the tooth profile of the corresponding side. The valley profile does not interfere with the wheel surfaces of the plurality of trajectory circles.

The wave reducer with self-locking function also includes a camshaft as the center of rotation, and a set of socket contours surrounding the inner ring surface of the socket wheel at equal circumferential intervals to form the socket wheel. A socket wheel profile of .

In the wave reducer with self-locking function, the tooth crests are rounded on-line with the tangent points of the two corresponding locus circles that are farthest between the tooth profile of a single side and the tooth profile of the corresponding side, A crest profile is formed, which guides the rollers to move into adjacent sockets to contact the socket profile.

In the wave reducer with self-locking function, the cam inner ring forms a toothed ring tooth portion used as a power input interface of the input end.

A compound reduction device applying the wave reducer according to claim 1, comprising a compound planetary gear set on one side of the wave reducer, wherein the cam inner ring forms a ring gear, and the planetary gear set includes:

A plurality of planetary gears are arranged at equal intervals on one side of the circumferential end surface of the wheel, and are meshed with the ring teeth of the cam respectively; wherein, the wheel is connected to a rotary drive.

In the compound reduction gear, the planetary gear set further includes a sun gear, the disc is connected to the rotary drive through the sun gear, and the plurality of planetary gears are respectively meshed with the sun gear to receive transmission.

In the compound speed reduction device, the planetary gear further includes a ring gear used as a fixed end, and the ring gear is meshed on the periphery of the planetary gears, and the planetary gears include multiple gear sets, Each gear set includes a front gear and a rear gear coaxially arranged, the plurality of front gears mesh with the ring gear, and the plurality of planetary gears rely on the plurality of rear gears and the ring teeth of the cam internal meshing group.

Said compound speed reducer, wherein the center of the bead ring extends to form an annular seat as the output shaft.

The compound reduction device of the wave reducer includes a compound planetary gear set on one side of the wave reducer, wherein the planetary gear set includes:

a sun gear pivotally connected to a rotary drive; and

A plurality of planetary gears are arranged at equal intervals on one side of the circumferential end surface of the cam, and are respectively meshed with the periphery of the sun gear to drive the cam to rotate.

The compound reduction gear, wherein the plurality of planetary gears include:

A first group of planetary gears, including a plurality of front gears arranged at equal intervals on one side of the circumferential end surface of the disc, and the plurality of planetary gears are meshed with the periphery of the sun gear through the plurality of front gears, the a central gear is fixed at the center of rotation on the other side of the wheel; and

A second group of planetary gears includes a plurality of rear gears arranged at equal intervals on one side of the cam end surface, and the plurality of rear gears are meshed with the periphery of the central gear.

In the compound reduction gear, the planetary gear further includes a ring gear used as a fixed end, and the ring gear meshes with the periphery of the plurality of front gears.

Compared with the prior art, the advantage of the present invention adopting the above-mentioned technical solution is that the power output by the planetary gear set is used to generate a pre-stage deceleration effect on the power output by the rotary drive, and the power output by the planetary gear set is continued by means of a wave reducer. A post-stage deceleration effect is produced. Wherein, the pre-stage deceleration may include a variety of multi-stage deceleration ratio configurations to form a multi-stage deceleration configuration as a whole to meet the needs of the output end.

For the specific implementation details of the above-mentioned technical means and their effects, please continue to refer to the following embodiments and drawings for detailed description.

Description of drawings

Figure 1 is a schematic diagram of the configuration of a traditional worm and worm gear;

Fig. 2 is an explanatory diagram of the lead angle between the worm shown in Fig. 1 and the worm wheel;

Fig. 3 is a three-dimensional exploded view of the wave reducer of the present invention;

Fig. 4 is a configuration sectional view of the components shown in Fig. 3;

Fig. 4a is an enlarged explanatory diagram between the cam shown in Fig. 4, the roller and the socket;

Fig. 5 is an explanatory diagram of the force balance between the cam shown in Fig. 4, the roller, the bead ring and the socket;

Fig. 6 is an explanatory diagram of the lead angle generated between the cam shown in Fig. 5, the roller, the bead ring and the socket;

Fig. 7 is a flow chart of the steps of forming a cam profile in the present invention;

Fig. 8 is a design explanatory diagram of the socket profile and the cam profile of the present invention;

Fig. 9 is an explanatory diagram of the effective moving range of the roller track circle on the periphery of the cam of the present invention;

Fig. 10 is a flow chart of the steps of forming a socket profile in the present invention;

Fig. 11 is an enlarged explanatory diagram of the effective moving range of the roller track circle in the socket shown in Fig. 8;

Fig. 12 is an explanatory diagram of the equal-scale division of the effective moving range of the roller track circle shown in Fig. 11, which is used to illustrate the design of the socket profile;

Fig. 13 is a flow chart of the steps of designing the profile of the socket wheel in the present invention;

Fig. 14 is a three-dimensional exploded view of the first embodiment of the compound wave deceleration device of the present invention;

Fig. 14a is a three-dimensional partial exploded view of another form of the embodiment shown in Fig. 14;

Figure 15 and Figure 16 are three-dimensional sectional views of the wave reduction device shown in Figure 14 at different angles;

Fig. 17 is a planar sectional view of the composite wave deceleration device shown in Fig. 14;

Fig. 18 is a three-dimensional exploded view of the second embodiment of the compound wave deceleration device of the present invention;

Fig. 19 is a plan sectional view of the compound wave deceleration device shown in Fig. 18 .

Explanation of reference signs: 1, 100, 101-cam; 10-wheel surface; 11-axis; 110-ring gear; 12-arc convex; 13-cam profile; 13a-unit wheel profile; 14-input force Shaft; 2, 200, 201-roller; 3, 300-socket wheel; 30, 310, 311-socket; 31-socket profile; 31a-unilateral tooth surface profile; 31b-corresponding tooth surface profile; 32-tooth peak profile; 33-tooth valley profile; 34-socket wheel profile; 4, 400, 401-bead ring; 40-bead groove; 41-output shaft; 410-ring seat; 5, 50, 500- Seat body; 6, 60, 600-seat cover; 71-worm; 72-worm gear; 71a, 72a-tooth surface; 800, 840-planetary gear set; 810, 811-sun gear; 820, 84-planetary gear; 82 - gear set; 82a, 841a - front gear; 82b, 842a - rear gear; 841 - first set of planetary gears; 842 - second set of planetary gears; 841b, 85 - disc; 841c - central gear; Ring gear; 90, 91 - rotary drive; S1 to S5 - step description of the cam profile design process; S1, S2 and S30 to S50 - step description of the socket profile design process; S50 to S60 - step description of the socket wheel profile design process Step by step instructions.

detailed description

The present invention will be further described below in combination with specific embodiments and accompanying drawings, and the advantages and characteristics of the present invention will become clearer along with the description.

First of all, please refer to Fig. 3 and Fig. 4 together, respectively revealing the component configuration details of the wave reducer of the present invention, explaining that the wave reducer includes a concentric circle arrangement between the base body 5 and the seat cover 6 from the inside to the outside. Cam 1, a plurality of rollers 2, bead ring 4 and a socket wheel 3; wherein, the axial center position of the cam 1 is formed with an input shaft 14 as the input end of the wave reducer, and the input shaft 14 can be connected to the input force of the power source The cam 1 is driven to rotate, and the wheel surface 10 of the cam 1 includes at least one arc convex portion 12 relatively far away from the axis 11 and formed by a spline (spline). The arc convex portion 12 pushes and contacts the roller 2 The effective action area for power transmission, and then forms a cam profile 13; the roller 2 is a roller in this implementation, but it can be a rolling assembly such as a ball; the socket wheel 3 is in the shape of a ring, configured On the periphery of the wheel surface 10 of the cam 1, and the inner ring wall of the socket wheel 3 is provided with a plurality of sockets 30, so that the plurality of rollers 2 can be arranged around the wheel surface 10 of the cam 1 and the sockets between the sockets 30 of the wheel 3; the bead ring 4 is disposed between the cam 1 and the socket wheel 3, and a plurality of bead grooves 40 are arranged at equal intervals on the circumference of the bead ring 4 to match the shape of the roller 2 Partial activities of the roller 2 are accommodated inside. Wherein, maintenance of the strength of the bead ring 4 can be considered, and the number of the rollers 2 and the bead grooves 40 is respectively implemented as 1/2 of the actual number of the bead grooves 40 .

Please continue to refer to FIG. 4a, which discloses an enlarged schematic diagram of the above-mentioned socket 30, the cam 1 and the roller 2, illustrating that in this implementation, the arc convex portion 12 of the cam surface 10 can drive the partial roller 2 to move to the corresponding position. The inside of the socket 30 contacts the socket contour 31 to transmit the driving force to drive the bead ring 4 to generate output rotation with a predetermined reduction ratio.

For the convenience of description, in the following implementation details of the invention, the input shaft 14 of the cam 1 is used as the input end, and the output shaft 41 formed by the axial center position of the bead ring 4 is used as the output force by fixing the socket wheel 3 explained in an end-to-end manner. However, the general scope of the present invention should also include the implementation of fixing the bead ring 4 so that the socket wheel 3 becomes the output end. Wherein, it must be noted that whether the socket wheel 3 or the bead ring 4 is used as the output end, it does not affect the formation results of the relevant socket profile, socket wheel profile and cam profile described below in the present invention.

In the above, the socket profile 31 includes the corresponding tooth profile 31b formed by the single-sided tooth profile 31a and its mirrored corresponding end, and the gap between the single-sided tooth profile 31a and the corresponding tooth profile 31b Connect with a tooth valley profile 33; according to this group of socket profiles 31, surround and form a socket wheel profile 34 (as shown in Figure 1); wherein, after the socket wheel profile 34 is formed, in each socket profile 31 The ends of the single-side tooth surface profile 31a and the corresponding side tooth surface profile 31b that are relatively far away are connected with tooth peak profiles 32 to completely present the socket wheel profile 34; moreover, the socket wheel profile described in the present invention 34 refers specifically to the characteristic profile of the inner ring wall of the socket wheel 3.

In addition to the implementation details of the above-mentioned wave reducer, in order for the wave reducer to have a self-locking function in the present invention, it is necessary to apply force from the above-mentioned arc convex portion 12 to push the roller 2 and then push the bead ring 4 and the socket 30. A lead angle θ is created, and the implementation details of the lead angle θ are further explained as follows:

Please continue to refer to FIG. 5, which reveals the state of force balance between the arc convex portion 12 of the cam 1 shown in FIG. When driving in the clockwise direction, the arc convex part 12 will exert a force F to push the roller 2, so that the socket contour 31 will generate a component force F' against the roller 2, and the bead groove 40 of the bead ring 4 will also A component force F" will be generated on the roller 2 at the same time. At this time, the three forces F, F', and F" will produce a force balance.

Further, please continue to refer to FIG. 6, explaining that when the arc convex portion 12 shown in FIG. The distance between the contact point P and the cam shaft center 11 is R. According to the principle of action force and reaction force, the positive force F applied by the roller 2 to the arc convex portion 12 through point P will push the arc convex portion 12 into contact. The force F of the roller 2 is the same, and a friction force μ×F will be formed at the contact point P, where μ is the relative friction coefficient between the arc convex portion 12 and the roller 2; since the arc convex portion 12 is relatively The axis 11 of the cam 1 is not a true circular wheel surface profile, so that the line of action of the positive force F on the contact point P and the line of the distance R between the contact point P and the cam axis 11 produce a clamp The angle θ is defined as the lead angle θ in the present invention, and it is known that the above-mentioned friction force μ×F will generate a friction component force μ×Fcosθ due to the existence of the lead angle θ.

Furthermore, it can be seen from Fig. 6 that an action line r perpendicular to the above-mentioned positive force F can be connected to the rotation axis 11 of the cam 1, and it is known that r=Rsinθ; moreover, due to the formation of the lead angle θ, the The positive force F exerted by the roller 2 on the arc convex portion 12 will further generate a torque T ₁ on the rotation axis 11 of the cam 1, and it is known that T ₁ =F×r=F×Rsinθ; moreover, due to the arc convex portion 12 The relationship between the friction force μ×F generated when it contacts with the roller 2, so that the friction force μ×Fcosθ of the friction force μ×F will further generate a torque T ₂ on the rotation axis 11 of the cam 1, and T ₂ =R×μ×Fcosθ; accordingly, when T ₁ <T ₂ , the wave reducer of the present invention can produce a self-locking effect. Therefore, when the present invention designs the arc convex portion 12, it must be constrained by the following formula (1) to meet the self-locking requirement:

F×Rsinθ<R×μ×FcosθFormula (1)

After balancing the left and right sides of the above formula (1), the lead angle θ can be obtained through the following formula (2):

$\frac{\mathrm{the\; s}i\mathrm{no}\mathrm{\&theta;}}{co\mathrm{the\; s}\mathrm{\&theta;}}=\mathrm{the\; tan}\mathrm{\&theta;}<\mathrm{\&mu;}(\mathrm{\&theta;}<{\mathrm{the\; tan}}^{-1}\mathrm{\&mu;})$ Formula (2)

According to the formula (2), the present invention takes the arc convex portion 12 of the cam 1, the roller 2, the bead ring 4 and the socket profile 31 of the socket 30 made of steel as an example to illustrate the relationship between the steel and the steel through table look-up. The value of the relative friction coefficient μ is between 0.1 and 0.12. The present invention further assumes that when the relative friction coefficient μ=0.07 between the arc convex portion 12 and the roller 2 is brought into formula (2) to obtain the lead angle θ <4°, it can be seen that the relative friction coefficient μ=0.07 assumed by the present invention is relatively smaller than the 0.1-0.12 obtained from the look-up table, so when 0<θ≤4°, the self-locking effect can be fully achieved.

The above-mentioned self-locking means that when the bead ring 4 used as the output end (it can be replaced by the socket wheel 3) reversely drives the cam 1 used as the input end, it is constrained by the above formula (1) via the arc convex portion 12 Moreover, when the lead angle is within the angle range of 0<θ≤4°, self-locking can be generated between the cam 1, the roller 2, the bead ring 4 and the socket wheel 3, so as to protect the transmission components in the reduction mechanism To avoid damage or danger caused by unexpected reverse rotation (detailed later).

In the case of meeting the requirements of the above-mentioned lead angle θ, the present invention can further specifically design and form the cam profile 13; specifically, it includes performing the following steps S1 to S5 (as shown in Figure 7):

Step S1: Analyze the moving trajectory of the roller

The present invention first analyzes the moving track of the roller 2; more specifically, when the roller 2 receives the asymptotic push of the arc convex portion 12 of the cam surface 10, two kinds of Moving speed, described two kinds of moving speeds comprise producing radial moving speed v towards the radial direction of cam shaft center 11, and producing angular velocity ω (as shown in Figure 4a) towards the circumferential direction of cam 1; Concrete means of the present invention Divide the radial displacement L in equal proportions per unit time t to become the radial displacement velocity v (ΔL=v×Δt), and at the same time divide the effective rotation angle θ in the circumferential direction in equal proportions with the unit time t as The angular velocity ω in the circumferential direction (Δθ=ω×Δt), according to which, the motion path of the roller 2 can be simulated in the socket 30 to draw a plurality of trajectory circles (such as steps 2 to 4, which will be described in detail later) .

Step S2: Initial setting

The present invention is based on the requirements of the reduction ratio and configuration size, and can be gradually drawn according to the following set data to form Figure 8, wherein Figure 8 is an example of drawing in four quadrants of the X-Y coordinate system, especially according to the following settings The set data is drawn in the second quadrant to represent a plurality of trajectory circles of the roller 2, and the set data includes:

1. The number Rn of the plurality of rollers is 40, but in order to ensure the rigidity of each bead groove 40 in the bead ring 4, the number of bead grooves and rollers is 1/2.

2. The number Cn of the cam 1's arcuate convex portions 12 is 2.

3. Quantity Sn=Rn-Cn=40-2=38.

4. Diameter Rd = 2.0mm.

5. The number of effective effects can be set as a non-integer number, for example En=5.3.

S3: Draw the roller track circle of the cam

After setting according to the above step 2, the present invention can further draw the graph of the effective moving range of the roller track circle on the periphery of the cam 1 as shown in FIG. 9 according to the definition of the following parameters.

In Fig. 9, the present invention draws in the second quadrant of the XY coordinate system as an example, including dividing suitable equal parts within the effective movement range of the roller 2 (including the effective radial displacement δy and the effective circular movement angle δθ) M, and use this equal component M as the equal component divided by the cam profile 13, for example, divide each track circle displacement Δy' of the effective radial displacement in equal proportions with M=300, so that And the generated arcs are sequentially numbered as L' ₀ , L' ₁ , ..., L' _M (M=300) from the outside to the inside, and then divide the effective moving corners in equal proportions according to the set equal amount M The rotation angle Δα of each roller trajectory diagram of The generated radiation lines are numbered sequentially from right to left as A' ₀ , A' ₁ , . . . , A' _M (M=300).

Then, each intersection of the same radial lines A' ₀ , A' ₁ , ..., A' _M corresponding to the above-mentioned arcs L'0, L'1, ..., L'M and their numbers (for example, L' ₀ and A' ₀ , etc.) as the center of the roller trajectory circle, and draw a plurality of trajectory circles in sequence (roller diameter Rd = 2.0mm), where the margin between the roller 2 and the cam surface 10 can be considered For example, in this case, the roller diameter Rd + preset margin = 2.0 + 0.04 = 2.04mm, and the center coordinates [X _m , Y _m ] of multiple trajectory circles are drawn accordingly, and the center coordinates [X _m , Y _m ] can be obtained according to formula (3):

Formula (3)

[X _m , Y _m ]=[(L _f -M.Δy′).sin(M.Δα),

(L _f -M.Δy′).cos(M.Δα),]

According to this, the center coordinates of the first point [X0,Y0]=[0,L _f ]=[0,14.6], and the center coordinates of the second point [X ₁ ,Y ₁ ]=[-0.032868,14.598230] can be obtained in sequence , and by analogy, the center coordinates [X _m , Y _m ]=[-8.8034166, 10.988460] of the mth trajectory circle are obtained (when m=M=300 is divided into equal proportions).

Step S4: Draw the contour of the unit wheel surface of the cam

Then draw a tangent line T' between each two adjacent trajectory circles above, and select the first circular tangent point of each tangent T', and calculate the coordinates of each circular tangent point according to the following formula [X′ _m , Y′ _m ], expressed as formula (4):

$\begin{array}{c}<span\; class="notranslate">\; \{</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ,</span>{{\mathrm{<span\; class="notranslate">\; Y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; \}</span><span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; |</span>\frac{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\\ <span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; |</span>\frac{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; \}</span>\end{array}$

Formula (4)

Among them, Xm, Ym are the coordinates of the center of the m-th track circle, and m-1 is the number of the previous roller track circle of the m-th roller.

According to this, the coordinates of the tangent point of the first trajectory circle [X' ₀ , Y' ₀ ]=[0.053785,13.601447], and the coordinates of the tangent point of the second trajectory circle [X' ₁ ,Y' ₁ ]=[ 0.023171, 13.599801], and obtain the tangent point coordinates [X' _m , Y' _m ]=[-8.1136577, 10.263725] of the mth trajectory circle by analogy (when m=M=300 equal proportion division). Then, connect the multiple circular surface tangent points in the second quadrant with cloud-shaped lines to form a unit cam profile 13a; wherein, the multiple tangent points covered by the tangent line T' are connected position, that is, the position of the cloud-shaped line profile of the local arc convex portion 12 that forms the cam 1 in the second quadrant, and the range of the unit wheel surface profile 13a formed by the connection of the cloud-shaped line includes the local arc convex portion 12 The cloud-shaped line profile and other wheel surface profiles that do not belong to the arc convex portion 12.

Step S5: Draw the cam profile

Please refer to Fig. 4 and shown in Fig. 9 in combination, step S4 is drawn to form the unit wheel surface profile 13a (as shown in Fig. 9 ) in the second quadrant, and the X-axis and the Y-axis on the camshaft center 11 are respectively mirrored In other three quadrants (comprising the first, third and fourth quadrants) and combined to form the cam profile 13; said mirroring respectively includes first mirroring the X-axis and then mirroring the Y-axis, Or first mirror the Y axis and then mirror the X axis, so that the unit wheel surface profile 13a existing in any quadrant of the four quadrants of the X-Y coordinates can be mirrored to the other three quadrants in sequence, The four quadrants covered with X-Y coordinates are surrounded and combined to form a complete cam profile 13 (as shown in FIG. 4 ). Wherein, the redundant line segments and cusps generated by the intersection of each unit wheel surface profile 13a on the Y-axis (that is, the position of the arc convex part) can be rounded or small arcs can be removed.

The effective mentioned in the above embodiment means that when the roller 2, the socket 3, the cam 1 and the bead ring 4 are in contact at the same time, the angle range is effective, and the angle outside this range is invalid, and the above-mentioned lead angle The constraint condition of θ [Formula (1)] should be combined and implemented within the effective angular range of the arc convex portion 12 to move the pushing roller 2 .

In addition, the present invention can further design the socket profile 31; specifically, it includes performing steps S30 to S50 after the above steps S1 to S2 (as shown in FIG. 10 ):

Step S30: Draw the roller track circle in the socket

After the setting according to step 2, the present invention can further draw the effective moving range drawing of the roller trajectory circle as shown in Figure 11 (cooperating with Figure 8) according to the following parameter definitions:

6. The distance L _f between the center of the roller track circle furthest from the cam shaft center 11 and the cam shaft center 11 , preset coordinates (0, L _f ), where L _f =14.6 mm.

7. In this embodiment, the tangent angle between the initial two trajectory circles is set to be 44.5°-45.5°.

8. The effective position of the roller is 0.52mm.

9. Roller effective action circle angle (As shown in Figure 3).

10. From the above, the relative angle difference Δβ between the socket and the roller can be calculated, that is, (not shown in the figure).

11. Further set the moving angle δθ of the effective range of action of the unilateral tooth surface profile 31a of the socket 30, that is,

Continuing from the state shown in Figure 11, the present invention can divide a suitable equal portion N within the effective moving range of the roller 2 (including the effective radial displacement δy and the effective circular movement angle δθ), and use this equal portion N as the socket The equal parts divided by the unilateral tooth surface profile 31a are shown in Figure 12 in detail, and the radial displacement of each trajectory circle of the effective radial displacement is divided in equal proportions according to the equal parts N (for example, N=100) And the generated arcs are sequentially numbered as L ₀ , L ₁ , ..., L _N from the outside to the inside, and then divide the effective moving rotation angle of each roller track diagram in equal proportions according to the set equal amount N mobile corner The generated radiation lines are sequentially numbered as A ₀ , A ₁ , . . . , A _N from left to right.

Then, the above-mentioned arcs L ₀ , L ₁ , ..., L _N correspond to the intersections of the same radial lines A ₀ , A ₁ , ..., A _N (such as the intersection of L ₀ and A ₀ , etc.) As the center of the roller trajectory circle, draw a plurality of trajectory circles (roller diameter Rd=2.0mm) in sequence, wherein the center coordinates (X _n , Y _n ) of the plurality of trajectory circles can be calculated according to the formula (5 ) to obtain:

[X _n , Y _n ]＝[(L _f -N.Δy).sin(N.Δθ), Formula (5)

(L _f -N.Δy).cos(N.Δθ),]

Among them, N represents the number of the track circle that the roller moves, and N is a natural number >0.

In this way, the center coordinates of the first point [X ₀ , Y ₀ ]=[0,L _f ]=[0,14.6] and the second point center coordinates [X ₁ ,Y ₁ ]=[0.005188,14.594799 can be obtained in sequence ], and obtain the center coordinates [X _n , Y _n ]=[0.500433,14.071104] of the nth trajectory circle by analogy (when n=N=100 when divided in equal proportions).

Step S40: Draw the contour of the single-side tooth surface of the socket

Continuing with the above step S30, a tangent line T is drawn between every two adjacent trajectory circles, and the first circular surface tangent point of each tangent line T is selected, and the coordinates of each circular surface tangent point are calculated according to the following formula [X′ _n , Y' _n ], expressed as formula (6):

$\begin{array}{c}<span\; class="notranslate">\; \{</span>{{\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; ,</span>{{\mathrm{<span\; class="notranslate">\; Y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; \}</span><span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; |</span>\frac{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\\ <span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; |</span>\frac{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; \}</span>\end{array}$

Formula (6)

Among them, Xn, Yn are the center coordinates of the nth track circle, and n-1 is the number of the previous roller track circle of the nth roller.

According to this, the coordinates of the tangent point of the first trajectory circle [X' ₀ , Y' ₀ ]=[0.707959,15.306254], and the coordinates of the tangent point of the second trajectory circle [X' ₁ ,Y' ₁ ]=[ 0.713524,15.300675], and obtain the tangent point coordinates [X' _n ,Y' _n ]=[1.240087,14.744130] of the nth trajectory circle by analogy (when n=N=100 when divided in equal proportions).

Next, connect the tangent points of the multiple circular surfaces with a spline to form a single-sided tooth surface profile 31a between the tooth crest and the tooth valley on the socket 30; it must be noted that this The tooth peaks and tooth valleys in this case can refer to the virtual parts that have reserved space but do not form a real contour line. Generally, knowledgeable people should be able to understand that both ends of the general socket tooth surface have tooth peaks and tooth valleys. And according to the data such as the number of sockets Sn, the number of rollers Rn, and the diameter of the rollers Rd initially set in the aforementioned step S2, the distance between the tooth peaks and tooth valleys that should be reserved on the socket wheel 3 can be known without any difference , so as to form the profile of the tooth crest and tooth valley after the single-side tooth surface profile 31a and its corresponding side tooth surface profile 31b are formed (details will be described later).

Step S50: Draw the outline of the socket

Continuing with step S40, please refer back to FIG. 4, and mirror the center line Y of the virtual tooth valley (essentially the connecting line between the center of the 0th track circle shown in FIG. 6 and the cam shaft center 11). The unilateral tooth surface profile 31a becomes the corresponding tooth surface profile 31b.

Then use the circular tangent points of the two nearest locus circles between the single-side tooth surface profile 31a and the corresponding side tooth surface profile 31b to make an online connection, and the virtual tooth valley position forms a real tooth valley profile 33, the tooth valley profile 33 is based on the principle of not interfering with the wheel surfaces of the plurality of trajectory circles, and is formed by connecting, for example, concave or arc-concave contour lines. Thereby, the complete socket profile 31 is formed by connecting the tooth valley profile 33 between the single tooth profile 31a and the corresponding tooth profile 31b. In addition, the above-mentioned virtual tooth crests must be drawn after the entire socket wheel profile 34 is formed (details will be described later).

According to the above socket profile 31, the present invention can further design the drawing of the socket wheel profile 34; specifically, the present invention must draw the socket profile 31 according to the above step S50, and then further implement the following step S60 (as shown in Figure 13):

Step S60: Draw the outline of the socket wheel

After the above-mentioned step S50, the present invention continues to use the camshaft 11 as the center of rotation (as shown in Figure 9), and arranges the socket profiles 31 in arrays at equal circumferential intervals in the sockets according to the above-mentioned predetermined socket number Sn. The inner ring surface of the wheel 3 is surrounded to form the socket wheel profile 34; wherein, the equal circumferential spacing means that the above-mentioned virtual tooth crest formation distance is reserved.

Furthermore, the crest position must be drawn to form a real crest profile 32, including between the single-side tooth profile 31a and the relatively distant end of the corresponding tooth profile 31b in each socket profile 31. The rounded corners are connected online to form a real tooth peak profile 32 (as shown in Figure 4); wherein, the rounded corners are connected between the relatively distant ends, which can mean that each socket profile 31 The circle tangent points of the two corresponding trajectory circles that are farthest between the single tooth surface profile 31a and the corresponding tooth surface profile 31b are rounded and connected to form tooth crests connected between each socket profile 31 profile 32 to fully present the profile 34 of the socket wheel. Wherein the tooth crest profile 32 is used to guide the roller 2 to move to the adjacent socket 30 to contact the socket profile 31; the guide includes continuous contact guide and non-continuous contact or non-contact support.

Through the forming technology of the above-mentioned cam profile 13, socket profile 31 and socket wheel profile 34, the present invention not only enables the wave reducer to have a self-locking function, but when the cam wheel surface 10 pushes the roller 2 to contact the socket 3 In the process of the tooth surface profile 31a, 31b, the driving force exerted by the roller 2 can be fully and truly transmitted through the tooth surface, and the tooth surface can also serve as a component for the roller 2 generated by the cam 1. The effective contact surface of the force, in order to maintain the transmission accuracy and transmission efficiency of the output value of the overall reduction ratio of the wave reducer, and further improve the transmission accuracy of the output end of the wave reducer.

In addition to the above, please continue to refer to FIG. 14 to FIG. 17 , respectively disclosing the component configuration details of a preferred embodiment of the composite speed reducer formed by applying the above-mentioned wave speed reducer in the present invention. Generally speaking, this embodiment includes a planetary gear set 800 on one side of the above-mentioned wave reducer.

In this implementation, although the main components of the wave reducer described in Figure 3 above are slightly different in configuration and orientation from this embodiment, the main components of the wave reducer disclosed in Figure 4 to Figure 13 above are The constraint conditions, formation technology and configuration relationship among them are consistent with this embodiment.

Furthermore, as shown in Figure 14, the wave reducer in this embodiment is also between the seat body 50 and the seat cover 60 used as the fixed end, and a cam 100 is arranged concentrically from the inside to the outside. A plurality of rollers 200, a bead ring 400, and a socket wheel 300; wherein, the present embodiment is still exemplified by using the cam 100 as the input end, and fixing the socket wheel 300 so that the bead ring 400 becomes the output end for illustration.

Specifically, as shown in FIG. 14, the difference between this embodiment and the embodiment shown in FIG. 3 is that a ring gear 88 used as a member of the planetary gear set 800 is formed at the center of the base body 50, and is used as an input end. The cam 100 does not have an input shaft, but instead forms a ring tooth portion 110 in the shape of a tooth hole in the inner ring position of the cam. The rotation center of the ring tooth portion 110 is also the rotation axis center of the cam 100, so as to serve as the input force Use the power input interface on the terminal. Except for this, it is generally consistent with the above-mentioned embodiment (FIG. 4 to FIG. 13).

In FIG. 14, it is disclosed that the planetary gear set 800 includes a sun gear 810 and a plurality of planetary gears 820; wherein, please combine FIG. 14, FIG. 15 and FIG. The rotary driver 90 can be implemented with a motor sufficient to provide rotational power, more specifically, the motor can be one of a servo motor and a stepping motor, so that the rotary driver 90 can provide rotational power to drive the sun gear 810 to rotate, And the plurality of planetary gears 820 are arranged at equal intervals on one side of the circumferential end surface of the wheel disc 85, and a through hole can be opened at the center of the disc surface of the wheel disc 85, so that the sun gear 810 can pass through the through hole and can be connected with multiple planetary gears. The two planetary gears 820 are engaged with each other, and the disc 85 is indirectly connected to the rotary drive 90 through the sun gear 810 .

Further, it can be seen from Fig. 15 and Fig. 17 that the plurality of planetary gears 820 are respectively meshed with the periphery of the sun gear 810, and the plurality of planetary gears 820 and the inner ring of the cam 100 The ring gear 110 is meshed with each other, and the ring gear 88 is meshed with the periphery of the plurality of planetary gears 820 .

Further, as can be seen from FIG. 15 and FIG. 17, the plurality of planetary gears 820 may be composed of a plurality of gear sets 82 in practice, wherein each gear set 82 includes a front gear 82a coaxially arranged With a rear gear 82b; the plurality of front gears 82a are meshed with a ring gear 88, wherein since the ring gear 88 formed on the seat body 50 is fixed, the ring gear 88 can provide guidance to the front gear 82a and supporting function, so that the plurality of front gears 82a in the plurality of planetary gears 820 can stably receive the drive of the sun gear 810, and revolve around between the sun gear 810 and the ring gear 88 to form the first stage The output of the reduction ratio rotates, and then, by means of the plurality of rear gears 82b coaxially arranged with the plurality of front gears 82a, they mesh with the ring gear portion 110 of the cam 100 during the revolution to drive the cam 100 to generate the first The output rotation of the second-stage reduction ratio; then, through the wave reducer disclosed in the above-mentioned embodiment, the cam 100 with the second-stage reduction ratio output force rotation drives the partial roller 200 to move to the corresponding socket 310 to contact the socket The socket profile is used to transmit the driving force of the third reduction ratio to drive the bead ring 400 to rotate.

It should not be difficult for ordinary knowledgeable people to understand that according to the compound configuration of the above-mentioned planetary gear set 800 and the wave reducer, the output of multi-stage reduction ratios can be generated through the planetary gear set 800 and the wave reducer respectively, so as to provide the output for use on the output end. demand.

In the above-mentioned implementations shown in Figures 14 to 17, the sun gear 810 can be omitted in essence based on the different requirements on the reduction ratio configuration that the planetary gear set 800 can provide. Please refer to Figure 14a for details of its implementation. The planetary gear set does not include a sun gear, and the center of the disc surface of the wheel disc 85 does not provide a through hole for the passage of the sun gear. On the contrary, the center of the disc surface of the wheel disc 85 is opened into a shaft hole to directly connect the rotary drive 90. mandrel. In this way, the reduction ratio generated by the sun gear driving the plurality of planetary gears 820 can be omitted, and the rotation driver 90 directly drives the plurality of planetary gears 820 to drive the rotation of the cam 100 to generate the reduction ratio.

In addition, in the above-mentioned implementation shown in Figures 14 to 17, the center of the bead ring 400 extends to form an annular seat 410, which is used as the output shaft 41 in the implementation of Figure 4, so that the annular joint The seat 410 can externally connect the object to be driven (such as a robot arm, etc.).

Next, please refer to Fig. 18 and Fig. 19, revealing another preferred embodiment of the configuration of multi-stage reduction ratio output in the compound speed reducer of the present invention, which differs from the embodiments shown in Fig. 14 to Fig. 17 above in that A plurality of planetary gears 84 in the planetary gear set 840 are equidistantly arranged on one side of the circumferential end surface of the cam 101, and are meshed with the periphery of the sun gear 811 respectively. Specifically, the plurality of planetary gears 84 can be divided into a first group of planetary gears 841 and a second group of planetary gears 842; wherein, the first group of planetary gears 841 is arranged at equal intervals on one side of the wheel 841b A plurality of front gears 841a on the circumferential end surface, a central gear 841c is fixed at the rotation center on the other side of the wheel disc 841b, and the second set of planetary gears 842 includes multiple gears arranged at equal intervals on one side of the circumferential end surface of the cam 101. a plurality of rear gears 842a, the plurality of rear gears 842a are meshed with the periphery of the central gear 841c, and the plurality of rear gears 842a can be used as the interface for power input of the cam 101; wherein, the plurality of front gears 841a are also the same It is a meshing group with the ring gear 880 on the base 500 used as the fixed end, and the cam 101 can be a solid body without ring teeth, except that the other configurations are the same as above.

According to the above configuration, the plurality of front gears 841a can be driven to revolve around the ring gear 880 through the engagement of the sun gear 811 connected to the rotary drive 91, and thereby jointly make the wheel disc 841b and the central gear 841c produce the first stage The output rotation of the reduction ratio, and then relying on the center gear 841c to drive a plurality of rear gears 842a and the cam 101 to generate the output rotation of the second reduction ratio, and then drive the partial roller 201 to move into the corresponding socket 311 through the cam 101 The contour of the contact socket is used to transmit the driving force of the third reduction ratio to drive the bead ring 401 to rotate; according to this implementation, the output of the multi-stage reduction ratio can also be produced.

Based on the above-mentioned embodiments, it can be seen that the present invention can use, for example, a servo motor as a rotary driver, and connect a load object such as a mechanical arm to the output end. Through multi-stage deceleration, high-quality transmission accuracy and self-locking function, the mechanical arm can be driven in the Precise movement between subtle angles, and according to common knowledge, drives such as servo motors lose power immediately when they encounter a power failure, and the spindle of the motor will immediately become a free end and cannot maintain itself, and the mechanical arm at the output end is caused by itself The load will form a torque opposite to the output rotation direction and be applied to the compound reduction gear. At this moment, through the self-locking design of the present invention, the cam, roller, bead ring and bearing can be connected through the arc convex design of the cam. Self-locking is generated between the sockets, that is, a braking reversal effect opposite to the output rotation direction is generated to protect the mechanical arm at the output end and the work piece it holds from falling or crashing, and it can also protect the composite reduction gear. Avoid unexpected reverse rotation between transmission components and cause damage or danger.

The above descriptions and examples are only exemplary and do not constitute any limitation to the scope of the present invention. Those skilled in the art should understand that the details and forms of the technical solutions of the present invention can be modified or replaced without departing from the spirit and scope of the present invention, but these modifications and replacements all fall within the protection scope of the present invention.

Claims (21)

1. a kind of fluctuation decelerator with auto-lock function, it includes being configured with concentric circular fashion:

One cam, the ring week in its axle center has a cam contour, and this cam contour comprises to form at least one arc protuberance；

One pod wheel, this pod wheel is configured at this cam periphery, and the internal ring wall face ring of this pod wheel is provided with multiple pods；

One pearl ring, this pearl ring is configured between this cam and pod wheel, and this pearl ring circumference is provided with multiple pearl grooves at equal intervals, In described each pearl groove, activity space is configured with a roller, and this cam enters power drive arc protuberance and rotates, and this arc protuberance exerts a force Push away in the mobile extremely corresponding pod of tactile roller, and drive the set speed reducing ratio of generation therein of pod wheel and pearl ring Rotation of exerting oneself；

It is characterized in that, the formation of this arc protuberance accepts restraining of following formula:

F × rsin θ ＜ r × μ × fcos θ

0 ＜ θ≤4.

Wherein: f forces in the positive force of arc protuberance for roller, r be contact point between arc protuberance and roller with respect to The distance in cam axle center, θ is the lead angle of f, and μ is the relative friction coefficient between arc protuberance and roller.

2. state the fluctuation decelerator with auto-lock function according to claim 1 it is characterised in that:

F × rsin θ=t₁

R × μ × fcos θ=t₂

Wherein: t1 forces in rotation torque during arc protuberance for roller, t2 is arc protuberance and rubbing during roller contact The rotation torque of the component (μ × fcos θ) of wiping power (μ × f).

3. the fluctuation decelerator with auto-lock function according to claim 1 or claim 2 is it is characterised in that this cam Profile includes being formed with the following step:

According to unit interval equal proportion divide roller between cam and pod move radially track and circumference rotation Track, and sequentially obtain the center of circle of multiple locus circles in moving process for the roller and its disc point of contact；

Then connecting the plurality of disc point of contact becomes the unit wheel facial contour in cam contour；

Subsequently with camshaft x-axis in the heart and y-axis respectively unit wheel facial contour described in mirror and be combined into institute State cam contour.

4. there is the fluctuation decelerator of auto-lock function according to claim 3 it is characterised in that the plurality of rail The center of circle of mark circle, obtains central coordinate of circle (x according to following formula_m,y_m):

[x_m,y_m]

=[(l_f-m.δy′).sin(m.δα),

(l_f-m.δy′).cos(m.δα),]

Wherein, l_fIt is the distance between the center of circle of roller locus circle and cam axle center farthest away from cam axle center, m is The aliquot that multiple locus circles of roller are divided, δ y ' is each roller locus circle of the effective radial displacement of equal portions Radial displacement, δ α effectively moves the mobile corner of each roller locus circle of corner for equal portions.

5. there is the fluctuation decelerator of auto-lock function according to claim 4 it is characterised in that the plurality of rail Disc point of contact (the x ' of mark circle_m,y′_m), it is expressed as follows formula:

$\begin{array}{c}\{{x^{\&prime;}}_m,{y^{\&prime;}}_m\}\\ =\{x_m+\left(\frac{r_d}{2}\right).\sin \&lsqb;{\tan }^{-1}|\frac{(y_m-y_{m-1})}{(x_m-x_{m-1})}|\&rsqb;,y_m\\ +\left(\frac{r_d}{2}\right).\cos \&lsqb;{\tan }^{-1}\left|\frac{(y_m-y_{m-1})}{(x_m-x_{m-1})}\right|\&rsqb;\}\end{array}$

Wherein, m represents the count of the locus circle of roller movement, and m is > 0 natural number, rd is roller diameter, Xm, ym are the central coordinate of circle of m locus circle, m-1 be the previous roller locus circle of m roller number Number.

6. there is the fluctuation decelerator of auto-lock function according to claim 5 it is characterised in that connecting with cloudy shape line Connect the plurality of disc point of contact and form unit wheel facial contour.

7. the fluctuation decelerator with auto-lock function according to claim 1 or claim 2 is it is characterised in that this pod There is a pod profile, this pod profile includes being formed with the following step:

According to unit interval equal proportion divide roller between cam and pod move radially track and circumference rotation Track, and sequentially obtain the center of circle of multiple locus circles in moving process for the roller and its disc point of contact；

Then connecting the plurality of disc point of contact becomes the monolateral flank profile between tooth peak and tooth paddy on pod；

Subsequently corresponding sides flank profile is become with flank profile monolateral described in the centrage mirror of tooth paddy, and by monolateral tooth Link tooth paddy profile between facial contour and corresponding sides flank profile and form described pod profile.

8. there is the fluctuation decelerator of auto-lock function according to claim 7 it is characterised in that the plurality of rail The center of circle of mark circle, obtains central coordinate of circle (x according to following formula_n,y_n):

[x_n,_n]=[(l_f-n.δy).sin(n.δθ),

(l_f-n.δy).cos(n.δθ),]

Wherein, l_fIt is the distance between the center of circle of roller locus circle and cam axle center farthest away from cam axle center, n is The aliquot that the monolateral flank profile of pod is divided, δ y is each roller track of the effective radial displacement of decile The radial displacement of circle, δ θ effectively moves the mobile corner of each roller locus circle of corner for decile.

9. there is the fluctuation decelerator of auto-lock function according to claim 8 it is characterised in that the plurality of rail Disc point of contact (the x ' of mark circle_n,y′_n), it is expressed as follows formula:

$\begin{array}{c}\{{x^{\&prime;}}_n,{y^{\&prime;}}_n\}\\ =\{x_n+\left(\frac{r_d}{2}\right).\sin \&lsqb;{\tan }^{-1}|\frac{(y_n-y_{n-1})}{(x_n-x_{n-1})}|\&rsqb;,y_n\\ +\left(\frac{r_d}{2}\right).\cos \&lsqb;{\tan }^{-1}\left|\frac{(y_n-y_{n-1})}{(x_n-x_{n-1})}\right|\&rsqb;\}\end{array}$

Wherein, n represents the count of the locus circle of roller movement, and n is > 0 natural number, rd is roller diameter, Xn, yn are the central coordinate of circle of No. n-th locus circle, and n-1 is the count of the previous roller locus circle of No. n-th roller.

10. there is the fluctuation decelerator of auto-lock function according to claim 9 it is characterised in that with cloudy shape line Connect the plurality of disc point of contact and form monolateral flank profile.

The 11. fluctuation decelerators according to claim 7 with auto-lock function are it is characterised in that described tooth paddy Profile is made to join with the disc point of contact of closest two locus circles between monolateral flank profile and corresponding sides flank profile Machine and formed, this tooth paddy profile does not interfere the wheel face of the plurality of locus circle.

The 12. fluctuation decelerators having own lock function according to claim 7 it is characterised in that also include with Cam axle center be center of rotation, pod profile equal circumference spacing described in array be surrounded on wheel face within pod wheel, and Form the pod wheel profile that this pod wheel has.

The 13. fluctuation decelerators according to claim 12 with auto-lock function are it is characterised in that described tooth peak With between monolateral flank profile and corresponding sides flank profile farthest away from two corresponding locus circles disc point of contact Make fillet online, and form tooth peak profile, this described roller of tooth peak profile guiding is mobile to be contacted to adjacent pod is interior Pod profile.

The 14. fluctuation decelerators with auto-lock function according to claim 1 or claim 2 are it is characterised in that this is convex Wheel internal ring forms a perforation shape ring teeth portion using as the power inputting interface of force entering end.

15. a kind of application claim 1 described in fluctuate decelerator combined type deceleration devices it is characterised in that its Including compound planetary gearsets in the side of this fluctuation decelerator, wherein this cam internal ring is formed with a circular tooth part, This planetary gearsets includes:

Multiple planetary gears, at equal intervals group be assigned in the side circumferential end surfaces of a wheel disc, and the ring tooth with cam respectively Portion's phase nibbles group；Wherein, this wheel dish axle connects a rotating driver.

16. combined type deceleration devices according to claim 15 are it is characterised in that this planetary gearsets is also wrapped Include a sun gear, this wheel disc connects rotating driver via sun wheel shaft, the plurality of planetary gear nibbles group respectively in too The periphery of sun wheel accepts transmission.

17. combined type deceleration devices according to claim 15 or 16 are it is characterised in that this planetary gear Also include a rim gear wheel using as fixing end, this rim gear wheel nibbles group in the plurality of planetary periphery, institute State multiple planetary gears and comprise multiple gear trains, each gear train comprises a front gear and a backgear of arranged coaxial, The plurality of front gear and rim gear wheel phase nibble group, and the plurality of planetary gear relies on described multiple backgears and convex The circular tooth part phase of wheel nibbles group.

18. combined type deceleration devices according to claim 15 are it is characterised in that this Zhu Huan center extends shape Become an annular joint chair as force-output shaft.

Described in a kind of 19. application claim 1, the combined type deceleration device of fluctuation decelerator is it is characterised in that wrap Include compound planetary gearsets in the side of this fluctuation decelerator, wherein this planetary gearsets include:

One sun gear, axle connects a rotating driver；And

Multiple planetary gears, at equal intervals group be assigned in the side circumferential end surfaces of cam, and nibble group respectively in this sun gear Periphery and carry moving cam rotate.

20. combined type deceleration devices according to claim 19 are it is characterised in that the plurality of planetary gear Comprise:

One first group of planetary gear, the multiple front gears in the circumferential end surfaces of side comprising be configured at equal intervals a wheel disc, The plurality of planetary gear nibbles group in the periphery of sun gear, the rotation of this wheel disc opposite side via the plurality of front gear Turn the fixed central gear in center；And

One two groups of epicyclic gears, the multiple backgears in the circumferential end surfaces of side comprising be configured at equal intervals cam, The plurality of backgear simultaneously nibbles group in the periphery of central gear.

21. combined type deceleration devices according to claim 19 are it is characterised in that this planetary gear also includes One rim gear wheel using as fixing end, this rim gear wheel nibbles group in the periphery of the plurality of front gear.