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WO1999011947A1 - Dispositif de transmission - Google Patents

Dispositif de transmission Download PDF

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Publication number
WO1999011947A1
WO1999011947A1 PCT/CA1998/000831 CA9800831W WO9911947A1 WO 1999011947 A1 WO1999011947 A1 WO 1999011947A1 CA 9800831 W CA9800831 W CA 9800831W WO 9911947 A1 WO9911947 A1 WO 9911947A1
Authority
WO
WIPO (PCT)
Prior art keywords
spaced
rollers
cos
shaft
transmission mechanism
Prior art date
Application number
PCT/CA1998/000831
Other languages
English (en)
Inventor
Jorge Angeles
Max Antonio Gonzales-Palacios
Original Assignee
Mcgill University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mcgill University filed Critical Mcgill University
Priority to AU89693/98A priority Critical patent/AU8969398A/en
Publication of WO1999011947A1 publication Critical patent/WO1999011947A1/fr
Priority to US09/816,129 priority patent/US6382038B2/en

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/10—Constructively simple tooth shapes, e.g. shaped as pins, as balls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/24—Toothed gearings for conveying rotary motion without gears having orbital motion involving gears essentially having intermeshing elements other than involute or cycloidal teeth

Definitions

  • the present invention relates to a transmission device and, more particularly, to a transmission device having rolling contact surfaces for transmitting motion between first and second moveable elements.
  • the cycloidal speed changing device consists of an internal meshing planetary gear construction which comprises an input shaft, an external -tooth gear mounted on the input shaft through an eccentric body, a stationary internal -tooth gear adapted to mesh with the external -tooth gear, and an output shaft connected to the external -tooth gear by means of a plurality of inner pins fixed to the output shaft and extending through a plurality of corresponding inner holes defined in the external -tooth gear so that rotation of the input shaft is transmitted to the output shaft.
  • the internal-tooth gear has teeth of circular arc profile which may consist of pins or combination of pins and rollers, whereas the external -tooth gear has teeth of trochoidal profile.
  • the output shaft will rotate in the opposite direction to the input shaft at a speed dependent upon the difference in the number of teeth between the external -tooth gear and the internal -tooth gear.
  • harmonic drive and direct drive have also been proposed to overcome the inherent problems of conventional gear speed changing devices.
  • These two relatively novel types of drives solve the problems of gears to some extent, the first, by means of a very flexible element, which brings about high power losses and undesirable flexibility; and the second, by eliminating the transmission mechanism which requires the utilization of massive motors.
  • harmonic drives are limited to coaxial input and output shafts, while direct drives, as their name dictates, transmit power directly from the motor shaft and hence, are inherently limited to coaxial shafts as well.
  • a transmission mechanism for transmitting motion between first and second moveable elements comprising a set of cam means adapted to rotate with said first moveable element, and corresponding arrays of spaced-apart roller means connected to said second moveable element for movement therewith, said set of cam means being adapted to alternately cooperate with said spaced-apart roller means of said corresponding arrays of spaced-apart roller means to communicate motion to one of said first and second moveable elements in response to a driving action of the other of said first and second moveable elements.
  • Fig. 1 is a perspective view partly in cross- section of a transmission device m accordance with the present invention
  • Fig. 2 is a perspective view partly m cross- section showing a housing of the device of Fig. 1 ;
  • Fig. 3 is a perspective view partly m cross- section showing an arrangement of conjugate cams rigidly mounted on an input shaft of the device of Fig. 1 ;
  • F g. 4 is a perspective view partly m cross- section showing two sets of rollers revolvably disposed about the periphery of a circular carrier member which is m turn fixedly mounted to an output shaft of the device of Fig. 1;
  • Fig. 5 is a front elevational view of a cam member of the present invention.
  • Fig. 6 is a perspective view partly m cross- section of a second preferred embodiment m accordance with the present invention.
  • Fig. 7 is a perspective view partly m cross- section showing a housing of the device of Fig. 6;
  • Fig. 8 is a perspective view partly m cross- section showing an arrangement of conjugate cams rigidly mounted on an input shaft of the device of Fig. 6;
  • Fig. 9 is a perspective view partly m cross- section showing two sets of rollers revolvably disposed about the periphery of a carrier member which is m turn fixedly mounted to an output shaft of the device of Fig. 6 ;
  • Fig. 10 is a schematic perspective view partly m cross-section of a transmission device m accordance with a third embodiment of the present invention for transforming a rotary motion into a linear motion or vice versa;
  • Fig. 11 is a schematic side elevational view of the transmission device of Fig. 10.
  • the transmission device 10 generally comprises a housing 12, an input shaft 14 and an output shaft 16 rotatably mounted within the housing 12 and connected to each other through a transmission mechanism having a constant speed reduction ratio.
  • the housing 12 includes two side plates 18 and 20 which are spaced apart by a front plate 22 and a rear spacer 24 secured thereto by means of any suitable fasteners 25 such as screws or the like.
  • a groove 26 following a curved path is defined on the interior side of each side plate 18 and 20 for receiving the side edges of a cover shell 28.
  • the output shaft 16 is rotatably mounted to the housing 12 through a pair of bearings 30 which are respectively disposed within a bearing aperture defined in the side plates 18 and 20.
  • the housing 12 also includes two adjustable side plates 32 and 34 each capable of undergoing submillimetric translations along a horizontal channel 36 and a vertical channel 38 which mate respectively with a horizontal protrusion 40 and a vertical protrusion 42 extending from a front portion of each side plate 18 and 20.
  • the main purpose of this arrangement is to allow a preloading of the rollers in contact with the cam, in order to ensure a force transmission without backlash.
  • the adjustable side plate 32 can be slidably engaged onto the front portion of the side plate 18 while the adjustable side plate 34 can be slidably engaged onto the front portion of the side plate 20.
  • Each adjustable side plate 32 and 34 is provided with a bearing 43 for rotatably supporting the input shaft 14. As illustrated in Fig.
  • a nut 44 engages a screw 46 which extends through the left corner of the front plate 22 and through the adjustable side plate 32 so as to slidably displace the adjustable side plate 32 relative to the front portion of the side plate 18.
  • the adjustable side plate 34 may be displaced relative to the front portion of the side plate 20. Therefore, translational misalignments of the input shaft 14 relative to the output shaft 16 may be compensated.
  • the housing 12 is also provided with a base portion in the form of two L-shape plates 48 and 50 which are respectively secured to the side plates 18 and 20 by way of fasteners 52.
  • a base portion in the form of two L-shape plates 48 and 50 which are respectively secured to the side plates 18 and 20 by way of fasteners 52.
  • two cam plates 54 and 56 are mounted on the input shaft 14 with a predetermined phase difference by means of a square key 58 which cooperates with a key way defined in both cam plates 54 and 56 to fixedly secure the same onto the input shaft 14, as it is well known in the art.
  • the two cam plates 54 and 56 and the shaft 14 thereof can be cut from a single blank, thereby eliminating the necessity of having a key way and square key assembly which require precise machining in order to avoid backlash.
  • the two cam plates 54 and 56 are symmetrically installed at an angle of 180 degrees corresponding to each other, thereby forming a conjugate arrangement of cams.
  • a separating bushing 60 having a predetermined length is fitted on the input shaft 14 between the cam plates 54 and 56 to set the relative axial position thereof. Furthermore, an aligning bushing 62 is provided to set the axial position of the conjugate cams arrangement onto the input shaft 14 when the latter is installed into the housing 12. A lock nut 64 and an external retaining ring 66 are mounted to the opposed ends of the input shaft 14 to restrict the axial displacement of the input shaft 14 within the housing 12.
  • a carrier member 68 supporting a first row of rollers 70 and a second row of rollers 72 is fixedly mounted on the output shaft 16 through a coupling bushing 74 defining a key way (not shown) for receiving a square key 76 extending on the outer periphery of the output shaft 16.
  • the carrier member 68 includes a front disc 78, a rear disc 80 and a middle disc 82 with the relative axial position thereof being dictated by the coupling bushing 74 and by both rows of rollers 70 and 72 which are respectively disposed on either side of the middle disc 82 between the front disc 78 and the rear disc 80.
  • the front and the rear discs 78 and 80 are provided with cutout portions 84 with the twofold purpose of reducing weight and easing the assembly of the rollers.
  • Circular holes 86, or holes of alternative shapes, are also defined in the front disc 78, the rear disc 80 and the middle disc 82 for further reducing the weight of the carrier member 68.
  • the front and the rear discs 78 and 80 are secured to the coupling bushing 74 by fasteners 88 and by the dowell pin 87. -
  • Each roller 85 of the first row of rollers 70 is freely mounted on a roller pin 90 which extends through holes defined in the middle disc 82 and the front disc 78.
  • each roller 85 of the second row of rollers 72 is freely mounted on a roller pin 90 which extends through holes defined in the middle disc 82 and the rear disc 80. Therefore, the front disc 78, the middle disc 82 and the rear disc 80 rotate about the axis of the output shaft 16 as a single unit.
  • the first and the second rows of rollers 70 and 72 are shifted in phase by a predetermined angle which is a function of the number of rollers 85.
  • a predetermined angle which is a function of the number of rollers 85.
  • a lock nut 92 and an external retaining ring 94 are mounted on the opposed ends of the output shaft 16 to restrict the axial displacement of the output shaft 16 within the housing 12.
  • the cam plates 54 and 56 are respectively aligned with the first and second rows of rollers 70 and 72 such that rotation of the input shaft 14 will cause the cam plates 54 and 56 to alternately push on a roller 85 of the corresponding row of rollers 70 and 72 to thus transmit a torque from the input shaft 14 to the output shaft 16.
  • the torque transmission is essentially effected through the cam plate 56 because the input shaft 14 rotates in the direction indicated by arrow 96.
  • cam plate 54 does not contribute to the torque transmission, it does not interfere with any other parts, since it is in relatively pure- rolling contact with the associated rollers 85 at all times.
  • unique profile of both cam plates 54 and 56 allows the maintenance of relatively pure- rolling between the contact surface of the cam plates 54 and 56 and the associated first and second row of rollers 70 and 72, thereby providing a transmission device having superior efficiency and durability.
  • each cam plate 54 and 56 consists of a planar body having a cardioid-like shape which provides an essentially convex contact surface with the only concave portion thereof being at a dead point of this particular cam- follower arrangement, i.e. at a point where no torque transmission occurs, thereby preventing stress concentrations from affecting the service life of the transmission device.
  • the dead points of each cam-follower arrangement are out of phase by a maximum angle of 180°; thus, when one of the cams operates at a dead point, its conjugate (or conjugates) takes up the load, thus allowing for a continuous torque transmission.
  • the profile of the cam plates 54 and 56 is generated by a vector r c which is defined as follows: a x 3 ⁇
  • l/N speed reduction ratio, for an integer N
  • > angle of rotation of the input shaft with respect to the housing
  • ⁇ angle of rotation of the output shaft with respect to the housing
  • ay distance between output and input shafts
  • a 4 radius of the rollers
  • the vector r c defines the position of a point of the cam surface and thus, it may be used to generate a complete cam profile which will enable to transmit a motion with a uniform velocity from an input shaft to and output shaft having parallel axes.
  • this equation allows the construction of a cam profile necessary to obtain a desired speed reduction ratio l/N between two parallel shafts.
  • the rotation of the input shaft 14 directly drives the cam plates 54 and 56 which will in turn act on the rollers 85 to cause the carrier member 68 rotating the output shaft 16 in the opposite direction with a reduced rotational speed according to the profile of the cam plates 54 and 56.
  • the motion of the carrier member 68 and thus of the output shaft 16 depends upon the shape of the cam plates 54 and 56.
  • cam members 54 and 56 may be disposed within the circular path defined by the first and the second row of rollers 70 and 72 instead of outside as in the above described embodiment.
  • This embodiment corresponds to an angle between shafts at 180°, while that of Fig. 1 corresponds to an angle of 0°.
  • Fig. 6 shows a second possible embodiment of the present invention wherein the longitudinal axis of the input shaft 204 intersects the longitudinal axis of the output shaft 206 at right angles, but the device can accommodate other angles between shafts.
  • the housing 202 of the second embodiment is essentially the same as the one described above except that the input shaft 204 is supported by a pair of bearings 205 disposed in a bearing housing 207 secured to a front plate 208. It is also noted that the housing 202 lacks any adjustable side plates. The remaining features of the housing 202 are similar to those of the embodiment shown in Figs. 1 to 5 , and thus their duplicate description will be omitted.
  • two cams 212 and 214 are mounted apart from each other onto the input shaft 204 with a predetermined phase difference (180° m this embodiment) by means of two square keys 216 and 218 which respectively cooperate with a key way defined m both cams 212 and 214 to fixedly secure the same onto the input shaft 204, as it is well known m the art.
  • a lock nut 220 is provided at each end of the input shaft to restrict the axial displacement of the cams 212 and 214 and of the input shaft itself within the housing 202.
  • a carrier member 222 supporting an internal row of rollers 224 and an external row of rollers 226 is mounted to the output shaft 206 for rotation therewith.
  • the carrier member 222 is provided with a key way (not shown) which is adapted to slidably engage a square key 228 extending along a portion of the length of the output shaft 206.
  • the axial positioning of the carrier member 222 to the output shaft 206 is ensured by an aligning bushing 230.
  • the carrier member 222 includes a disc 232 and an integral ring 234 extending at an angle from the periphery of the disc 232 for supporting the internal and external sets of rollers 224 and 226
  • the integral ring 234 corresponds to a segment of a sphere, i.e. a portion of a sphere contained between two parallel planes both intersecting the sphere.
  • the integral ring 234 has holes 236 regularly distributed along the surface thereof for roller pins 238 to pass through.
  • each roller pm 238 has a head 240 and a longitudinal body having a threaded portion which is adapted to cooperate with a bolt 242 to retain the roller pm 238 on the integral ring 234 and to restrict the axial displacement of a roller 244 mounted onto the longitudinal body of the roller pm 238.
  • the roller p s 238 are alternately assembled to the integral ring 234 with the longitudinal body thereof extending inwardly and outwardly of the integral ring 234 such that adjacent roller pms 238 extend m opposite direction with respect to each other, whereby the internal and external row of rollers 224 and 226 are shifted m phase by an angle which is equal to 360°/number of roller pms.
  • the rollers 244 have a frusto-conical shape. As best seen Fig. 9, the rollers 244 disposed outwardly of the integral ring 234 are mounted to the roller pms 238 with the smallest radius section thereof facing the head 240 of the roller pms 238, whereas the rollers 244 disposed inwardly of the integral ring 234 are mounted on the roller pms 238 with the greatest radius section thereof facing the head 240 of the roller pms 238.
  • a lock nut 246 and an external retaining ring 248 are mounted on the opposed ends of the output shaft 206 to restrict the axial displacement of the output shaft 206 withm the housing 202.
  • the cams 212 and 214 are respectively m rolling contact with the internal and external rows of rollers 224 and 226 such that rotation of the input shaft 204 will cause the cams 212 and 214 to alternately push on a roller 244 of the corresponding row of rollers 224 and 226 to thus transmit a torque from the input shaft 204 to the output shaft 206.
  • the profile of the cams 212 and 214 is the key element to ensure that a constant speed reduction ratio is obtained. Accordingly, the profile of the cams 212 and 214 is generated by a position vector r c which is expressed as follows :
  • k ⁇ arctan
  • k 2 COS(QI - k ⁇ ) cos ⁇ sm a 3 + cos ⁇ 3 sin( ⁇ — k x )
  • ⁇ _ angle between output and input shafts
  • ⁇ .3 angle between output shaft and the axis of rotation of the rollers
  • Fig. 10 shows a third embodiment of the present invention which may act as a substitute for a conventional rack and pinion transmission to communicate a revolution of a first element into a linear motion of another element or vice versa.
  • the transmission device 300 comprises a rotary shaft 304 on which a pair of spaced- apart cam plates 306 and 308 are mounted with a predetermined phase difference (180° in this embodiment) for respectively engaging first and second rows of rollers 310 and 312 distributed on opposed longitudinal sides of an elongated member 314.
  • the cams 306 and 308 may be cut with the rotary shaft 304 from a unique blank, in one single piece to add stiffness to the transmission device 300.
  • This concept is correspondingly applicable to the first two embodiments, i.e., to the transmission devices 10 and 200.
  • the transmission device 300 does not require a housing, since one of the moveable elements of the transmission mechanism, i.e. the elongated member 314, has a translational motion, and hence, the length of the stroke thereof is limited only by each application, the device 300 providing for an unlimited stroke length.
  • the rotary shaft 304 is mounted on a supporting frame (not shown) , which plays the role of a housing, by means of bearings 316 provided at opposed ends thereof.
  • rollers 318 The elongated member 314 or rack is supported by way of rollers 318.
  • Each roller 318 is journalled at opposed ends thereof within bearings 320 having respective external rings fixed to the supporting frame (not shown) .
  • the rollers 318 are thus constrained to a pure rotation about their revolving axes, without translating.
  • the rollers 310 and 312 are mounted on pins 322 extending at right angles from both sides of the elongated member 314.
  • the pins 322 are uniformly distributed on each side of the elongated member 314.
  • the first and second row of rollers 310 and 312 are shifted in phase by a predetermined distance which is a function of the number of rollers.
  • the transmission device 300 is characterized by a speed transmission factor or pitch p defined as the quotient between the linear velocity of the elongated member 314 (m/s) by the angular velocity of the rotating shaft 304 (rad/sec) .
  • the profile of the cam members 306 and 308 is the key element to ensure that a constant speed transmission is obtained. Accordingly, the profile of the cam members 306 and 308 is generated by a position vector r c , which is expressed as follows :
  • l/N speed reduction ratio, for an integer N
  • ⁇ angle of rotation of the rotating shaft with respect to the supporting frame
  • ot ] _ angle between the rotating shaft and the longitudinal axis of the elongated member
  • ay distance between the revolving axis of the rotating shaft and a reference line parallel to a longitudinal axis of the elongated member
  • a 3 distance between the reference line and roller centers
  • a 4 radius of rollers
  • the center of the rollers 310 and 312 are disposed along a common line 324 which is spaced by a distance a 3 from a reference line 326 parallel to a longitudinal axis of the elongated member 314.
  • the variable ⁇ is also established with reference to the line 326.
  • the rotary shaft 304 may be driven to cause the cam members 306 and 308 to alternately act on the corresponding row of rollers 310 and 312 to translate the elongated member 314 in a direction parallel to the longitudinal axis thereof.
  • the elongated member 304 may be driven such as to successively push a roller of the first and second rows 310 and 312 against the cam members 306 and 308, respectively, to cause the rotary shaft 304 to rotate.
  • the transmission device 300 can accommodate other angles .
  • the present invention is not limited to the above-described embodiments.
  • double trains or multiple trains i.e. multistage transmission devices
  • the present invention also includes in its scope a construction in which the three above described embodiments are used in combination.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Friction Gearing (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne un mécanisme (12) de transmission servant à transmettre un mouvement présentant un facteur de transmission de vitesse uniforme entre un premier et un deuxième éléments (14, 16) mobiles. Le mécanisme comporte un ensemble de cames (54, 56) conçues pour tourner avec le premier élément (14) mobile autour d'un axe de rotation, et des groupes (70, 72) correspondants de galets de roulement espacés, qui sont connectés au deuxième élément (16) mobile de façon à se déplacer avec celui-ci. Les cames (54, 56) coopèrent en se relayant avec les groupes (70, 72) correspondants de galets (85) de roulement espacés, de façon à communiquer un mouvement en continu entre le premier et le deuxième éléments (14, 16) mobiles. Les cames (54, 56) sont en contact de roulement avec les groupes (70, 72) correspondants de galets (85) de roulement, ce qui permet de mettre en oeuvre une transmission régulière de couple et de force. De plus, le mécanisme (12) de transmission permet d'inverser à la fois le sens de la vitesse d'entrée et les rôles du premier et du deuxième éléments (14, 16) mobiles.
PCT/CA1998/000831 1997-09-04 1998-09-01 Dispositif de transmission WO1999011947A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU89693/98A AU8969398A (en) 1997-09-04 1998-09-01 Transmission device
US09/816,129 US6382038B2 (en) 1997-09-04 2001-03-26 Transmission device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US5749097P 1997-09-04 1997-09-04
US60/057,490 1997-09-04

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US51824100A Continuation 1997-09-04 2000-03-03

Publications (1)

Publication Number Publication Date
WO1999011947A1 true WO1999011947A1 (fr) 1999-03-11

Family

ID=22010891

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA1998/000831 WO1999011947A1 (fr) 1997-09-04 1998-09-01 Dispositif de transmission

Country Status (2)

Country Link
AU (1) AU8969398A (fr)
WO (1) WO1999011947A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE135239C (fr) *
FR346944A (fr) * 1904-08-24 1905-02-15 Samuel Devisme Transmission par prise directe et came
FR370492A (fr) * 1906-10-15 1907-02-07 Edouard Louet Transmission perfectionnée pour véhicules mécaniques
US2312668A (en) * 1942-05-20 1943-03-02 Ralph L Newton Power transmitting apparatus
GB2102532A (en) * 1981-07-30 1983-02-02 Leo G Nickoladze Differential gear reducer
US5123883A (en) 1990-02-21 1992-06-23 Sumitomo Heavy Industries, Ltd. Internal meshing type planetary gear speed changing device
US5286237A (en) 1991-08-13 1994-02-15 Sumitomo Heavy Industries, Ltd. Inscribed meshing planetary gear construction

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE135239C (fr) *
FR346944A (fr) * 1904-08-24 1905-02-15 Samuel Devisme Transmission par prise directe et came
FR370492A (fr) * 1906-10-15 1907-02-07 Edouard Louet Transmission perfectionnée pour véhicules mécaniques
US2312668A (en) * 1942-05-20 1943-03-02 Ralph L Newton Power transmitting apparatus
GB2102532A (en) * 1981-07-30 1983-02-02 Leo G Nickoladze Differential gear reducer
US5123883A (en) 1990-02-21 1992-06-23 Sumitomo Heavy Industries, Ltd. Internal meshing type planetary gear speed changing device
US5286237A (en) 1991-08-13 1994-02-15 Sumitomo Heavy Industries, Ltd. Inscribed meshing planetary gear construction

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ROTH K: "EVOLVENTENVERZAHNUNGEN MIT EXTREMEN EIGENSCHAFTEN", ANTRIEBSTECHNIK, vol. 35, no. 7, 1 July 1996 (1996-07-01), pages 43 - 48, XP000598602 *

Also Published As

Publication number Publication date
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