CN114165561A

CN114165561A - Embedded intelligent planetary gear reducer

Info

Publication number: CN114165561A
Application number: CN202111521082.0A
Authority: CN
Inventors: 华宏伟
Original assignee: Individual
Current assignee: Beijing United Weishi Technology Co ltd
Priority date: 2021-12-13
Filing date: 2021-12-13
Publication date: 2022-03-11

Abstract

The invention discloses an embedded intelligent planetary gear reducer which comprises a shell, at least two stages of planetary gear sets and a plurality of planetary gear sets, wherein the at least two stages of planetary gear sets are coaxially arranged; the number of the magnetic rings is at least two; the magnetic column group is arranged in the radial direction and is matched with the starting end of the first-stage planetary gear set, one of the magnetic rings is matched with the tail end of the first-stage planetary gear set, and the rest of the magnetic rings are matched with the tail ends of the rest of the planetary gear sets; the number of the built-in sensors is more than or equal to the sum of the number of the magnetic rings and the number of the magnetic column groups, and the sensors respectively correspond to the magnetic rings and the magnetic column groups one to form the encoder. The invention solves the problems of large volume, heavy weight and low precision of the planetary reducer, realizes the requirements of small volume, large power, light weight and easy control required by the reducer suitable for the robot joint, and can effectively reduce the product cost and the production process difficulty.

Description

Embedded intelligent planetary gear reducer

Technical Field

The invention relates to a precision speed reducer, in particular to an embedded intelligent planetary gear speed reducer.

Background

The precise speed reducer of the robot is a core part of the robot, and compared with a general speed reducer, the precise speed reducer of the robot is required to have the characteristics of small volume, high power, light weight, easiness in control and the like. At present, a harmonic reducer and an RV reducer are mainly adopted, the harmonic reducer has the advantages of high precision, simple structure and light weight, the problem is that the motion precision can be obviously reduced along with the increase of the use time, the larger the torque force is, the faster the fatigue loss is, and the service life is generally only two years; compared with a harmonic reducer RV reducer, the reducer has higher fatigue strength, rigidity and service life and larger output torque, but has the defects of complex structure, heavier weight than the harmonic reducer and larger overall dimension than the harmonic reducer, the two reducers cannot be replaced with each other in the field of humanoid robots, the RV reducer is generally used for waist, shoulder and leg joints, and the harmonic reducer is used for forearm and wrist joints.

The harmonic reducer and the RV reducer are the same as a planetary reducer in the transmission principle, both a fixed internal gear is used as a shell, the planetary reducer is used for reducing speed by a spur gear and a planetary support, the RV reducer is used for reducing speed by an improved cycloid pinwheel and a planetary support, and the harmonic reducer is used for reducing speed by a flexible wheel instead of the planetary support and a wave wheel mechanism. Compared with a planetary reducer, the single-stage reduction ratio of the two reducers can reach more than 50, and the intermittence can be zero; the single-stage reduction ratio of the planetary reducer is about 5 generally, and the use requirement can be met after multi-stage reduction, but the intermittence of gears becomes large after multi-stage reduction, so the control precision is influenced. In the field of robot application, the large single-stage reduction ratio means that the volume can be smaller and the weight can be lighter under the same output torque; the single-stage reduction can be zero-intermittent, the intermittent is small, the precision is high, the zero-intermittent means that the reducer can have zero error, the two advantages determine that the harmonic reducer and the RV reducer have irreplaceable status in the application field of the humanoid robot, but the disadvantages of the harmonic reducer and the RV reducer are obvious, the larger the single-stage reduction ratio is, the larger the structure size under the same modulus is, the larger the fatigue loss of an internal gear is, the limited service life of the precision can be ensured, the RV reducer and the harmonic reducer ensure the transmission precision by the mechanical precision, therefore, the requirements on processing technology and materials are extremely high, the production difficulty is very high, the use cost is high, the domestic market is basically occupied by foreign products, wherein Japan occupies 75 percent, even if the unit price of the domestic product is also thousand-yuan starting, the cost of the reducer basically occupies 35 percent of the cost of the robot, more importantly, the speed reducer is gradually replaced in two years, the use and maintenance cost is extremely high, the RV speed reducer and the harmonic speed reducer only have one-stage speed reduction, the maximum speed reduction ratio is not more than 1:100 generally, and when the speed reducer is used for a joint servo system of a humanoid robot, a high-power low-speed motor can be configured, so that the energy consumption problem is caused, and the design difficulty and the production cost of a driving system are increased.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the embedded intelligent planetary gear reducer, which solves the problems of large volume, heavy weight and low precision of the planetary reducer, is beneficial to realizing the localization of the precision reducer, realizes the requirements of high power density and high precision required by the reducer suitable for the robot joint, and can effectively reduce the production process difficulty and the product cost.

In order to achieve the technical purpose, the invention adopts the following technical scheme: an embedded intelligent planetary gear reducer comprises a shell, a gear box and a gear box,

at least two stages of planetary gear sets coaxially arranged;

the magnetic ring assembly comprises at least two magnetic rings and a group of magnetic column assemblies arranged in the radial direction, wherein the magnetic column assemblies are matched with the starting end of the first-stage planetary gear set, one of the magnetic rings is matched with the tail end of the last-stage planetary gear set, and the rest at least one magnetic ring is selected to be matched with the tail end of the rest-stage planetary gear set;

the number of the sensors is more than or equal to the sum of the number of the magnetic rings and the number of the magnetic column groups, and the sensors respectively correspond to the magnetic rings and the magnetic column groups one to form an encoder.

Further, the planetary gear set comprises an internal gear, a gear carrier and a plurality of planetary gears, the multiple stages of gear carriers are coaxially connected step by step, the planetary gears are arranged on the gear carrier, the gear carrier is arranged in the internal gear, and the planetary gears are meshed with the internal gear.

Further, the gear rack of the first stage is provided with the magnetic column group along the radial direction of the circumferential side wall, the magnetic column group comprises an even number of magnetic columns, and the magnetic columns are arranged in an N-S polarity crossed mode.

Furthermore, the magnetic rings are magnetized in the radial direction, and the magnetic rings are installed on the gear racks respectively corresponding to the magnetic rings.

Further, the primary stage sensor and the magnetic column group form an incremental encoder, and the remaining stage sensor and the magnetic ring form an absolute value encoder respectively.

Furthermore, the sensor is arranged in a step space formed by the planetary gear set and the shell and is in non-contact connection with the magnetic column group and the magnetic ring.

Further, the material of the shell is different from that of the inner gear.

Further, the at least two stages of planetary gear sets increase in module in stages.

Further, the planetary gear set of each stage is provided with at least one stage of planetary structure.

The motor drives a first-stage planetary gear set to rotate, and the first-stage planetary gear set transmits power to the rest of the planetary gear sets; the planetary gear set also comprises a power shaft which is arranged on the planet carrier of the last stage of planetary gear set.

In conclusion, the invention achieves the following technical effects:

1. the Hall sensor is arranged on one side of the magnetic ring, and can be a Hall integrated sensor for outputting an absolute value or a linear Hall sensor for outputting a voltage value corresponding to the rotation angle of the magnetic ring; the switch type Hall sensor is positioned on one side of the gear rack with the magnetic column and used for outputting a pulse number which is proportional to the rotation angle of the motor;

2. the invention ensures the detection precision and improves the dynamic control performance by adopting a multi-stage built-in encoder;

3. by adopting the multi-stage embedded planetary gear structure with different modulus, compared with a planetary reducer with the same outer diameter, the planetary reducer has the remarkable characteristic of higher power density;

4. according to the invention, a plurality of sensors are arranged in the speed reducer, and a mode of graded real-time detection and data fusion is adopted by a mechanical-electrical integration technical means, so that the effect of time, minute and second is formed, the precision requirement of single-stage detection is reduced, and high-precision detection is realized in a low-cost mode; the problem of influence of the planetary reducer intermittence on the transmission precision is effectively solved, so that the precision requirement in the application field of the robot is met;

5. the planetary reducer with the electromechanical integrated structure can cover all fields of robot application, and has the remarkable advantages of simpler structure, more convenient use, more stable performance, more mature technology, smaller volume, lighter weight, low cost and long service life compared with a harmonic reducer and an RV reducer.

Drawings

FIG. 1 is an angular schematic of a retarder according to an embodiment of the present invention;

FIG. 2 is another angular schematic view of FIG. 1;

FIG. 3 is a schematic cross-sectional view of FIG. 1;

FIG. 4 is a schematic view of the housing;

FIG. 5 is a schematic combination of planetary gear sets;

FIG. 6 is a schematic illustration of the mounting relationship of the housing to the planetary gear set;

FIG. 7 is a schematic cross-sectional view of FIG. 6;

FIG. 8 is an exploded schematic view of FIG. 6;

FIG. 9 is a schematic view of a hidden housing and inner gear;

FIG. 10 is a top view of the housing;

FIG. 11 is a schematic view of a housing with sensor mounting holes.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Example (b):

an embedded intelligent planetary gear reducer comprises a shell 2, which is shown in the figures 1 and 2 as different angle schematic diagrams of the exterior of the reducer, is shown in the figure 3 as a sectional schematic diagram, and is shown in the figure 4 as a structural schematic diagram of the shell 2;

the device comprises at least two stages of planetary gear sets, wherein the at least two stages of planetary gear sets are coaxially arranged; fig. 5 shows the planetary gear sets assembled as a whole, fig. 6 shows the planetary gear sets built in the housing 2, fig. 6 shows the housing 2 in a sectional view, and the planetary gear sets are shown in a side view, so as to conveniently show the relationship between the planetary gear sets and the housing 2, which will be described in detail later;

the device also comprises magnetic rings (in figure 3, the

reference numerals

19 and 11 are all magnetic rings, the reference numeral 19 is called a three-stage magnetic ring 19, the reference numeral 11 is called a two-stage magnetic ring 11), the magnetic rings are used for detecting the rotation precision of the gear, the number of the magnetic rings is at least two, one of the magnetic rings is arranged at the tail end of the last stage planetary gear set and is used for detecting the rotation angle of the power shaft, and the other at least one magnetic ring is arranged at the tail ends of the first stage to the last second stage in an optional mode At least one of the second stage and the third stage is provided with magnetic rings, and the specific installation number and stage number are determined according to the actual required reduction ratio and detection precision.

The device also comprises a magnetic column group (26 in figure 7 is the magnetic column group, called as the magnetic column group 26), which is arranged in the radial direction, the magnetic column group is matched with the initial end of the first-stage planetary gear set, namely, the magnetic column group is arranged at the initial end of the first-stage planetary gear set, pulse quantity which is proportional to the rotation angle of the motor is generated, and dynamic characteristics of motor control are improved.

Generally speaking, one of the magnetic rings is matched with the tail end of the last stage of the planetary gear set, the rest at least one magnetic ring is selected to be matched with the tail end of the rest stage of the planetary gear set, namely one magnetic ring is arranged at the tail end of the last stage of the planetary gear set, and the rest magnetic rings are arranged at the tail ends of the rest planetary gear sets according to the required number; for example, in this embodiment, there are three-stage planetary gear sets, which are a first stage, a second stage, and a third stage sequentially from bottom to top, the number of magnetic rings is 2 (a third-stage magnetic ring 19 and a second-stage magnetic ring 11), the number of magnetic column groups is one group (a magnetic column group 26), the magnetic column group 26 and the initial end of the first-stage planetary gear set are adapted to form an initial pulse count of the first stage, as in the measurement of clock seconds, the magnetic ring of the reference numeral 11 and the end of the first-stage planetary gear set are adapted to form an encoder of the first stage, as in the measurement of clock minutes, the magnetic ring of the reference numeral 19 and the end of the third-stage planetary gear set are adapted to form an encoder of the third stage, and are mounted on a planet carrier of the last stage of the third-stage planetary gear set to form the measurement as in clock, and the planet carrier of the last stage of the third-stage planetary gear set is integrated with the power shaft; the tail end of the second stage in the embodiment is not provided with a magnetic ring and is designed according to the requirements of the reduction ratio and the control precision; certainly, in other embodiments, more stages, such as two stages, four stages, five stages, etc., may be provided, for example, a four-stage planetary gear set, a magnetic ring is installed at the end of the fourth stage, a magnetic column group is installed at the initial end of the first stage, a magnetic ring is installed at the end of the second stage, and a magnetic ring is not installed at the third stage.

For example, in the three stages in the present embodiment, if the reduction ratio of each stage is 10:1, when the gear of the first stage rotates 10 turns, the gear of the second stage rotates 10 turns, and then the gear of the second stage rotates 10 turns, and the gear of the third stage rotates 1 turn, that is, after the gear of the third stage rotates 100 turns from the first stage, the rotation of one turn is completed, that is, if there is a pause of 0.05 degree in the third stage, the maximum pause of the speed reducer is 100 times of 0.05 degree, that is, 5 degrees, and if the detection precision of the rotation angle of the second stage is less than 0.5 degrees or the detection precision of the rotation angle of the first stage is less than 5 degrees, the pause affecting the control precision of the speed reducer can be eliminated. Of course, the reduction ratios of the stages of 10:1 are merely illustrative.

In addition, the planetary gear set comprises an inner gear, a gear carrier and a plurality of planet gears, the multi-stage gear carrier is coaxially connected step by step, the planet gears are arranged on the gear carrier, the gear carrier is arranged in the inner gear, the planet gears are meshed with the inner gear, a central gear is arranged at the central shaft of the gear carrier, and the central gear is meshed with the planet gears and used for transmitting power.

Specifically, in the present embodiment, a three-stage planetary gear set is provided, so that taking the three stages of the present embodiment as an example, as shown in fig. 8, in the third-stage planetary gear set, a three-stage

internal gear

7 and 4 three-stage planet gears 8 are included, a three-stage carrier is served by the power shaft 1, as can be seen from the upper part in fig. 3, the 4 three-stage planet gears 8 are all rotatably mounted on a pillar (not shown) fixed on the lower surface of the power shaft 1, a three-stage sun gear 16 (shown in fig. 8) provided between the 4 three-stage planet gears 8 is fixed on the upper end surface of the second-stage planetary gear set, and the power of the third-stage planetary gear set is output through the power shaft.

Three tertiary planet wheel 8 meshing connection tertiary internal gear 7 of 4, under tertiary sun gear 16's power transmission effect, 4 tertiary planet wheel 8 carry out circular motion in tertiary internal gear 7's inside to drive power shaft 1 and rotate.

As shown in fig. 8, the second-stage planetary gear set includes a second-stage internal gear 9, a second-stage gear carrier 9-1, 3 second-stage planetary gears 10, and a second-stage sun gear 31, wherein the 3 second-stage planetary gears 10 are rotatably mounted on a second-stage pillar 9-2 of the second-stage gear carrier 9-1, and an upper end surface of the second-stage gear carrier 9-1 is fixedly connected to the third-stage sun gear 16, and is configured to drive the third-stage sun gear 16 to rotate when the second-stage gear carrier 9-1 rotates, so as to drive the 4 third-stage planetary gears 8 engaged with the third-stage sun gear 16 to rotate, so as to drive the power shaft 1 connected to the 4 third-stage planetary gears 8 through a pillar (not shown) to rotate, so as to drive the power shaft 1 to rotate, and finally output a decelerated power. The secondary sun gear 31 is fixed on the first gear carrier 12 below, the first gear carrier 12 transmits power to the secondary sun gear 31, the secondary sun gear 31 drives 3 secondary planet gears 10 to rotate, and therefore the 3 secondary planet gears 10 drive the secondary gear carrier 9-1 to rotate under the secondary strut 9-2.

Wherein, the secondary internal gear 9 meshes with 3 secondary planet wheels 10, and the transmission of the reduction ratio is completed.

In the device, each planetary gear set is provided with at least one stage of planetary structure. For example, the first stage planetary gear set has a multi-stage planetary structure, and the remaining stage planetary gear sets have a one-stage planetary structure. As can be seen in fig. 8, the first stage planetary gear set has a three stage planetary structure (reference 13, reference 34, reference 36), and the second and third stages each have only one stage planetary structure. The number of stages may be different to increase the intermediate level of deceleration by one more level, for example, the final reduction ratio of the 5-stage planetary structure in the present embodiment is η 1 × η 2 × η 3 × η 4 × η 5 times, and if a 5-stage planetary structure, i.e., a total of 7-stage planetary structures, is provided in the first stage, the final reduction ratio is η 1 × η 2 × η 3 × η 4 × η 5 × η 6 × η 7 times, and the specific reduction ratio will be described in detail later. Therefore, the more the number of stages of the planetary structure is, the more the multiple of the reduction ratio is, and the better the reduction effect is. When the number of stages is large, a high reduction ratio can be realized, for example, when the reduction ratio is 1000, the rotation of 100 degrees of the motor shaft can be reduced to the rotation of 0.1 degree of the power shaft, and if the controllable angle of the motor shaft is 10 degrees, the controllable precision of the power shaft is 0.01 degree.

As shown in fig. 8, in the first-stage planetary gear set, the first-stage planetary gear set is provided with 3 stages, including a first-stage internal gear 15, a first carrier 12, a second carrier 14, a third carrier 24, 3 first planetary gears 13, 3 second planetary gears 34, 3 third planetary gears 36, a first sun gear 33, a second sun gear 35, and a third sun gear 25, wherein the third sun gear 25 is fixedly connected with the motor 4 (shown in fig. 3), the 3 third planetary gears 36 are rotatably mounted on the struts of the third carrier 24, the second sun gear 35 is fixedly connected with the upper surface of the third carrier 24, the 3 second planetary gears 34 are rotatably mounted on the struts of the second carrier 14, the first sun gear 33 is fixedly connected with the upper surface of the second carrier 14, the 3 first planetary gears 13 are rotatably mounted on the struts of the first carrier 12, the transmission process of the power is as follows: the motor 4 drives the third sun gear 25 to rotate, the third sun gear 25 drives 3 third planet gears 36 to rotate, the 3 third planet gears 36 drive the third gear carrier 24 to rotate, the third gear carrier 24 drives the second sun gear 35 to rotate, the second sun gear 35 drives 3 second planet gears 34 to rotate, the 3 second planet gears 34 drive the second gear carrier 14 to rotate, the second gear carrier 14 drives the first sun gear 33 to rotate, the first sun gear 33 drives 3 first planet gears 13 to rotate, the 3 first planet gears 13 drive the first gear carrier 12 to rotate, the first gear carrier 12 drives the second-stage sun gear 31 of the second stage to rotate, and therefore power transmission is completed.

Wherein, the height of one-level internal gear 15 holds whole first-level planetary gear set, is less than the planet carrier of first-level planetary gear set final stage, and, 3

first planet wheels

13, 3

second planet wheels

34, 3 third planet wheels 36 all mesh with one-level internal gear 15, realize the transmission of reduction ratio.

As shown in fig. 8, a spacer may be disposed between each stage of gears, for example, an upper spacer 29 is disposed between the third stage planetary gear set and the second stage planetary gear set, specifically, between the third stage planetary gear 8 and the second stage gear carrier 9-1, a middle spacer 30 is disposed between the second stage planetary gear set and the first stage planetary gear set, and a lower spacer 32 is disposed between the first stage planetary gear set and the motor, and the spacer is used to adjust the rotation interval between the gears and the gear carrier of the next stage, thereby ensuring the flexible rotation of the gears.

In addition, the modulus of at least two stages of planetary gear sets in the device is gradually increased, or when the number of stages is more, the modulus of the first stage is smaller than that of the second stage, and the moduli of the other stages are gradually increased. That is, in the third stage of the present embodiment, the modulus of the third stage is larger than that of the second stage, and the modulus of the second stage is larger than that of the first stage, and the strength of the gear is increased step by step as the modulus of the gear increases in increments of the torque force.

As shown in fig. 3, the planetary gear set further comprises a motor 4 and a main control board mounting plate 23, the motor 4 drives a third sun gear 25 of a first-stage planetary gear set to rotate under the control of the main control board mounting plate 23, and the first-stage planetary gear set transmits power to the rest of lower-stage planetary gear sets; the planetary gear set further comprises a power shaft 1, wherein the power shaft 1 is arranged on a planet carrier at the tail end of the last-stage planetary gear set, namely on the third stage in the embodiment, the power shaft 1 and the last group of planet carriers are integrated, and the power shaft is driven to rotate through the last-stage planetary gear set. And a three-stage magnetic ring 19 is arranged on the periphery of the power shaft 1 and is used as a third-stage encoder.

As shown in fig. 3, the reducer further includes a shaft sleeve 6, an upper cover plate 28, a motor cover 27, a bearing 29, and a motor base 3 to form a complete reducer.

The material of the outer casing 2 is different from that of the inner gear, wherein the outer casing 2 can be made of metal or nonmetal material with light specific gravity, which can reduce the weight, such as plastic material, and is used for fixing the planetary gear set in a layered manner, the power shaft 1 and the motor base 3 are fixed at two ends, and the sensor and the control circuit board are arranged in the middle cavity.

The power shaft 1 is provided with a bearing 6 or a wear-resistant ring for fixing the power take-off shaft 1, reducing the possible friction and disturbance.

The transmission process of the power in this embodiment is: the motor 4 rotates to drive a first group of planetary gears in the first-stage module to rotate through a third central gear 25 integrated with a motor shaft, and the gear ratio of the third central gear 25 to the first-stage internal gear 15 is a first-stage reduction ratio eta 1; the first group of planetary gears drive the third gear carrier 24 to rotate, a second central gear 35 on the third gear carrier 24 drives the second planetary gears 34 to rotate to form a second-stage speed reduction ratio eta 2, and the gear ratio of the second central gear 35 to the first-stage internal gear 15 is the second-stage speed reduction ratio eta 2; in this way, after the speed is reduced by n stages, the power of the motor is transmitted to a load through a power shaft, the speed is reduced by eta 1 multiplied by eta 2 multiplied by … … eta n times in the process, and the output torque is gradually increased to be the torque of the motor multiplied by the total speed reduction ratio multiplied by the efficiency of the speed reducer.

The module of the sun gear on the final stage carrier of the front stage planetary gear is the same as that of the rear stage planetary gear, for example, the module of the secondary sun gear 31 on the first carrier 12 is the same as that of the secondary planetary gear 10, and the module of the tertiary sun gear 16 on the secondary carrier 9-1 is the same as that of the tertiary planetary gear 8 in this embodiment.

The device also comprises built-in sensors, the number of the sensors is more than or equal to the sum of the number of the magnetic rings and the number of the magnetic column groups, the sensors respectively correspond to the magnetic rings and the magnetic column groups one by one to form encoders, and the number of the sensors forming the absolute value encoder with the magnetic rings according to the difference of the sensors and the detection modes can also be two, and the sensors are distributed in the stepped space according to the horizontal position of 90 degrees. The primary sensor and the magnetic column group form an incremental encoder, and the rest level sensor and the magnetic ring form an absolute value encoder respectively.

In this embodiment, the number of the sensors is 3, as shown in fig. 9, the sensors are a first-stage sensor 22, a second-stage sensor 21, and a third-stage sensor 18, respectively, the first-stage sensor 22 and the magnetic column group 26 form an incremental encoder, the second-stage sensor 21 and the second-stage magnetic ring 11 form an absolute value encoder, and the first-stage sensor 22 and the third-stage magnetic ring 19 form an absolute value encoder, where the sensors adopt integrated hall sensors.

The magnetic column group 26 is configured as follows: as shown in fig. 9, the first-stage gear carrier is provided with a magnetic column group along the radial direction of the circumferential side wall, the magnetic column group comprises an even number of magnetic columns, and the magnetic columns are arranged in a crossed mode according to the N-S polarity; according to the difference of the rotating speed of the applied motor, when one magnetic column is installed, the planet gear carrier rotates one circle to generate one pulse, when a plurality of magnetic columns which are arranged in an N-S polarity crossed mode are installed in an even number, the planet gear carrier rotates one circle to generate a plurality of pulses, and the pulse generator and the Hall sensor form a non-contact incremental encoder. The three-stage magnetic ring 19 and the two-stage magnetic ring 11 adopt a radial magnetizing mode, are arranged on planetary gear carriers with different moduli/stages at a certain speed reduction ratio, and form a non-contact absolute value encoder with the Hall sensor.

In the device, the sensor is arranged in a step space formed by the planetary gear set and the shell 2 and is connected with the magnetic column group and the magnetic ring in a non-contact way, as shown in fig. 6, the step surface of the step space is the interface surface of two stages of gears with different modulus, a first space 204 equal to the thickness of the planet gear carrier is reserved for installing the gear carrier, the magnetic ring is arranged outside the gear carrier, the sensor is positioned at one side of the space and is connected with the magnetic column group, the magnetic ring and the sensor in a non-contact way, and the shielding and the influence of internal gears made of different materials on the magnetic field are reasonably avoided.

The stepped space further comprises a second space 202 for mounting a third stage planetary gear set, a third space 205 for mounting a first stage planetary gear set, a fourth space 203 for mounting a second stage planetary gear set, and a fifth space 201 for mounting a third stage magnetic ring 19.

As shown in fig. 9, the housing 2 and the primary internal gear 15 are omitted, and the mounting positions of the three sensors can be seen. Certainly, the magnetic pole type magnetic sensor further comprises a long detection circuit board 17, a short detection circuit board 20 and a main control board mounting plate 23, wherein the long detection circuit board 17 and the short detection circuit board 20 are fixed on the main control board mounting plate 23, a first-stage sensor 22 and a second-stage sensor 21 are respectively fixed at the lower end and the upper end of the short detection circuit board 20, a third-stage sensor 18 is fixed at the upper end of the long detection circuit board 17, and is in non-contact connection with a third-stage magnetic ring 19, a second-stage magnetic ring 11 and a magnetic pole group 26.

As shown in fig. 11, two first sensor mounting holes 209 and two second sensor mounting holes 210 distributed at 90 degrees are reserved in the housing 2, and are used for selectively mounting sensors according to the working requirements of different hall sensors.

The main control board mounting plate 23 is provided with a control system, and the control system receives input control instructions and sensor data and outputs servo control over the motor.

It can be seen from the figure that the long detection circuit board 17 and the short detection circuit board 20 are disposed in the stepped space formed by the planetary gear set and the housing 2, because the module of the first stage of the lower layer of the planetary gear set is small, and the module of the second stage and other stages of the upper layer are large, the whole is T-shaped, the shape of the T-shape can be seen from fig. 5 and 7, and in fig. 6, it can be seen that the inside of the housing 2 presents T-shaped space, the T-shaped space is used for mounting the planetary gear set, at the vertical position of the T-shape, the stepped space is formed at the periphery of the T-shape, the space can be used for mounting the sensor and the detection circuit board, the built-in of the sensor is realized, that is, the built-in of the encoder is realized, and the principle of the intelligent speed reducer is realized by combining the encoder and the planetary structure.

The sensor is arranged on one side of the magnetic ring and the magnetic column, and the output signal of the sensor can be the absolute value of an angle, the incremental pulse number or the voltage quantity which is in linear relation with a rotation angle according to different functions of the arranged sensor.

Specifically, as shown in fig. 10, a first through hole 206 and a second slot hole 208 are formed in the side surface of the inner wall of the housing 2, when the detection circuit board is mounted, the lower end of the long detection circuit board 17 is inserted into the first through hole 206, the lower end is fixed on the main control board mounting plate 23, the upper end is fixed with the third-stage sensor 18, and the lower end of the short detection circuit board 20 is inserted into the second slot hole 208, and the upper end and the lower end are respectively fixed with the first-stage sensor 22 and the second-stage sensor 21. Because the modulus of the first stage is small, the diameter of the first stage is smaller than that of the second stage, that is, the space left at the position outside the first stage is large, which is also the reason for forming a step space, and at the position of the large space outside the first stage, because the first-stage sensor 22 and the second-stage sensor 21 need to be close to the magnetic ring or the magnetic column group, the inner wall of the housing 2 is provided with a slot hole as the second slot hole 208, so the long detection circuit board 17 needs to be arranged far away, and therefore, a through hole needs to be formed inside the housing 2 as the first through hole 206 for installing the long detection circuit board 17.

In addition, the working principle of the encoder is different according to the different selected Hall sensors, and the detection precision of the encoders with different working principles is different; when the hall sensor selects the absolute value sensor with the precision of 1 degree, the third-stage encoder, namely the angle detection precision of the power shaft, is 1 degree, and the theoretical detection precision of the second-stage encoder is 1 degree divided by the reduction ratio between the second stage and the power shaft, for example: when the reduction ratio is 50, the detection accuracy is 0.02 °; if the first-stage encoder uses the magnetic column instead, and forms an incremental encoder with the hall sensor, that is, a pulse number proportional to the rotation of the motor shaft is generated, for example, if the motor shaft rotates one circle to generate 12 pulses, when the reduction ratio of the speed reducer is 1000, the detection precision is 360 °/1000/12 ═ 0.03 °; when the Hall sensor adopts a voltage output type linear angle Hall sensor and passes through a 12-bit AD converter, the single-stage detection precision is 360 ÷ 4096 ≈ 0.088 degrees, and if the mechanical reduction ratio is 100, the classified detection precision theoretical value is 360 ÷ 4096 ÷ 100 ≈ 0.00088 degrees; the different operation modes listed above all have practicability and feasibility in practical application, and due to the adoption of the cooperation of the multistage encoders, the control precision of the output angle of the speed reducer can be selected within the precision range of 0.05-0.005 degrees or higher through the cooperation of software and hardware, so that different use requirements of civil grade and industrial grade are met.

The device preferably has the third-level detection precision of 1 degree, the second-level detection precision of 0.1 degree, the embedded single chip microcomputer is used for calculating the actual rotation precision in a fusion mode, the detection precision on the power shaft 1 is detected in a grading mode through the second-level detection, the theoretical detection precision which can be achieved is 0.1 ÷ (eta 4 multiplied eta 5) degrees, the first-level encoder adopts a magnetic column and forms an incremental speed reducer with the switch type Hall sensor, and the generated counting pulse is used for improving the dynamic characteristic of motor control and assisting in improving the detection precision. In an actual structure, the planetary reducer has larger clearance, and the clearance is increased along with the increase of the service time, but the clearance can be treated as a constant on the whole, and can be detected and corrected in real time; on the other hand, the detection data generated by the hall sensor also has linear and nonlinear errors within a certain range, and needs to be corrected or compensated, so an EEPROM memory chip can be adopted on the control circuit, an interpolation correction table is formed for each product to adjust the linear and nonlinear errors of the encoder, at present, the hall angle sensor with the built-in EEPROM memory chip is available, and the working principle of various non-contact hall sensors is not specifically explained.

The invention has proposed a planetary gear reducer with built-in encoder, its technological innovation point is according to the characteristic that the torsion of the planetary gear reducer increases progressively, change the traditional structure with only one modulus into two or more modulus structures, the elementary speed reducer adopts the small module gear, increase with increasing progressively the gear modulus of the torsion; the inner gear and the shell are divided into two independent parts made of different materials, so that the size and the weight can be effectively reduced; thirdly, the encoder and the planetary reducer are integrally designed, a non-contact absolute value encoder and an incremental encoder are combined, and the detection precision is improved by utilizing a mechanical reduction ratio; thirdly, the process is simple, the production is convenient, and the national production can be completed.

Compared with the traditional planetary reducer with the same size, the planetary reducer with the built-in encoder has the advantages that the weight is reduced by more than 60%, and the planetary reducer reaches the level of a harmonic reducer and an RV reducer; the control precision is high and can reach the precision level of 15-17 bit; the product can be made smaller and lighter than a harmonic reducer, and the cost is about one tenth of that of the harmonic reducer and the RV reducer.

The present embodiment describes an example of three-stage planetary gear set, wherein the first stage has three sets of planetary structures, and speed reducers of other stages can be manufactured according to actual needs.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention in any way, and all simple modifications, equivalent variations and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims

1. An embedded intelligent planetary gear reducer, includes shell (2), its characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

at least two stages of planetary gear sets coaxially arranged;

2. The embedded intelligent planetary gear reducer according to claim 1, characterized in that: the planetary gear set comprises an internal gear, a gear carrier and a plurality of planetary gears, the multiple stages of gear carriers are coaxially connected step by step, the planetary gears are arranged on the gear carrier, the gear carrier is arranged in the internal gear, and the planetary gears are meshed with the internal gear.

3. The embedded intelligent planetary gear reducer according to claim 2, characterized in that: the first-stage gear rack is provided with the magnetic column groups along the radial direction of the circumferential side wall, the magnetic column groups comprise an even number of magnetic columns (26), and the magnetic columns (26) are arranged in a crossed mode according to the N-S polarity.

4. The embedded intelligent planetary gear reducer of claim 3, wherein: the magnetic rings are magnetized in the radial direction and are arranged on the gear racks respectively corresponding to the magnetic rings.

5. The embedded intelligent planetary gear reducer according to claim 4, wherein: the sensor and the magnetic column group at the primary stage form an incremental encoder, and the sensor and the magnetic ring at the rest stage form an absolute value encoder respectively.

6. The embedded intelligent planetary gear reducer according to claim 5, wherein: the sensor is arranged in a step space formed by the planetary gear set and the shell (2) and is in non-contact connection with the magnetic column group and the magnetic ring.

7. The embedded intelligent planetary gear reducer of claim 6, wherein: the material of the shell (2) is different from that of the internal gear.

8. The embedded intelligent planetary gear reducer according to claim 7, wherein: the at least two stages of planetary gear sets increase in module in stages.

9. The embedded intelligent planetary gear reducer of claim 8, wherein: the planetary gear set of each stage is provided with at least one stage of planetary structure.

10. The embedded intelligent planetary gear reducer of claim 9, wherein: the motor (4) drives the first-stage planetary gear set to rotate, and the first-stage planetary gear set transmits power to the rest planetary gear sets; the planetary gear set also comprises a power shaft (1) which is arranged on a planet carrier of the last stage of planetary gear set.