CN115539577A

CN115539577A - Speed reducer

Info

Publication number: CN115539577A
Application number: CN202211205370.XA
Authority: CN
Inventors: 王心成
Original assignee: Yangzhou Star Manufacturing Technology Co ltd
Current assignee: Yangzhou Star Manufacturing Technology Co ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2022-12-30

Abstract

The invention relates to the technical field of speed reducers, in particular to a speed reducer which comprises a shell and a flange plate, wherein the shell is connected with the flange plate, an output plate is arranged in the shell, a first bearing is arranged at the central position of the flange plate, an eccentric crankshaft is fixed on the first bearing and comprises a base, a supporting platform is arranged on the base, an eccentric platform is arranged on the supporting platform, a central pipe is arranged on the eccentric platform, the central pipe and the base are coaxially arranged, the eccentric platform is eccentrically arranged relative to the central pipe, and the base is connected with the first bearing; the eccentric platform is sleeved with a third bearing, the central pipe is sleeved with a second bearing and a fourth bearing, the fourth bearing is close to the third bearing relative to the second bearing, the fourth bearing is sleeved with a first gear ring, the third bearing is sleeved with a second gear ring, the first gear ring is positioned on the inner side of the second gear ring and is meshed with the second gear ring, and the second gear ring is meshed with the shell; the first gear ring is connected with the output disc, and the output disc is rotationally connected with the shell. The reducer reduces weight.

Description

Speed reducer

Technical Field

The invention relates to the technical field of mechanical transmission, in particular to a speed reducer.

Background

With the development of social demands and the progress of technology, the application range of the bionic robot is gradually expanded, the bionic robot presents a vigorous development situation, and a large number of speed reducers are adopted in the bionic robot as important components of driving joints, so the light weight of the speed reducers is extremely important. How to reduce the weight of the speed reducer is a technical problem to be solved urgently.

Disclosure of Invention

In view of the above problems in the prior art, the present invention provides a speed reducer to solve the above problems.

In order to achieve the above object, the present invention provides a technical solution as follows:

a speed reducer comprises a shell and a flange plate, wherein the shell is connected with the flange plate, an output plate is arranged in the shell, a first bearing is installed at the center position of the flange plate, an eccentric crankshaft is fixed on the first bearing and comprises a base, a supporting platform is arranged on the base, an eccentric platform is arranged on the supporting platform, a central pipe is arranged on the eccentric platform, the central pipe and the base are coaxially arranged, the eccentric platform is eccentrically arranged relative to the central pipe, and the base is connected with the first bearing; a third bearing is sleeved on the eccentric platform, a second bearing and a fourth bearing are sleeved on the central tube, the fourth bearing is close to the third bearing relative to the second bearing, a first gear ring is sleeved on the fourth bearing, a second gear ring is sleeved on the third bearing, the first gear ring is positioned on the inner side of the second gear ring and meshed with the second gear ring, and the second gear ring is meshed with the shell; the first gear ring is connected with the output disc, and the output disc is rotatably connected with the shell.

Preferably, a plurality of first teeth are circumferentially arranged on the outer side surface of the first gear ring, a plurality of second teeth meshed with the first teeth are circumferentially arranged on the inner side surface of the second gear ring, and a plurality of third teeth are circumferentially arranged on the outer side surface of the second gear ring; the shell comprises an outer shell and an inner gear ring positioned on the inner side of the outer shell, and the inner gear ring is made of engineering plastics; the inner side of the outer shell is circumferentially provided with a plurality of positioning grooves, the outer side of the inner gear ring is circumferentially provided with a first boss matched with the positioning grooves, and the inner side of the inner gear ring is circumferentially provided with a plurality of engaging teeth engaged with the third teeth.

Preferably, the number of the third teeth is smaller than the number of the meshing teeth.

Preferably, the number of the second teeth is greater than the number of the first teeth.

Preferably, a first deep groove ball raceway is arranged at a position, close to the front end, on the inner side of the outer shell, and the positioning groove extends from the rear end of the shell to the position of the first deep groove ball raceway; a first steel ball assembling notch is formed in the position, corresponding to one positioning groove, on the side wall of the first deep groove ball raceway; the output disc is provided with a second deep groove ball raceway, the second deep groove ball raceway and the first deep groove ball raceway are arranged oppositely to form the deep groove ball raceway, balls are arranged in the deep groove ball raceway, the output disc is provided with a second steel ball assembly notch corresponding to the first steel ball assembly notch, the inner gear ring is provided with a second boss corresponding to the first boss, and the second boss is inserted into the first steel ball assembly notch.

Preferably, a plurality of grooves are circumferentially arranged on the rear end face of the output disc, and bulges matched with the grooves are arranged on the front end face of the first gear ring; the adjacent grooves are communicated through arc-shaped grooves, and the width of each arc-shaped groove is smaller than the diameter of each groove; adjacent the arch passes through the arc protruding connection, the arc protruding with the arc groove phase-match.

Preferably, a plurality of square grooves are circumferentially arranged on the front end surface of the output disc; and a circular groove is arranged between the adjacent square grooves, and the volume of the circular groove is smaller than that of the square groove.

Preferably, a sealing ring is arranged between the housing and the output disc.

Preferably, a plurality of first holes are circumferentially arranged on the eccentric platform, and the volume of the first hole at the eccentric convex part is larger than that of the first hole at the eccentric concave part; second holes are formed in the two sides of the first hole, located in the eccentric protruding portion, of the eccentric platform, and the volume of the second holes is smaller than that of the first holes; the base, the supporting platform and the eccentric platform form an eccentric body, a third hole coaxial with the central tube is formed in the eccentric body, and the third hole is communicated with the inside of the central tube; a key groove is formed in the third hole; the one side circumference that does not connect with supporting platform on the base is provided with a plurality of screw holes.

When the reducer is used, a motor shaft is connected with an eccentric crankshaft to drive the eccentric crankshaft to rotate, two ends of the eccentric crankshaft are respectively supported on a flange plate and an output disc through a first ball bearing and a second ball bearing, after the eccentric crankshaft rotates, an eccentric platform on the eccentric crankshaft drives a third ball bearing to do eccentric motion to push a second gear ring to do planetary motion relative to a shell, the first gear ring also does planetary motion under the driving of the second gear ring, the rotation of the second gear ring 7 is transmitted to the output disc, and the reducer is simple and compact in structure relative to an existing reducer applied to a bionic robot, and the weight of the reducer is reduced.

Drawings

Fig. 1 shows a schematic view of the internal structure of a decelerator according to the present invention;

FIG. 2 shows an exploded view of a retarder of the present invention;

FIG. 3 shows one of the schematic structural views of an eccentric crankshaft;

FIG. 4 shows a second schematic structural view of an eccentric crankshaft;

FIG. 5 shows a third schematic view of the construction of an eccentric crankshaft;

FIG. 6 shows a schematic structural view of the housing;

FIG. 7 shows the exploded view of FIG. 6;

FIG. 8 shows one of the exploded views of the transmission mechanism;

figure 9 shows a second exploded view of the transmission mechanism;

in the drawings, the reference numbers:

the eccentric crankshaft comprises an eccentric crankshaft 1, a base 1-1, a supporting platform 1-2, an eccentric platform 1-3, a central pipe 1-4, a first hole 1-5, a second hole 1-6, a third hole 1-7, a key groove 1-8, a threaded hole 1-9, a first ball bearing 2, a flange plate 4, an output disc 5, a groove 5-1, an arc groove 5-2, a square groove 5-3, a circular groove 5-4, a second deep groove ball raceway 5-5, a second steel ball assembly notch 5-6, a third bearing 6, a second ring gear 7, a third tooth 7-1, a second tooth 7-2, a shell 8, an outer shell 8A, a positioning groove 8-1, a first deep groove ball raceway 8-2, a first steel ball assembly notch 8-3, an inner gear ring 9, an engaging tooth 9-1, a second boss 9-2, a first boss 9-3, a first gear ring 10, a first tooth 10-1, a protrusion 10-2, an arc protrusion 10-3, a ball 12 and a sealing ring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Referring to fig. 1 to 3, in the present embodiment, a speed reducer is provided, including a housing 8 and a flange plate 4, where the housing is connected to the flange plate, a general housing may be connected to the flange plate through bolts, an output disc 5 is disposed in the housing, a first bearing 2 is mounted at a center position of the flange plate, an eccentric crankshaft 1 is fixed on the first bearing, the eccentric crankshaft includes a base 1-1, a support platform 1-2 is disposed on the base, an eccentric platform 1-3 is disposed on the support platform, a central tube 1-4 is disposed on the eccentric platform, the central tube and the base are coaxially disposed, the eccentric platform is eccentrically disposed with respect to the central tube, and the base is connected to the first bearing; a third bearing 6 is sleeved on the eccentric platform, a second bearing and a fourth bearing are sleeved on the central pipe, the fourth bearing is close to the third bearing relative to the second bearing, a first gear ring 10 is sleeved on the fourth bearing, the first gear ring can also be called a transmission part, a second gear ring 7 is sleeved on the third bearing, the second gear ring can also be called an internal gear and an external gear, the first gear ring is positioned on the inner side of the second gear ring and is meshed with the second gear ring, and the second gear ring is meshed with the shell; the first gear ring is connected with the output disc, and the output disc is rotatably connected with the shell.

The reducer can be called as a planetary reducer, when the reducer is used, a motor shaft is connected with an eccentric crankshaft 1 and then drives the eccentric crankshaft 1 to rotate, two ends of the eccentric crankshaft 1 are respectively supported on a flange plate 4 and an output plate 5 through a first ball bearing 2 and a second ball bearing 3, after the eccentric crankshaft 1 rotates, an eccentric platform on the eccentric crankshaft 1 drives a third ball bearing 6 to do eccentric motion, a second gear ring 7 is pushed to do planetary motion relative to a shell, a first gear ring 10 also does planetary motion under the driving of the second gear ring 7, and the rotation of the second gear ring 7 is transmitted to the output plate 5.

Compared with the existing speed reducer applied to the bionic robot, the speed reducer is simple and compact in structure, and the weight of the speed reducer is reduced.

In one embodiment, referring to fig. 6-9, the outer side surface of the first gear ring is circumferentially provided with a plurality of first teeth 10-1, the inner side surface of the second gear ring is circumferentially provided with a plurality of second teeth 7-2 engaged with the first teeth, and the outer side surface of the second gear ring is circumferentially provided with a plurality of third teeth 7-1; the shell comprises a shell body 8A and an inner gear ring 9 positioned on the inner side of the shell body, wherein the inner gear ring and the first gear ring are made of engineering plastics, and the general inner gear ring and the first gear ring can be made of peek materials, PAPA materials, ABS materials, PEL materials, PAL materials, PBL materials or nylon materials, and are formed by utilizing a mold, thereby being light and reducing the production cost; the outer shell, the output disc, the eccentric crankshaft, the second gear ring and the flange are made of metal materials, and are molded by die extrusion and powder metallurgy, so that the machining allowance is greatly reduced, the light-weight characteristic forming is completed, and light weight and low-cost manufacturing are realized; a plurality of positioning grooves 8-1 are circumferentially arranged on the inner side of the outer shell, a first boss 9-3 matched with the positioning grooves is circumferentially arranged on the outer side of the inner gear ring, a plurality of meshing teeth 9-1 meshed with the third teeth are circumferentially arranged on the inner side of the inner gear ring, the meshing teeth can be cycloid tooth shapes, triangular teeth, T-shaped teeth or other special-shaped teeth in the embodiment, and the number of the third teeth is preferably smaller than that of the meshing teeth in the embodiment; the number of the second teeth is preferably larger than that of the first teeth, and during manufacturing, the number of the first teeth is one tooth less than that of the second teeth, and the number of the third teeth is one tooth less than that of the meshing teeth, so that the second gear ring and the first gear ring form small tooth difference planetary motion when rotating, and the second gear ring and the inner gear ring also form small tooth difference planetary motion when rotating; the shell is designed into two parts, namely the shell body and the inner gear ring, the inner gear ring is made of practical engineering plastics, the inner gear ring is arranged in the shell body when the shell is installed, the first boss is located in the corresponding positioning groove, when the shell is used, after the inner gear ring is meshed with the metal internal gear, noise generated in the running process is reduced in the running process, in addition, precision errors of the shell body and metal parts can be accommodated through the plasticity of the engineering plastics, multi-tooth meshing is realized, and transmission rigidity is improved.

In one embodiment, referring to fig. 7 and 9, a first deep groove ball groove 8-2 is provided on the inner side of the outer housing near the front end, and the locating groove extends from the rear end of the housing to the position of the first deep groove ball groove; a first steel ball assembling notch 8-3 is formed in the side wall of the first deep groove ball raceway corresponding to one positioning groove; a second deep groove ball raceway 5-5 is arranged on the output disc, the second deep groove ball raceway and the first deep groove ball raceway are oppositely arranged to form a deep groove ball raceway, and a ball 12 is arranged in the deep groove ball raceway and can be also called as a steel ball, and a full ball bearing can be generally used; the position that corresponds first steel ball assembly breach on the output dish is provided with second steel ball assembly breach 5-6, correspond one on the inner ring gear the position of first boss is provided with second boss 9-2, the second boss inserts first steel ball assembly breach, preferably with the second boss with the shape of cross section of steel ball assembly breach is semi-circular, through setting up steel ball assembly breach, can be convenient arrange the ball in deep groove ball raceway along steel ball assembly breach, through setting up the second boss, form the shutoff to steel ball assembly breach after the ball has been assembled, prevent ball moving in-process along steel ball assembly breach roll-off.

In one embodiment, referring to fig. 8 and 9, a plurality of grooves 5-1 are circumferentially formed on the rear end surface of the output disc, and a protrusion 10-2 matched with the grooves is formed on the front end surface of the first gear ring, and in this embodiment, the protrusion may also be referred to as a claw; the adjacent grooves are communicated through arc-shaped grooves 5-2, and the width of each arc-shaped groove is smaller than the diameter of each groove; the adjacent bulges are connected through arc bulges 10-3, the arc bulges are matched with the arc grooves, so that the arc bulges are inserted into the arc grooves when the bulges of the first gear ring are inserted into the grooves of the output end, and the arc bulges are stressed in the tangential direction to form a support for the bulges of the first gear ring when the bulges of the first gear ring transmit torque in the running process.

In one embodiment, referring to fig. 9, the front end surface of the output disc is circumferentially provided with a plurality of square grooves 5-3; and a circular groove 5-4 is arranged between the adjacent square grooves, and the volume of the circular groove is smaller than that of the square grooves. The structure can greatly reduce the weight of the mechanism by arranging the square groove and the circular groove.

In one embodiment, a seal 13 is provided between the housing and the output disc to seal the output disc from the housing, the seal being generally provided at the forward end of the output disc.

In one embodiment, referring to fig. 3-5, the eccentric platform is circumferentially provided with a plurality of first holes 1-5, and the volume of the first holes at the eccentric convex part is larger than that of the first holes at the eccentric concave part; second holes 1-6 are arranged on two sides of the first hole of the eccentric protruding part on the eccentric platform, and the volume of the second holes is smaller than that of the first holes; the base, the supporting platform and the eccentric platform form an eccentric body, a third hole 1-7 which is coaxial with the central tube is formed in the eccentric body, and the third hole is communicated with the inside of the central tube; a key groove 1-8 is formed in the third hole and used for connecting the shaft end of the input motor; the eccentric crankshaft structure is characterized in that one surface, which is not connected with the supporting platform, of the base is circumferentially provided with a plurality of threaded holes 1-9 for connecting input teeth or synchronous pulleys, and the eccentric platform is provided with the first hole, so that the weight of the eccentric crankshaft is greatly reduced, and the requirement of people on light weight can be met; in addition, referring to fig. 4, since the volume of the first hole at the eccentric convex portion is larger than that of the first hole at the eccentric concave portion, the weights of the eccentric convex portion and the eccentric concave portion relative to the central position of the central tube are more balanced, thereby balancing the weight offset of the part caused by the eccentricity and effectively preventing the vibration caused by the weight offset of the part.

The front-back directions in this embodiment are based on the use state of the speed reducer, and one end close to the flange, that is, the input end, is the back, and the other end is the front.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

It should be readily understood that "on 8230" \ 8230on "," on 82303030, and "on 82308230; \ 8230on" \ 8230, and "on 8230;" on 8230, should be interpreted in the broadest sense in this disclosure, such that "on 8230;" on not only means "directly on something", but also includes the meaning of "on something" with intervening features or layers therebetween, and "over" \8230: \8230or \8230: \8230, above "includes not only the meaning of" over "or" on "something, but also the meaning of" over "or" on "with no intervening features or layers therebetween (i.e., directly on something).

Furthermore, spatially relative terms, such as "below," "lower," "above," "upper," and the like, may be used herein for ease of description to describe one element or feature's illustrated relationship to another element or feature. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It is noted that, in this document, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A speed reducer comprises a shell (8) and a flange plate (4), wherein the shell is connected with the flange plate, an output disc (5) is arranged in the shell, and the speed reducer is characterized in that a first bearing (2) is installed at the center position of the flange plate, an eccentric crankshaft (1) is fixed on the first bearing and comprises a base (1-1), a supporting platform (1-2) is arranged on the base, an eccentric platform (1-3) is arranged on the supporting platform, a central pipe (1-4) is arranged on the eccentric platform, the central pipe and the base are coaxially arranged, the eccentric platform is eccentrically arranged relative to the central pipe, and the base is connected with the first bearing;

a third bearing (6) is sleeved on the eccentric platform, a second bearing and a fourth bearing are sleeved on the central pipe, the fourth bearing is close to the third bearing relative to the second bearing, a first gear ring (10) is sleeved on the fourth bearing, a second gear ring (7) is sleeved on the third bearing, the first gear ring is positioned on the inner side of the second gear ring and is meshed with the second gear ring, and the second gear ring is meshed with the shell;

the first gear ring is connected with the output disc, and the output disc is rotatably connected with the shell.

2. A decelerator according to claim 1,

a plurality of first teeth (10-1) are circumferentially arranged on the outer side surface of the first gear ring, a plurality of second teeth (7-2) meshed with the first teeth are circumferentially arranged on the inner side surface of the second gear ring, and a plurality of third teeth (7-1) are circumferentially arranged on the outer side surface of the second gear ring;

the shell comprises an outer shell (8A) and an inner gear ring (9) positioned on the inner side of the outer shell, wherein the inner gear ring is made of engineering plastics;

the inner side of the outer shell is circumferentially provided with a plurality of positioning grooves (8-1), the outer side of the inner gear ring is circumferentially provided with a first boss (9-3) matched with the positioning grooves, and the inner side of the inner gear ring is circumferentially provided with a plurality of meshing teeth (9-1) meshed with the third teeth.

3. A decelerator according to claim 2, wherein the number of third teeth is less than the number of meshing teeth.

4. A decelerator according to claim 2 or claim 3, wherein the number of second teeth is greater than the number of first teeth.

5. A combined internal gear housing according to claim 2 or 3, wherein the inner side of the outer housing near the front end is provided with a first deep groove ball groove (8-2) extending from the rear end of the housing to the position of the first deep groove ball groove;

a first steel ball assembly notch (8-3) is formed in the position, corresponding to one positioning groove, on the side wall of the first deep groove ball raceway;

the output disc is provided with a second deep groove ball raceway (5-5), the second deep groove ball raceway and the first deep groove ball raceway are arranged oppositely to form the deep groove ball raceway, balls (12) are arranged in the deep groove ball raceway, a second steel ball assembly notch (5-6) is arranged at a position, corresponding to the first steel ball assembly notch, on the output disc, a second boss (9-2) is arranged at a position, corresponding to the first boss, on the inner gear ring, and the second boss is inserted into the first steel ball assembly notch.

6. A reducer according to claim 1, wherein the rear end face of the output disc is circumferentially provided with a plurality of grooves (5-1), and the front end face of the first ring gear is provided with protrusions (10-2) matching with the grooves;

the adjacent grooves are communicated through arc-shaped grooves (5-2), and the width of each arc-shaped groove is smaller than the diameter of each groove;

the adjacent bulges are connected through arc bulges (10-3), and the arc bulges are matched with the arc grooves.

7. A planetary reduction output drive according to claim 1, wherein the front face of the output disc is provided circumferentially with a plurality of square grooves (5-3);

and a circular groove (5-4) is arranged between the adjacent square grooves, and the volume of the circular groove is smaller than that of the square groove.

8. A reducer according to claim 1, in which a seal (13) is provided between the housing and the output disc.

9. A reducer according to claim 1 in which the eccentric platform is provided with a plurality of first apertures (1-5) circumferentially, the first apertures in the eccentric convex portion having a greater volume than the first apertures in the eccentric concave portion;

second holes (1-6) are arranged on the two sides of the first hole of the eccentric protruding part on the eccentric platform, and the volume of the second holes is smaller than that of the first holes;

the base, the supporting platform and the eccentric platform form an eccentric body, a third hole (1-7) coaxial with the central pipe is arranged in the eccentric body, and the third hole is communicated with the inside of the central pipe;

a key groove (1-8) is arranged in the third hole;

and a plurality of threaded holes (1-9) are formed in the circumferential direction of the surface, which is not connected with the supporting platform, of the base.