CN115539619B

CN115539619B - Planetary transmission device with deflection planet carrier system

Info

Publication number: CN115539619B
Application number: CN202211242628.3A
Authority: CN
Inventors: 凌子龙
Original assignee: Aici Precision Shenzhen Co ltd
Current assignee: Aici Precision Shenzhen Co ltd
Priority date: 2022-10-11
Filing date: 2022-10-11
Publication date: 2023-10-03
Anticipated expiration: 2042-10-11
Also published as: WO2024077853A1; CN115539619A

Abstract

The invention discloses a planetary transmission device with a deflection planet carrier system, which consists of the deflection planet carrier system, a double-annular-gear slewing bearing, at least three planetary gears and a sun gear, wherein the inner wall of the double-annular-gear slewing bearing is in a shape of at least two layers of annular steps, the annular step with smaller inner diameter is positioned at one axial end of an inner ring of the double-annular-gear slewing bearing, at least part of the inner wall of the inner ring of the double-annular-gear slewing bearing and the inner wall of the annular step with smaller inner diameter of an outer ring are respectively provided with an annular gear, and the two annular gears are concentric with a rotating shaft of the double-annular-gear slewing bearing; the inner gear rings of the inner ring gear and the outer ring gear of the double-inner gear ring slewing bearing are meshed with the planetary gears at the same time, and the sun gear is meshed with the planetary gears; the inner wall of the slewing bearing outer ring assembly and the inner wall of the slewing bearing inner ring part are spliced to form a hollow bearing raceway. A planetary transmission is also disclosed that does not provide a sun gear but employs a planet carrier drive feature to drive an elastic planet carrier.

Description

Planetary transmission device with deflection planet carrier system

Technical Field

The invention relates to a planetary transmission device, in particular to a planetary transmission device with a deflection planet carrier system.

Background

The shifting planet carrier system is a patent technology applied by the company and 2021, the publication number is CN113757349A, and the planet transmission device provided with the shifting planet carrier system can enable the planet gear to lean against the inner gear ring through the expansion of the planet carrier, and a certain pre-pressure is provided when the back clearance between the planet gear and the inner gear ring is compressed; the planetary gear mechanism generally includes a carrier, a sun gear, a ring gear, and a planetary gear meshed with the sun gear and the ring gear, a rotation shaft of the planetary gear being supported by the carrier; the slewing bearing is a novel mechanical part, and comprises an inner ring, an outer ring, rolling bodies and the like, wherein the slewing bearing is a large bearing capable of bearing comprehensive load, and can bear larger axial and radial loads and overturning moment at the same time.

At present, due to the processing errors and assembly errors of the traditional planetary transmission device, the problem of large back clearance and the like can be caused, and the precision and the miniaturization of the precise speed reduction transmission device are required in the robot and automation industry at present, and the planetary transmission device has high requirements on the back clearance and the external dimension in the fields of robots and the like.

Disclosure of Invention

In order to overcome the defects, the invention provides a planetary transmission device with a deflection planet carrier system, the planetary transmission device adopts a double-annular-gear slewing bearing, the inner walls of an inner ring and an outer ring of the planetary transmission device are respectively provided with an annular gear capable of being meshed with a planetary gear, the outer ring of the slewing bearing is designed into a two-layer step ring shape, and the double-annular-gear slewing bearing is combined with the deflection planet carrier system; the planetary transmission device can enable the planetary gears to lean against the double annular gears through the expansion of the planet carrier of the deflection planet carrier system, simultaneously compress the back clearance between the planetary gears and the annular gears of the inner ring and the outer ring or provide certain pre-pressure, can realize smaller transmission back clearance, and is also beneficial to small size and light weight when being used as a precision speed reducer in the fields of robots and the like.

The invention aims at realizing the following technical scheme:

the first aspect of the invention provides a planetary transmission device comprising a deflection planet carrier system, a double-annular-gear slewing bearing, at least three planetary gears and a sun gear, wherein the planetary transmission device comprises the deflection planet carrier system and a double-annular-gear slewing bearing; the inner wall of the outer ring of the double-inner gear ring slewing bearing is in a step shape of at least two layers of circular rings, the circular ring step with smaller inner diameter is positioned at one axial end of the inner ring of the double-inner gear ring slewing bearing, at least part of the inner wall of the inner ring of the double-inner gear ring slewing bearing and the inner wall of the circular ring step with smaller inner diameter of the outer ring are respectively provided with an inner gear ring, and the two inner gear rings are concentric with the slewing bearing rotating shaft; the module of the two inner gear rings, the module of the planetary gear and the module of the sun gear are the same, the tooth number difference of the two inner gear rings is equal to the number of the planetary gear, the two inner gear rings are meshed with the planetary gear by respectively adjusting the deflection parameters, the inner gear rings of the inner ring gear and the outer ring gear of the double-inner gear ring slewing bearing are simultaneously meshed with the planetary gear, and the sun gear is meshed with the planetary gear; the inner ring and the outer ring of the slewing bearing are respectively provided with threaded holes or through holes; the deflection planet carrier system consists of an elastic planet carrier, a rigid taper sleeve and a rigid taper sleeve axial adjusting spring.

When the planetary transmission device is used as a speed reducer, a motor shaft is connected with a sun gear through a key or an end face flange screw, the motor drives the sun gear to rotate, then the planetary gear is driven to circumferentially roll and mesh along two annular gears of the double annular gear slewing bearing, the planetary gear circumferentially roll and mesh and simultaneously drive the two upper annular gears of the double annular gear slewing bearing with tooth number difference to relatively rotate at a low speed, and the reduction ratio is:

(number of ring gear teeth/number of planetary gears as output) × (number of ring gear teeth/number of sun gear teeth as fixed).

The planetary transmission device with the deflection planet carrier system can realize smaller output backlash when used as a precision speed reducer, and the output backlash is as follows: (sum of back clearance of planetary gear and two inner gear rings) + (back clearance/reduction ratio of planetary gear and sun gear), which can make the planetary gear lean against two inner gear rings of the double inner gear ring slewing bearing at the same time through the swelling of the elastic planet carrier, provide certain pre-compression force when compressing the back clearance between the inner gear surfaces of the planetary gear and the double inner gear ring slewing bearing, help to reduce the back clearance between the planetary gear and the two inner gear rings, and the back clearance between the sun gear and the planetary gear is only reflected at the output end after dividing by the reduction ratio, thus having less influence on the overall output back clearance of the planetary transmission device.

The double-annular-gear slewing bearing comprises a slewing bearing outer ring assembly, a slewing bearing inner ring part and a plurality of rollers; the slewing bearing outer ring assembly is an assembly formed by fixedly connecting a first part and a second part so as to facilitate the disassembly of the filling roller.

The inner wall of the slewing bearing outer ring assembly and the outer wall of the slewing bearing inner ring part are spliced to form a hollow bearing rolling path, and rollers are filled in the bearing rolling path, so that the slewing bearing outer ring assembly and the slewing bearing inner ring part can rotate concentrically and relatively.

A second aspect of the present invention provides a planetary transmission having a shifting planet carrier system, comprising a shifting planet carrier system, a double ring gear slewing bearing, at least three planet gears and planet carrier driving parts; the planetary gears are assembled on an elastic planet carrier of the deflection planet carrier system through needle bearings and shaft pins, the inner wall of the outer ring of the double-annular-gear slewing bearing is in a step shape of at least two layers of circular rings, the circular ring step with smaller inner diameter is positioned at one axial end of the inner ring of the double-annular-gear slewing bearing, at least part of the inner wall of the inner ring of the double-annular-gear slewing bearing and the inner wall of the circular ring step with smaller inner diameter of the outer ring are respectively provided with annular gears, and the two annular gears are concentric with a slewing bearing rotating shaft; the module of the two annular gears is the same as that of the planetary gears, the tooth number difference of the two annular gears is equal to that of the planetary gears, the two annular gears are respectively adjusted to achieve the same center distance with the planetary gears by adjusting the deflection parameters, and the annular gears of the inner ring gear and the outer ring gear of the double annular gear slewing bearing can be simultaneously meshed with the planetary gears; the inner ring and the outer ring of the slewing bearing are respectively provided with threaded holes or through holes; the planet carrier driving part and the elastic planet carrier are coaxially arranged, radial slotted holes corresponding to the positions of the shaft pins are formed in the planet carrier driving part, the shaft pins extend out of one end of the elastic planet carrier, the slotted holes of the planet carrier driving part are sleeved on the extending parts of the shaft pins, and threaded holes or key grooves for connecting a motor are formed in the planet carrier driving part. The deflection planet carrier system consists of an elastic planet carrier, a rigid taper sleeve and a rigid taper sleeve axial adjusting spring. The width of the slotted hole is equal to the diameter of the extending part of the pin shaft, and the length of the slotted hole is larger than the diameter of the extending part of the pin shaft plus the radial expansion amount of the elastic planet carrier. The slotted hole can be a closed slotted hole or an opening at the outer diameter edge of the driving part of the planet carrier.

The planetary transmission device does not use a sun gear, but adopts a planet carrier driving part to directly drive the elastic planet carrier to rotate; when the planetary transmission device is used as a speed reducer, a motor shaft is connected with a planet carrier driving part through a key or an end face flange screw, the motor drives the planet carrier driving part to rotate so as to drive an elastic planet carrier to rotate, meanwhile, a planet gear is driven to circumferentially roll and mesh along two annular gears of the double annular gear slewing bearing, the planet gear circumferentially rolls and meshes and simultaneously drives the two annular gears of the double annular gear slewing bearing with tooth number difference to relatively rotate at a low speed, and the reduction ratio is as follows:

the number of teeth of the inner gear ring/the number of planetary gears as output.

The planetary transmission device with the deflection planet carrier system can realize smaller output backlash when used as a precision speed reducer, and the output backlash is as follows: the sum of the back gaps of the planet gears and the two inner gear rings can enable the planet gears to simultaneously lean against the two inner gear rings of the double inner gear ring slewing bearing through the expansion of the elastic planet carrier, and a certain pre-compression force is provided when the back gaps between the inner gear surfaces of the planet gears and the double inner gear ring slewing bearing are compressed, so that the back gaps between the planet gears and the two inner gear rings can be reduced.

Further, a first end cover and a second end cover are respectively arranged at two end parts of the planetary transmission device, the first end cover is arranged on the inner ring of the double-annular-gear slewing bearing, and the second end cover is arranged on the outer ring of the slewing bearing. The first end cover, the second end cover and the double-annular-gear slewing bearing form a cavity, so that grease can be well contained and dust can be prevented.

Further, oil drain holes are formed in the first end cover and the second end cover, and magnetic oil drain hole screws are arranged on the oil drain holes and used for plugging the oil drain holes and adsorbing scrap iron generated by abrasion of gears.

Further, a first gasket is disposed between the elastic planet carrier and the first end cap, and a second gasket is disposed between the elastic planet carrier and the second end cap, the gaskets generally being of a material selected to facilitate reduction of sliding friction for limiting the axial position of the elastic planet carrier and reducing friction when the elastic planet carrier is in axial limited contact.

According to the planetary transmission disclosed in the first aspect of the invention, the first end cover is provided with a hole and is fixedly connected with one end of the sun gear through a first bearing, and the second end cover is provided with a hole and is fixedly connected with the other end of the sun gear through a second bearing. In order to avoid that the axial movement of the sun gear when the bevel gear is selected can affect the positioning accuracy of the planetary transmission device, the sun gear needs to be axially fixed when the sun gear is not axially fixed with the motor shaft (such as when a key connection is adopted), so as to avoid axial movement of the sun gear.

According to the planetary transmission disclosed in the second aspect of the invention, the first end cover is provided with a hole and is fixedly connected with one end of the planet carrier driving part through a first bearing, and the second end cover is provided with a hole and is fixedly connected with the other end of the planet carrier driving part through a second bearing. In order to avoid friction between the planet carrier driving part and the second end cover, the axial position of the planet carrier driving part needs to be fixed through bearings on the first end cover and the second end cover when the planet carrier driving part is not axially fixed with the motor shaft.

Furthermore, a dustproof slip ring is further arranged at the gap between the inner ring gear part of the slewing bearing and the two inner ring gears of the outer ring gear assembly of the slewing bearing, and the dustproof slip ring is used for preventing scrap iron generated by gear abrasion from entering the double inner ring gear slewing bearing.

Furthermore, the staggered gaps on the elastic planet carrier are in the form of a central notch and double openings on two sides, and the staggered gaps are arranged between every two planet gears. The elastic deformation characteristics of the staggered notches can be adjusted in parallel connection and in series connection, two staggered notches are selected for parallel connection, bending moment resistance can be guaranteed on the premise of elasticity extension, elasticity of the staggered notches can be increased in series connection, and the mode of the central notch and the double openings on the two sides can be understood as a mode of connecting four staggered notches in parallel connection and then in series connection.

Furthermore, the axial adjusting springs selected by the deflection planet carrier system are three spring pieces independently arranged on the planet carrier, and one axial adjusting spring is arranged between every two staggered gaps, so that resistance to expansion caused by the axial adjusting springs when the elastic planet carrier radially expands can be avoided at least. Along with the tooth surface abrasion caused by the use of the gears, the deflection planet carrier system can continuously deflect under the action of the axial regulating spring to prolong the precision service life of the transmission device, particularly in the application field with high back clearance requirements of robots and the like, and the precision service life of the transmission device is remarkably prolonged.

Compared with the prior art, the technical scheme of the invention has the following beneficial effects:

the planetary transmission device adopts the double-ring gear slewing bearing, the inner walls of the inner ring gear and the outer ring gear are respectively provided with the ring gear which can be meshed with the planetary gear, and the combination of the double-ring gear slewing bearing and the deflection planet carrier system can realize smaller output back clearance when being used as a precision speed reducer, simultaneously reduce the volume and the weight of the speed reducer, and is beneficial to application in the application fields with higher back clearance, weight and size requirements of robots and the like.

Drawings

FIG. 1 is a perspective view of a planetary transmission incorporating a shifting planetary carrier system according to embodiment 1 of the present invention;

FIG. 2 is a cross-sectional view of the planetary transmission shown in FIG. 1;

FIG. 3 is an exploded view of the planetary transmission shown in FIG. 1;

FIG. 4 is a perspective view of a shifting planetary carrier system of a planetary transmission incorporating a shifting planetary carrier system equipped with planetary gears according to embodiment 1 of the present invention;

FIG. 5 is a top view of FIG. 4;

FIG. 6 is an exploded view of FIG. 4;

fig. 7 shows a cross-sectional view of a double ring gear slewing bearing of a planetary transmission incorporating a shifting carrier system of embodiment 2 of the present invention;

fig. 8 is an exploded view of the double ring gear slewing bearing shown in fig. 7;

fig. 9 is a cross-sectional view showing a double ring gear slewing bearing of a planetary transmission incorporating a shifting carrier system of embodiment 3 of the present invention;

fig. 10 is an exploded view of the double ring gear slewing bearing shown in fig. 9;

fig. 11 is a cross-sectional view showing a double ring gear slewing bearing of a planetary transmission incorporating a shifting carrier system of embodiment 4 of the present invention;

fig. 12 is an exploded view of the double ring gear slewing bearing shown in fig. 11;

fig. 13 is a cross-sectional view showing a double ring gear slewing bearing of a planetary transmission incorporating a shifting carrier system of embodiment 5 of the present invention;

Fig. 14 is an exploded view of the double ring gear slewing bearing shown in fig. 13;

FIG. 15 is a perspective view of a planetary transmission incorporating a shifting carrier system of example 6;

FIG. 16 is a cross-sectional view of the planetary transmission shown in FIG. 15;

FIG. 17 is an exploded view of the planetary transmission shown in FIG. 15;

FIG. 18 is a perspective view of a shifting planet carrier system of the planetary transmission incorporating the shifting planet carrier system of embodiment 6 of the present invention, wherein the shifting planet carrier system is equipped with planet gears and axle pins;

FIG. 19 is a top view of FIG. 18;

fig. 20 is an exploded view of fig. 18.

Wherein, the liquid crystal display device comprises a liquid crystal display device,

1: first part

2: slewing bearing inner ring part

3: sun gear

4: roller

5: second part

6: dustproof slip ring

7: first end cap

8: second end cap

9: magnetic oil drain hole screw

10: displacement planet carrier system

101: elastic planet carrier

102: rigid taper sleeve

103: axial adjusting spring

104: shaft pin

105: needle roller bearing

106: planetary gear

11: first bearing

12: second bearing

13: oil seal

14: first gasket

15: second gasket

16: taper needle roller bearing

17: steel ball

18: driving part

19: connecting shaft

Detailed Description

In order to make the objects, technical solutions, advantageous effects and significant improvements of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings provided in the examples of the present invention, and it is apparent that all of the described embodiments are only some embodiments of the present invention, not all embodiments of the present invention; based on the teachings provided herein, all other examples that may be made by one of ordinary skill in the art without undue burden from the disclosure and embodiments of the present invention and the accompanying drawings are within the scope of the present invention.

It should be noted that the terms "first," "second," "third," and the like in the description and in the claims of the present invention are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order.

It should also be noted that the following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Example 1

As shown in fig. 1-3, a planetary transmission comprising a shifting planetary carrier system is composed of a shifting planetary carrier system 10 provided with three planetary gears 106, a double ring gear slewing bearing and a sun gear 3, and the planetary gears 106 can mesh with the sun gear 3. The deflection planet carrier system consists of an elastic planet carrier 101, a rigid taper sleeve 102 and 3 rigid taper sleeve axial adjusting springs 103.

The deflection planet carrier system 10 is sleeved in the double-annular-gear slewing bearing, and the planet gears 106 are meshed with the two annular gears of the double-annular-gear slewing bearing at the same time; the double-annular-gear slewing bearing, the sun gear 3 and the elastic planet carrier 101 are coaxially arranged, and the sun gear 3 is meshed with the planet gears 106.

As disclosed in CN113757349a, the shift carrier system is a system that can expand upon axial movement of the rigid cone sleeve in the small diameter direction to increase the revolution radius of the planetary gear provided in the elastic carrier or can maintain an outward expanding radial force applied to the planetary gear upon axial force of the rigid cone sleeve in the small diameter direction. As shown in fig. 4-6, a part of the inner surface of the side wall of the elastic planet carrier 101 is processed into a conical surface, the elastic planet carrier 101 comprises 3 first spaces for accommodating 3 planet gears 106, at least one axial end of each first space is provided with a shaft hole for installing the planet gears, and staggered notches are processed on the side wall of the elastic planet carrier 101 avoiding the first spaces, and are used for elastically elongating the circumference of the side wall of the elastic planet carrier 101 when being stressed so as to elastically deform the elastic planet carrier 101; the staggered notch adopts a form of a central notch and two double openings at two sides, the central notch is opened along the radial direction, but two ends of the central notch do not reach the side walls, the two double openings at two sides of the central notch are respectively provided with openings, namely, the notch is formed from the outer side wall of the planet carrier inwards along the radial direction of the planet carrier, the notch is formed from the inner wall outwards, and the two notches at two sides of the central notch are not communicated; staggered gaps are arranged between every two planetary gears.

The rigid taper sleeve 102 is sleeved in the elastic planet carrier 101, and at least part of the outer side wall of the rigid taper sleeve 102 is processed with a conical surface which is matched with the conical surface of the inner surface of the side wall of the elastic planet carrier, so that the outer surface of the rigid taper sleeve processed with the conical surface is tightly matched with the inner surface of the side wall of the elastic planet carrier processed with the conical surface; the taper angle of the rigid taper sleeve 102 is 8 degrees, so that a good self-locking effect is achieved, and the phenomenon that the taper sleeve is retracted due to the fact that the planet carrier is contracted and pushed backwards by the spring to be axially adjusted when the planet gear is subjected to a large bearing radial component force is avoided.

As shown in fig. 4, 3 axial adjusting springs 103 are axially mounted at the ends of the elastic planet carrier 101 and the rigid cone sleeve 102, and are used for applying an axial force directed in the small diameter direction of the rigid cone sleeve to the rigid cone sleeve, the elastic planet carrier 101 is inflated by pushing the rigid cone sleeve 102 axially by using the axial adjusting springs 103, so that the planet gears arranged in the elastic planet carrier 101 are expanded outwards to simultaneously press the two annular gears of the double annular gear slewing bearing meshed with the planet gears, and the revolution radius of the planet gears is increased to eliminate backlash or apply tooth surface pre-compression force between the planet gears and the annular gears. An axial adjusting spring 103 is arranged between every two notches, each axial adjusting spring 103 is a spring piece and is in threaded connection with the elastic planet carrier 101, the inner edge of each axial adjusting spring 103 presses on the corresponding notch of the large-diameter end face of the rigid taper sleeve 102, the elastic force of each axial adjusting spring 103 is utilized to generate pressure towards the small-diameter direction of the rigid taper sleeve 102, and meanwhile, the axial adjusting springs 103 are used for limiting circumferential rotation of the rigid taper sleeve 102.

The double-annular-gear slewing bearing comprises a slewing bearing outer ring assembly, a slewing bearing inner ring part 2 and a plurality of rollers 4. The inner wall of the slewing bearing outer ring assembly and the outer wall of the slewing bearing inner ring part 2 are close to but not in contact with each other, and a certain gap is formed between the inner wall of the slewing bearing outer ring assembly and the outer wall of the slewing bearing inner ring part 2. The slewing bearing outer ring assembly consists of a first part 1 and a second part 5 which are fixedly connected through screws. The second part 5 is annular, the bottom wall of the second part 5 is in contact with the top wall of the first part 1, and the inner wall of the slewing bearing outer ring assembly formed by splicing is in a two-layer annular step shape. An oil seal 13 is arranged between the inner wall of the second part 5 and the outer wall of the slewing bearing inner ring part 2, so as to enhance the tightness. The outer wall of the slewing bearing outer ring assembly (namely the first part 1) of the embodiment also adopts a two-layer annular step shape, and the aim is to reduce the weight of the part, thereby being more beneficial to light-weight production.

The outer ring assembly of the slewing bearing is composed of 2 parts, because the slewing bearing is filled with full rollers and has a certain precompaction for bearing larger force, in order to fill the rollers conveniently, a notch is formed on the inner ring or the outer ring of the bearing for filling the rollers, then the notch is filled with one part, or the inner ring or the outer ring part is directly divided into two filling rollers and then the two filling rollers are assembled together by screws. In embodiment 1, the outer ring assembly is divided into two axially arranged pieces, so that the rollers can be conveniently filled.

An inner gear ring is machined on part of the inner wall of the first part 1 and part of the inner wall of the slewing bearing inner ring part 2, and the two inner gear rings can be meshed with the planetary gears 106 at the same time. In order to realize the structure, as shown in fig. 2, the inner wall of the outer ring assembly of the slewing bearing is in a two-layer annular step shape, namely, in an annular step shape arranged along the axial direction, the inner diameter of the annular step is in a tapered form, the inner wall of the annular step with larger inner diameter is accommodated in but does not contact with the side wall and one end face of the inner ring part 2 of the slewing bearing, and a roller is arranged between the inner wall of the annular step with larger inner diameter and the outer wall of the inner ring part 2 of the slewing bearing; the annular step with smaller inner diameter extends along the lower edge of the inner wall of the annular step with larger inner diameter and is positioned at one axial end of the slewing bearing inner ring, at least part of the inner wall of the slewing bearing inner ring part 2 and the inner wall of the annular step with smaller inner diameter are respectively provided with an annular gear, and the two annular gears are concentric with the slewing bearing rotating shaft.

The first part 1, the second part 5 and the slewing bearing inner ring part 2 are spliced to form a hollow bearing raceway, the bearing raceway is formed by splicing an inner raceway and an outer raceway, the inner raceway is processed on the outer wall of the slewing bearing inner ring part 2, the outer raceway is processed on the inner wall of the first part 1 and the second part 5, namely, part of the outer raceway of the double-annular gear slewing bearing is processed on the inner wall of the first part 1, the other part of the outer raceway is processed on the inner wall of the second part 5, the sizes of the outer raceway and the inner raceway are adapted to be used for encircling the bearing raceway forming a groove structure, and the bearing raceway with a square groove in cross section is encircled as shown in fig. 2; a plurality of cylindrical rollers 4 are arranged in the bearing roller path in a crossed manner, so that the slewing bearing outer ring assembly and the slewing bearing inner ring part 2 form a crossed roller bearing which can rotate concentrically and relatively. A dustproof slip ring 6 is further arranged between the slewing bearing inner ring part 2 and the first part 1, and the dustproof slip ring 6 is used for preventing scrap iron generated by gear abrasion from entering the double-annular-gear slewing bearing. The upper end face of the slewing bearing inner ring part 2 is provided with a threaded hole for outputting torque, and the outer edge of the slewing bearing outer ring assembly is provided with a threaded hole and a through hole for fixing.

Wherein the inner gear ring of the first part 1 has 117 teeth, the inner gear ring of the slewing bearing inner ring part 2 has 120 teeth, the sun gear 3 has 39 teeth, and the planet gear 106 has 41 teeth. The positive and negative displacements are adopted for the inner gear ring on the slewing bearing inner ring part 2 and the inner gear ring on the first part 1 respectively to achieve the same center distance with the planetary gear 106, and the negative displacement is adopted for the sun gear 3 to achieve the same center distance with the planetary gear 106, so that the center distance between the inner gear ring of the slewing bearing inner ring part 2 and the center distance between the inner gear ring and the planetary gear 106 are equal.

The modules of the inner gear ring of the first part 1, the inner gear ring of the slewing bearing inner ring part 2, the planetary gears 106 and the sun gear 3 are 1 module, 20CrMnTi steel is adopted, and the effective tooth width of the planetary gears 106 is equal to the sum of the tooth widths of the inner gear rings of the first part 1 and the slewing bearing inner ring part 2. Fig. 6 shows an exploded view of a planet gear assembled on the shift planet carrier system, the planet gear 106 is assembled on the elastic planet carrier 101 through a needle bearing 105 and a shaft pin 104, namely, the needle bearing 105 is sleeved on the inner surface of the planet gear 106, the needle bearing 105 is fixedly sleeved on the outer wall of the shaft pin 104, the shaft pin 104 is inserted into a shaft hole of a first space of the elastic planet carrier 101, and the shaft pin 104 and the shaft hole are in interference fit.

A first end cap 7 and a second end cap 8 are respectively arranged at two ends of the planetary transmission device, namely, the first end cap 7 is assembled at the axial end of the slewing bearing inner ring part 2, and the second end cap 8 is assembled at the axial end of the first part 1 of the slewing bearing outer ring assembly. The first end cover 7 is provided with a hole and is fixedly connected with one end of the sun gear through a first bearing 11, the second end cover 8 is fixedly arranged at the bottom of the first part 1 through bolts, and the second end cover 8 is provided with a hole and is fixedly connected with the other end of the sun gear 3 through a second bearing 12. The first end cover, the second end cover and the double-annular-gear slewing bearing form a cavity, so that grease can be well contained and dust can be prevented. And two oil drain holes are formed in the first end cover 7 and the second end cover 8, and the two oil drain holes are plugged by using a magnetic oil drain hole screw 9 inlaid with a strong magnetic material. In the specific assembly, the elastic planet carrier 101 with the planet gears is firstly arranged in the double-annular-gear slewing bearing to realize the meshing of the planet gears and the two annular gears, then the axial adjusting spring 103 is fastened, and then the second end cover 8 is covered.

A first gasket 14 is provided between the elastic carrier 101 and the first end cap 7 to prevent the first end cap 7 from contacting the elastic carrier 101, and a second gasket 15 is provided between the elastic carrier 101 and the second end cap 8 to prevent the second end cap 8 from contacting the elastic carrier 101. Both end caps serve to limit the axial movement of the elastic carrier 101. The first gasket and the second gasket are made of teflon, and the gasket is arranged between the end cover and the elastic planet carrier 101 to reduce friction force during axial limiting contact.

In the application of the planetary transmission device as a planetary reducer used in a robot or precision automation equipment, the motor shaft is inserted into the sun gear 3 and connected through a key, the sun gear 3 rotates to drive the planetary gear 106 to roll and mesh along the circumferential direction of the ring gear of the first part, and the planetary gear 106 rolls circumferentially and simultaneously drives the slewing bearing inner ring part 2 to rotate at a low speed, and the reduction ratio is 160.

Example 2

As shown in fig. 7-8, a planetary transmission device comprising the shifting planetary carrier system is composed of a shifting planetary carrier system 10 with three planetary gears 106, a double-ring gear slewing bearing and a sun gear 3, the planetary transmission device is similar to the embodiment 1, the same parts are not repeated here, and only the distinguishing features are described below.

The double-ring gear slewing bearing is in a V-shaped double-row needle bearing form, the first part 1, the second part 5 and the slewing bearing inner ring part 2 are spliced to form two bearing raceways with V-shaped cross sections, the bearing raceways are formed by splicing an inner raceway and an outer raceway, the V-shaped inner raceway is processed on the outer wall of the slewing bearing inner ring part 2, the outer raceway is processed on the inner walls of the first part 1 and the second part 5, namely, one outer raceway of the double-ring gear slewing bearing is processed on the inner wall of the first part 1, and the other outer raceway is processed on the inner wall of the second part 5. The outer and inner raceways are sized to enclose two bearing raceways in a V-shaped arrangement, with one conical needle bearing 16 disposed in each of the two bearing raceways. An oil seal 13 is arranged between the inner wall of the second part 5 and the outer wall of the slewing bearing inner ring part 2, the second part 5 is annular, the inner wall of the first part 1 is processed into two layers of annular steps, and the bottom wall of the second part 5 is fixedly connected with the top wall of the first part 1.

Example 3

As shown in fig. 9-10, a planetary transmission device comprising the shifting planetary carrier system is composed of a shifting planetary carrier system 10 with three planetary gears 106, a double-ring gear slewing bearing and a sun gear 3, the planetary transmission device is similar to the embodiment 1, the same parts are not repeated here, and only the distinguishing features are described below.

The double-ring gear slewing bearing is in a crossed roller bearing mode that a gap is reserved on an outer ring to fill rollers, the first part 1, the second part 5 and the slewing bearing inner ring part 2 are spliced to form a bearing raceway with a square hollow cross section, the bearing raceway is formed by splicing an inner raceway and an outer raceway, the inner raceway is processed on the outer wall of the slewing bearing inner ring part 2, the outer raceway is processed on the inner walls of the slewing bearing outer ring first part 1 and the second part 5, namely, part of the outer raceway of the double-ring gear slewing bearing is processed on the inner wall of the slewing bearing outer ring first part 1, and the other part of the outer raceway is processed on the inner wall of the second part 5. As shown in fig. 10, the top end of the first part 1 has a notch, the outer contour of the notch is matched with the second part 5, the second part 5 is only a block structure matched with the notch, and is fixedly connected with the first part 1 of the outer ring of the slewing bearing through a bolt, and the inner wall of the first part is in a two-layer annular step shape.

As shown in fig. 9, no teeth are provided on the upper part of the inner wall of the slewing bearing inner ring element 2, and the planetary gear is prevented from moving upward.

In the planetary transmission device adopting the double-ring gear slewing bearing with the structure, the first end cover 7 and the first gasket 14 are not arranged, the first bearing 11 and the second bearing 12 are not arranged, the second end cover 8 is only required to be arranged, and the second end cover 8 is fixedly arranged at the bottom of the first part 1 through bolts.

When the planetary transmission device with the structure is adopted, the sun wheel 3 is connected with a motor shaft through the jackscrew in advance, and then is inserted into the planetary transmission device.

Example 4

As shown in fig. 11-12, a planetary transmission device comprising the shifting planetary carrier system is composed of a shifting planetary carrier system 10 with three planetary gears 106, a double-ring gear slewing bearing and a sun gear 3, the planetary transmission device is similar to the embodiment 1, the same parts are not repeated here, and only the distinguishing features are described below.

The double-ring gear slewing bearing is in a double-row angular contact ball bearing mode, the first part 1, the second part 5 and the slewing bearing inner ring part 2 are spliced to form two angular contact ball bearing raceways with opposite directions, each bearing raceway is formed by splicing an inner raceway and an outer raceway, the two inner raceways are machined on the outer wall of the slewing bearing inner ring part 2, the two outer raceways are respectively machined on the inner walls of the first part 1 and the second part 5, and the sizes of the outer raceways and the inner raceways are adapted to be encircled to form raceways. Steel balls 17 are arranged in the bearing raceways.

An oil seal 13 is arranged between the inner wall of the second part 5 and the outer wall of the slewing bearing inner ring part 2, and the bottom wall of the second part 5 is in contact with the top wall of the first part 1, so that the first part 1 and the second part 5 are fixedly connected by screws in use.

Another difference is that the first washer 14 and the second washer 15 are replaced with a thrust needle bearing, thereby providing better lubrication.

Example 5

As shown in fig. 13-14, a planetary transmission device comprising the shifting planetary carrier system, which is composed of a shifting planetary carrier system 10 provided with three planetary gears 106, a double-ring gear slewing bearing and a sun gear 3, is similar to the embodiment 3, and the same parts are not described in detail herein, and only the distinguishing features thereof will be described below.

The double-annular-gear slewing bearing is in a four-point contact ball bearing mode, the first part 1, the second part 5 and the slewing bearing inner ring part 2 are spliced to form a bearing rollaway nest with a circular cross section, the bearing rollaway nest is formed by splicing an inner rollaway nest and an outer rollaway nest, the inner rollaway nest is processed on the outer wall of the slewing bearing inner ring part 2, the outer rollaway nest is processed on the inner walls of the first part 1 and the second part 5, namely, part of the outer rollaway nest of the double-annular-gear slewing bearing is processed on the inner wall of the first part 1, and the other part of the outer rollaway nest is processed on the inner wall of the second part 5. As shown in fig. 14, the top end of the first part 1 has a notch, the outer contour of the notch is matched with the second part 5, and the second part 5 is only a block structure matched with the notch, and is fixedly connected with the first part 1 through a bolt. Another difference is that the first and second bearings are replaced with the first sun gear oil seal and the second sun gear oil seal.

Example 6

15-20, a planetary transmission comprising a shifting planet carrier system is composed of a shifting planet carrier system 10 provided with three planet gears 106, a double annular slewing bearing and planet carrier driving parts, wherein the planet gears 106 are assembled on the shifting planet carrier system through needle bearings 105 and shaft pins 104, and the shifting planet carrier system is composed of an elastic planet carrier 101, a rigid taper sleeve 102 and 3 rigid taper sleeve axial adjusting springs 103. In this embodiment, a planet carrier driving part 18 is provided without a sun gear, and the driving part 18 is connected to a motor shaft for driving the elastic planet carrier 101. The shifting carrier system 10 is similar to that of the embodiment 1, and the same parts will not be described herein, and only the distinguishing features will be described below.

The deflection planet carrier system 10 is sleeved in the double-annular-gear slewing bearing, and the planet gears 106 are meshed with the two annular gears of the double-annular-gear slewing bearing at the same time; the double ring gear slewing bearing, the driving part 18 and the elastic planet carrier 101 are coaxially arranged.

The double-annular-gear slewing bearing comprises a slewing bearing outer ring assembly, a slewing bearing inner ring part 2 and a plurality of rollers 4. The inner wall of the slewing bearing outer ring assembly and the outer wall of the slewing bearing inner ring part 2 are close to but not in contact with each other, and a certain gap is formed between the inner wall of the slewing bearing outer ring assembly and the outer wall of the slewing bearing inner ring part 2. The slewing bearing outer ring assembly consists of a first part 1 and a second part 5 which are fixedly connected through screws. The second part 5 is annular, the bottom wall of the second part 5 is in contact with the top wall of the first part 1, and the inner wall of the slewing bearing outer ring assembly formed by splicing is in a two-layer annular step shape. An oil seal 13 is arranged between the inner wall of the second part 5 and the outer wall of the slewing bearing inner ring part 2, so as to enhance the tightness. The outer wall of the first part 1 in this embodiment is also in a two-layer annular step shape, so that the weight of the part is reduced, thereby being more beneficial to light-weight production.

An inner gear ring is machined on part of the inner wall of the first part 1 and part of the inner wall of the slewing bearing inner ring part 2, and the two inner gear rings can be meshed with the planetary gears 106 at the same time. In order to achieve the above structure, as shown in fig. 16, the inner wall of the outer ring assembly of the slewing bearing is in a two-layer annular step shape, namely, in an annular step shape arranged along the axial direction, the inner diameter of the annular step is in a tapered form, the inner wall of the annular step with larger inner diameter accommodates but does not contact with the side wall and one end face of the inner ring part 2 of the slewing bearing, and a roller is arranged between the inner wall of the annular step with larger inner diameter and the outer wall of the inner ring part 2 of the slewing bearing; the annular step with smaller inner diameter extends along the lower edge of the inner wall of the annular step with larger inner diameter and is positioned at one axial end of the slewing bearing inner ring, at least part of the inner wall of the slewing bearing inner ring part 2 and the inner wall of the annular step with smaller inner diameter are respectively provided with an annular gear, and the two annular gears are concentric with the slewing bearing rotating shaft.

The ring gear of the first part 1 has 117 teeth, the ring gear of the slewing bearing inner ring part 2 has 120 teeth, and the planetary gear 106 has 41 teeth. The inner gear ring of the slewing bearing inner ring part 2 and the inner gear ring of the first part 1 respectively adopt positive and negative displacement to achieve equal center distances meshed with the planetary gears 106.

The modulus of the inner gear ring of the first part 1, the inner gear ring of the slewing bearing inner ring part 2 and the planetary gear 106 is 1 die, and the effective tooth width of the planetary gear 106 is equal to the sum of the tooth widths of the inner gear rings of the first part 1 and the slewing bearing inner ring part 2 by adopting 20CrMnTi steel. Fig. 17 shows an exploded view of a modified planetary carrier system equipped with a planetary gear, the planetary gear 106 is assembled on the elastic planetary carrier 101 through a needle bearing 105 and a shaft pin 104, that is, the needle bearing 105 is sleeved on the inner surface of the planetary gear 106, the needle bearing 105 is sleeved on the outer wall of the shaft pin 104, the shaft pin 104 is inserted into a shaft hole of a first space of the elastic planetary carrier 101, and the shaft pin 104 extends out of one end of the elastic planetary carrier 101.

A first end cap 7 and a second end cap 8 are respectively arranged at two ends of the planetary transmission device, namely, the first end cap 7 is assembled at the axial end of the slewing bearing inner ring part 2, and the second end cap 8 is assembled at the axial end of the first part 1 of the slewing bearing outer ring assembly.

A connecting shaft 19 is an extension of the shaft of the driving element 18. The driving part 18 is provided with 3 radial slots corresponding to the positions of the shaft pins 104 in the radial direction, the slots are closed slots, the width of the slots is 10mm, the radial length of the slots is 11mm, and the weight of each two adjacent slots is reduced by hollowing. The first end cover 7 is provided with a hole and is fixedly connected with the end part of the connecting shaft 19 through a first bearing 11, the second end cover 8 is fixedly arranged at the bottom of the first part 1 through bolts, and the second end cover 8 is provided with a hole and is fixedly connected with the bottom end of the driving part 18 through a second bearing 12. The first end cover, the second end cover and the double-annular-gear slewing bearing form a cavity, so that grease can be well contained and dust can be prevented. And two oil drain holes are formed in the first end cover 7 and the second end cover 8, and the two oil drain holes are plugged by using a magnetic oil drain hole screw 9 inlaid with a strong magnetic material. Moreover, the slotted hole of the planet carrier driving part 18 is sleeved on the extending part of the shaft pin 104, and the planet carrier driving part 18 is provided with a threaded hole or a key slot for connecting a motor. The shaft pin 104 is a stepped pin shaft, the diameter of the extending part of the shaft pin 104 passes through a hole on the axial adjusting spring 103, the slotted hole is in circumferential contact with the pin shaft along the driving part 18, and a gap of 0.5mm is reserved along the radial direction of the driving part 18. In the specific assembly, the elastic planet carrier 101 with the planet gears is firstly arranged in the double-annular-gear slewing bearing to realize the meshing of the planet gears and the two annular gears, then the axial adjusting spring 103 is fastened, and then the second end cover 8 is covered.

A first gasket 14 is provided between the elastic carrier 101 and the first end cap 7 to prevent the first end cap 7 from contacting the elastic carrier 101, and a second gasket 15 is provided between the elastic carrier 101 and the second end cap 8 to prevent the second end cap 8 from contacting the elastic carrier 101. The two end caps are used to limit the axial movement of the planet carrier. The first gasket and the second gasket are made of Teflon materials, and the gasket is arranged between the end cover and the elastic planet carrier and used for reducing friction force during axial limiting contact.

When the planetary transmission device is used as a speed reducer, a motor shaft is connected with a planet carrier driving part through a key or an end face flange screw, the motor drives the driving part 18 to rotate to drive the elastic planet carrier 101 to rotate, meanwhile, the planet gears 106 are driven to circumferentially roll and mesh along two annular gears of the double annular gear slewing bearing, the planet gears 106 circumferentially roll and mesh and simultaneously drive the two annular gears of the double annular gear slewing bearing with the tooth number difference to rotate at a relatively low speed, and when the slewing bearing inner ring part 2 is used as an output end, the reduction ratio is 40.

The double ring gear slewing bearing structure of embodiments 2 to 5 described above is also applicable to embodiment 6.

The planetary transmission device of the invention can also be used as an accelerator, and the structure of the planetary transmission device is the same as that of a speed reducer, and is not repeated here.

The foregoing embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solution described in the foregoing embodiments may be modified or all technical features may be equivalently replaced, and that the modification or replacement does not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention, and that non-essential improvements, modifications or replacements made by those skilled in the art according to the content of the present specification are all within the scope of the claimed invention.

Claims

1. A planetary transmission device with a deflection planet carrier system comprises a deflection planet carrier system (10), a double-annular-gear slewing bearing, at least three planetary gears (106) and a sun gear (3); the inner wall of the outer ring of the double-inner gear ring slewing bearing is in a step shape of at least two layers of rings, the ring step with smaller inner diameter is positioned at one axial end of the inner ring of the double-inner gear ring slewing bearing, at least part of the inner wall of the inner ring of the double-inner gear ring slewing bearing and the inner wall of the ring step with smaller inner diameter of the outer ring are respectively provided with inner gear rings, and the two inner gear rings are concentric with the rotating shaft of the double-inner gear ring slewing bearing; the module of the two inner gear rings, the module of the planetary gear and the module of the sun gear are the same, the tooth number difference of the two inner gear rings is equal to the number of the planetary gear, the two inner gear rings are meshed with the planetary gear by respectively adjusting the deflection parameters, the inner gear rings of the inner ring gear and the outer ring gear of the double-inner gear ring slewing bearing are simultaneously meshed with the planetary gear, and the sun gear is meshed with the planetary gear; the inner ring and the outer ring of the slewing bearing are respectively provided with threaded holes or through holes;

The double-annular-gear slewing bearing comprises a slewing bearing outer ring assembly, a slewing bearing inner ring part (2) and a plurality of rollers (4), wherein the slewing bearing outer ring assembly consists of a first part (1) and a second part (5), the second part (5) is annular, the bottom wall of the second part (5) is in contact with the top wall of the first part (1), and the inner wall of the slewing bearing outer ring assembly formed by splicing is in a two-layer annular step shape; the inner wall of the slewing bearing outer ring assembly and the outer wall of the slewing bearing inner ring part (2) are close to but do not contact; an inner raceway is machined on the outer wall of the slewing bearing inner ring part (2), an outer raceway is machined on the slewing bearing outer ring assembly, the outer raceways are respectively machined on the inner walls of the first part (1) and the second part (5), and the inner raceway and the outer raceway are spliced to form a bearing raceway for placing rollers.

2. A planetary transmission device with a deflection planet carrier system comprises a deflection planet carrier system (10), a double-annular-gear slewing bearing, at least three planet gears (106) and a planet carrier driving part (18); the planetary gears are assembled on an elastic planet carrier (101) of a deflection planet carrier system (10) through needle bearings (105) and shaft pins (104), the inner wall of an outer ring of the slewing bearing is in a step shape of at least two layers of rings, the ring step with smaller inner diameter is positioned at one axial end of an inner ring of the double-ring gear slewing bearing, at least part of the inner wall of the inner ring of the double-ring gear slewing bearing and the inner wall of the ring step with smaller inner diameter of the outer ring are respectively provided with inner gear rings, and the two inner gear rings are concentric with a slewing bearing rotating shaft; the module of the two annular gears is the same as that of the planetary gears, the tooth number difference of the two annular gears is equal to that of the planetary gears, the two annular gears are respectively adjusted to achieve the same center distance with the planetary gears by adjusting the deflection parameters, and the annular gears of the inner ring gear and the outer ring gear of the double annular gear slewing bearing can be simultaneously meshed with the planetary gears; the inner ring and the outer ring of the slewing bearing are respectively provided with threaded holes or through holes; the planet carrier driving part and the elastic planet carrier are coaxially arranged, radial slotted holes corresponding to the positions of the shaft pins (104) are formed in the planet carrier driving part, the shaft pins (104) extend out of one end of the elastic planet carrier, slotted holes of the planet carrier driving part (18) are respectively sleeved on the extending parts of the corresponding shaft pins (104), and threaded holes or key grooves for connecting a motor are formed in the planet carrier driving part;

3. Planetary transmission according to claim 1 or 2, characterized in that a first end cap (7) and a second end cap (8) are provided at both ends of the planetary transmission, respectively; the first end cover (7) is arranged on the inner ring of the slewing bearing, and the second end cover (8) is arranged on the outer ring of the slewing bearing.

4. A planetary transmission according to claim 3, characterized in that the first end cover (7) and the second end cover (8) are provided with oil drain holes, and the oil drain holes are provided with magnetic oil drain hole screws.

5. A planetary transmission according to claim 3, characterized in that a first washer (14) is provided between the elastic planet carrier (101) and the first end cap (7), and a second washer (15) is provided between the elastic planet carrier (101) and the second end cap (8).

6. A planetary transmission according to claim 3, characterized in that the first end cap (7) is provided with a hole and is fixedly connected with one end of the sun wheel (3) through a first bearing (11), and the second end cap (8) is provided with a hole and is fixedly connected with the other end of the sun wheel (3) through a second bearing (12).

7. A planetary transmission according to claim 3, characterized in that the first end cap (7) is provided with a hole and is fixedly connected with one end of the planet carrier driving part (18) through a first bearing (11), and the second end cap (8) is provided with a hole and is fixedly connected with the other end of the planet carrier driving part (18) through a second bearing (12).

8. The planetary transmission device according to claim 1 or 2, wherein a dust-proof slip ring (6) is further arranged at a gap between the slewing bearing inner ring part (2) and the two inner gear rings of the slewing bearing outer ring assembly, and the dust-proof slip ring (6) is used for preventing scrap iron generated by gear abrasion from entering the double inner gear ring slewing bearing.

9. Planetary transmission according to claim 1 or 2, characterized in that the staggered notches in the elastic planet carrier (101) of the shifting planet carrier system (10) take the form of a central notch and two side double openings, between each two planet gears a staggered notch is provided.

10. The planetary transmission device according to claim 1 or 2, wherein the axial adjusting springs (103) selected for the shifting planetary carrier system (10) are three spring plates independently mounted on the elastic planetary carrier (101) of the shifting planetary carrier system (10), and the axial adjusting springs (103) are arranged between every two staggered gaps.