CN116123254A - Speed reducer with worm and gear mechanism - Google Patents
Speed reducer with worm and gear mechanism Download PDFInfo
- Publication number
- CN116123254A CN116123254A CN202211650406.5A CN202211650406A CN116123254A CN 116123254 A CN116123254 A CN 116123254A CN 202211650406 A CN202211650406 A CN 202211650406A CN 116123254 A CN116123254 A CN 116123254A
- Authority
- CN
- China
- Prior art keywords
- gear
- harmonic
- shaft section
- rigid gear
- worm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 title claims abstract description 28
- 238000007789 sealing Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 13
- 239000003208 petroleum Substances 0.000 description 8
- 230000005489 elastic deformation Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000029052 metamorphosis Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/30—Toothed gearings for conveying rotary motion with gears having orbital motion in which an orbital gear has an axis crossing the main axes of the gearing and has helical teeth or is a worm
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02039—Gearboxes for particular applications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02091—Measures for reducing weight of gearbox
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Gear Transmission (AREA)
Abstract
The invention discloses a speed reducer with a worm and gear mechanism. The decelerator includes an outer housing; an output flange; a ring gear that is elastically deformable and has first external teeth and second internal teeth, the ring gear being provided in the outer case and the first external teeth and the first internal teeth meshing with each other; a first harmonic rigid gear; a second harmonic rigid gear eccentrically disposed with respect to the first harmonic rigid gear; the eccentric shaft is used for driving the first harmonic rigid gear and the second harmonic rigid gear to rotate, a hollow cavity is formed in the eccentric shaft, and the hollow cavity axially penetrates through the eccentric shaft and is provided with two open ends; a worm and gear mechanism with a self-locking function; wherein, the first harmonic rigid gear and the second harmonic rigid gear are provided with second external teeth which can be meshed with the second internal teeth mutually; the output flange is rotatably arranged in the outer shell, and the output flange is connected with the first harmonic rigid gear and the second harmonic rigid gear. The speed reducer can bear larger load and has better safety.
Description
Technical Field
The invention relates to a speed reducer with a worm and gear mechanism, in particular to a speed reducer capable of bearing a large load.
Background
The speed reducer used in the petroleum exploration equipment and the shield equipment needs to bear larger load and can output larger torque. There are two types of precision reducers for the joints of mainstream robots in the current market: one is an RV retarder and the other is a harmonic retarder. The second cycloidal pin gear small tooth difference transmission in RV reducer is a K-H-V gear transmission mechanism formed from 1 tooth difference internal gear pair formed from short-spoke epicyclic gear and pin gear, eccentric element (planetary carrier) and output mechanism. The harmonic gear transmission mechanism is an metamorphosis planetary gear transmission mechanism which consists of a wave generator, a flexible gear and a rigid gear, wherein the flexible gear and the rigid gear have small tooth difference, and the metamorphosis planetary gear is realized in the mechanism through the elastic deformation of the flexible gear. However, the RV reducer has the problems that the transmission error is caused by abrasion in the transmission process, the control of the output precision is not facilitated, and the processing difficulty is high; and the transmission error and the accuracy of the harmonic gear transmission mechanism need to be further improved. In addition, the two transmission mechanisms have the problems of complex speed ratio adjustment or smaller adjustable speed ratio range, and potential safety hazards exist if the load is large when the transmission mechanisms are applied to petroleum exploration equipment and shield equipment.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a speed reducer that can withstand a large load and is safe.
The first aspect of the invention provides a speed reducer with a worm and gear mechanism, which comprises an outer shell and an output flange, wherein first internal teeth are arranged on the outer shell;
the decelerator further includes:
a ring gear elastically deformable, the ring gear having first external teeth and second internal teeth, the ring gear being provided in the outer case and the first external teeth and the first internal teeth meshing with each other;
a first harmonic rigid gear;
a second harmonic rigid gear eccentrically disposed with respect to the first harmonic rigid gear;
the eccentric shaft is used for driving the first harmonic rigid gear and the second harmonic rigid gear to rotate, a hollow cavity is formed in the eccentric shaft, and the hollow cavity axially penetrates through the eccentric shaft and is provided with two open ends;
the worm and gear mechanism has a self-locking function;
the worm and gear mechanism comprises a worm wheel for driving the eccentric shaft to rotate and a worm for driving the worm wheel to rotate, and the worm is in threaded fit with the worm wheel;
the first harmonic rigid gear and the second harmonic rigid gear are provided with second external teeth capable of being meshed with the second internal teeth, the first harmonic rigid gear and the gear ring are provided with first meshing positions, the second harmonic rigid gear and the gear ring are provided with second meshing positions, and the first meshing positions and the second meshing positions are spaced by a distance in the circumferential direction of the gear ring;
the eccentric shaft is provided with a first shaft section, a second shaft section and an input shaft section, the first shaft section, the second shaft section and the input shaft section are eccentrically arranged, the first harmonic rigid gear is arranged on the first shaft section, the second harmonic rigid gear is arranged on the second shaft section, and the worm wheel is arranged on the input shaft section;
the output flange is rotatably arranged in the outer shell, and the output flange is connected with the first harmonic rigid gear and the second harmonic rigid gear.
Preferably, the speed reducer further comprises a worm shell fixedly arranged on the fixed shell, and the worm is rotatably arranged in the worm shell.
Preferably, a worm center line of the worm and a center line of the input shaft section are perpendicular to each other; an interface which is mutually spliced with an output shaft of the motor is arranged at one end part of the worm.
More preferably, the eccentric shaft is inserted into the worm shell with a bearing and/or a sealing ring arranged between the eccentric shaft and the worm shell.
Preferably, the axis of the input shaft section is denoted as a first axis, the first shaft section and the second shaft section are respectively eccentrically arranged relative to the first axis, and the first shaft section and the second shaft section are eccentrically arranged relative to each other. The axial lead of the first axial segment is recorded as a second axial lead, the axial lead of the second axial segment is a third axial lead, and the first axial lead, the second axial lead and the third axial lead are mutually parallel. Further, the second axis and the third axis are respectively located at two opposite sides of the first axis. Further, the first axis, the second axis and the third axis are located in the same plane. Specifically, the second axial lead and the third axial lead are respectively positioned at two opposite sides of the first axial lead, the second axial lead and the first axial lead have a distance d1, and the third axial lead and the first axial lead have a distance d2. Advantageously, the spacing d1 is equal to the spacing d2.
In a preferred embodiment, the second axial line (i.e. the rotational axis of the first harmonic rigid gear) and the third axial line (i.e. the rotational axis of the first harmonic rigid gear) are respectively located on the upper and lower sides of the first axial line, and the distance d1 between the second axial line and the first axial line is equal to the distance d2 between the third axial line and the first axial line. Correspondingly, the first harmonic rigid gear is meshed with the upper side of the gear ring at the upper side, and the second harmonic rigid gear is meshed with the lower side of the gear ring at the lower side, namely, the first meshing position and the second meshing position are respectively positioned on the upper side and the lower side of the gear ring. The gear ring is initially in a circular ring shape as a whole; in operation, the upper and lower side portions of the ring gear are pressed outward, respectively, while slightly deformed outward in the up-down direction, and the left and right side portions are deformed inward. More preferably, the first engagement portion and the second engagement portion are located on opposite sides of the ring gear, respectively. The gear ring is a thin-wall elastic gear ring and can generate tiny elastic deformation. Preferably, the worm gear is tightly sleeved on the input shaft section.
More preferably, the worm wheel is heat treated and then sleeved on the input shaft section.
Preferably, the speed reducer further comprises at least two needle bearings, and the two needle bearings are arranged on the inner wall of the hollow cavity at intervals.
Preferably, a bearing is arranged between the first harmonic rigid gear and the first shaft section, and a bearing is arranged between the second harmonic rigid gear and the second shaft section.
Preferably, the eccentric shaft is further provided with a third shaft section, the output flange is sleeved on the third shaft section, and a bearing is arranged between the output flange and the third shaft section; and a bearing is arranged between the output flange and the outer shell.
Preferably, the speed reducer further comprises a motor end flange, the motor end flange and the output flange are oppositely arranged and connected with each other, and the first harmonic rigid gear and the second harmonic rigid gear are arranged between the motor end flange and the output flange.
More preferably, the motor end flange is rotatably arranged in the outer shell, a bearing is arranged between the motor end flange and the outer shell, the eccentric shaft is further provided with a fourth shaft section, and the motor end flange is sleeved on the fourth shaft section, and the bearing is arranged between the motor end flange and the fourth shaft section.
Further, the first harmonic rigid gear and the second harmonic rigid gear are respectively provided with a through hole, the output flange and the motor end flange are connected through bolts, the bolts penetrate through the through holes of the first harmonic rigid gear and the second harmonic rigid gear, and the aperture of the through holes is larger than the outer diameter of the bolts.
Preferably, a sealing ring is further arranged between the output flange and the outer shell.
The speed reducer is used in petroleum exploration equipment or shield equipment, particularly in a lifting mechanism of the petroleum exploration equipment or shield equipment, such as a winch, and is used for lifting heavy objects.
Compared with the prior art, the invention has the following advantages:
the speed reducer can output larger output distortion, has the characteristics of light weight and compact structure, particularly can be self-locked during shutdown, and has better safety; the cables and the like are convenient to wire, so that the risk of scraping or wearing the cables is effectively reduced; the novel high-torque-resistance worm gear also has high torsional rigidity, and various speed ratios under the same outer envelope size can be realized by adjusting the threads of the worm wheel and the worm; the speed reducer has the characteristics of high precision and high torsional rigidity, can be suitable for working conditions of various speed ratios (the speed ratio is adjustable in the range of 60-320), has higher torque transmission efficiency and has larger design freedom.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a front view of a decelerator according to an embodiment of the present invention.
Fig. 2 is a left side view of the decelerator shown in fig. 1.
Fig. 3 is a rotational cross-sectional view in the direction A-A of fig. 2.
Fig. 4 is a partial enlarged view at B in fig. 3.
Fig. 5 is a partial enlarged view at C in fig. 3.
Fig. 6 is a sectional view of the reduction gear unit shown in fig. 1 perpendicular to the eccentric shaft.
Fig. 7 is a perspective view of an output flange according to an embodiment of the present invention.
Fig. 8 is a left side view of the output flange of fig. 7.
Fig. 9 is a rotational cross-sectional view in the direction D-D of fig. 8.
Fig. 10 is a perspective view of a motor end flange according to an embodiment of the present invention.
Fig. 11 is a left side view of the motor end flange of fig. 10.
Fig. 12 is a rotational cross-sectional view in the direction E-E of fig. 11.
Fig. 13 is a perspective view of a first harmonic rigid gear in accordance with an embodiment of the present invention.
Fig. 14 is a rotational cross-sectional view in the direction F-F of fig. 13.
Reference numerals:
1. an outer housing; 11. a first internal tooth;
2. a gear ring; 21. a first external tooth; 22. a second internal tooth;
3a, a first harmonic rigid gear; 3b, a second harmonic rigid gear; 31. a second external tooth; 32. a through hole; 33. a first screw hole;
4. an eccentric shaft; 40. a hollow cavity; 41. a first shaft section; 42. a second shaft section; 43. a third shaft section; 44. a fourth shaft section; 45. an input shaft section; 46. needle roller bearings;
5. an output flange; 50. an output port; 51. an end cap; 52. a first bolt hole; 53. a stud;
6. a worm gear mechanism; 61. a worm wheel; 62. a worm; 621. an interface; 63. a worm mounting case;
7. a motor end flange; 71. a second bolt hole; 72. a second screw hole;
8. a bearing;
9. a seal ring;
101. a bolt; 102. and (5) a screw.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art. The description of these embodiments is provided to assist understanding of the present invention, but is not intended to limit the present invention.
The embodiment provides a speed reducer which can bear a large load and is good in safety, and the speed reducer is suitable for being applied to petroleum exploration equipment or shield equipment. Referring to fig. 1 to 14, the reduction gear includes an outer case 1, a ring gear 2, a first harmonic rigid gear 3a, a second harmonic rigid gear 3b, an eccentric shaft 4, an output flange 5, and a worm gear mechanism 6. The outer housing 1 is hollow and has a ring of first internal teeth 11. The ring gear 2 is made of high-toughness alloy steel, which is capable of generating a slight amount of elastic deformation; the ring gear 2 has first external teeth 21 and second internal teeth 22, the ring gear 2 is provided in the outer case 1 and the first external teeth 21 and the first internal teeth 11 mesh. The first harmonic-wave rigid gear 3a and the second harmonic-wave rigid gear 3b are arranged in parallel, and the second harmonic-wave rigid gear 3b is eccentrically arranged with respect to the first harmonic-wave rigid gear 3 a. The eccentric shaft 4 is used for driving the first harmonic rigid gear 3a and the second harmonic rigid gear 3b to rotate. The worm and gear mechanism 6 is used for inputting power to drive the eccentric shaft 4 to rotate. As shown in fig. 1 to 3 and 6, the worm gear mechanism 6 includes a worm wheel 61 and a worm 62 that are engaged with each other, the worm wheel 61 being provided on the eccentric shaft 4 to input power to the eccentric shaft 4, the worm 62 and the worm wheel 61 being screwed and engaged with each other. The outer housing 1 and the worm mounting case 63 are fixedly coupled (e.g., by screws) so as to house the worm gear mechanism 6 therein.
As shown in fig. 1 to 4, the outer case 1 and the ring gear 2 are hollow and have a cylindrical shape with both ends open, and are coaxial, and the outer case 1 is sleeved on the ring gear 2 and is meshed with each other through the first internal teeth 11 and the first external teeth 21. Wherein the connection can be made fixedly by means of the outer housing 1 and other components of the oil exploration device or the shield apparatus, for example by means of fasteners, in order to achieve a secure connection of the reducer and the other components of the oil exploration device or the shield apparatus. The ring gear 2 is a thin-walled elastic ring gear, the width of which in the radial direction is less than 10% of the outer diameter thereof, and is capable of generating slight elastic deformation.
As shown in fig. 2 and fig. 7 to 9, the output flange 5 is rotatably provided in the outer case 1, and the output flange 5 is connected to the first harmonic-wave rigid gear 3a and the second harmonic-wave rigid gear 3 b. Specifically, the output flange 5 is rotatably provided on the eccentric shaft 4. Further, the output flange 5 is located in the outer housing 1, and as the first harmonic rigid gear 3a and the second harmonic rigid gear 3b rotate, the output flange 5 rotates with respect to the outer housing 1.
Further, referring to fig. 10 to 12, the decelerator further includes a motor end flange 7. The motor end flange 7 and the output flange 5 are oppositely arranged and connected with each other, and the first harmonic rigid gear 3a and the second harmonic rigid gear 3b are arranged between the motor end flange 7 and the output flange 5. The motor end flange 7 is rotatably provided on the eccentric shaft 4 and is located in the outer housing 1.
Referring to fig. 4 to 6, the first harmonic-wave rigid gear 3a and the second harmonic-wave rigid gear 3b are two gears having the same structure and specification, and are eccentrically provided on the eccentric shaft 4, and each of the first harmonic-wave rigid gear 3a and the second harmonic-wave rigid gear 3b has second external teeth 31 capable of meshing with the second internal teeth 22 of the ring gear 2. Fig. 13 and 14 schematically show the structure of the first harmonic-wave rigid gear 3a, and the structure of the second harmonic-wave rigid gear 3b is the same as that of the first harmonic-wave rigid gear 3 a. Specifically, in the present embodiment, the first harmonic-wave rigid gear 3a and the second harmonic-wave rigid gear 3b are arranged in parallel in the ring gear 2, with the first harmonic-wave rigid gear 3a on the right side and the second harmonic-wave rigid gear 3b on the left side. The first harmonic rigid gear 3a and the gear ring 2 have a first meshing position, the second harmonic rigid gear 3b and the gear ring 2 have a second meshing position, the first meshing position and the second meshing position are spaced at a distance in the circumferential direction of the gear ring 2, further, the first meshing position and the second meshing position are respectively positioned on two opposite sides of the gear ring 2, for example, the first meshing position is positioned on the upper side of the gear ring 2, and the second meshing position is positioned on the lower side of the gear ring 2.
Referring to fig. 4, the eccentric shaft 4 is provided with a hollow cavity 40, and the hollow cavity 40 penetrates the eccentric shaft 4 in the axial direction and has both ends opened. The hollow cavity 40 is used for wiring (such as a power transmission cable or a signal transmission cable of a motor as described below) or providing an installation space for other components (such as a motor 62 as described below), so that the whole speed reducer is compact; meanwhile, the whole speed reducer is light. As shown in fig. 4 and 6, the eccentric shaft 4 has a first shaft section 41, a second shaft section 42, a third shaft section 43, a fourth shaft section 44, and an input shaft section 45. Specifically, in the present embodiment, the input shaft section 45, the fourth shaft section 44, the first shaft section 41, the second shaft section 42, and the fourth shaft section 44 are disposed in this order from right to left. The third shaft section 43, the fourth shaft section 44 and the input shaft section 45 are coaxial, i.e. have a common axis, which is denoted as the first axis. The first shaft section 41 and the second shaft section 42 are respectively eccentrically disposed with respect to the first shaft axis, and the first shaft section 41 and the second shaft section 42 are eccentrically disposed with respect to each other. In this embodiment, the axis of the first shaft section 41 is denoted as a second axis, the axis of the second shaft section 42 is denoted as a third axis, the first axis, the second axis and the third axis are parallel to each other, and the second axis and the third axis are respectively located at two opposite sides of the first axis. Further, the first axial lead, the second axial lead and the third axial lead are positioned in the same plane, the second axial lead and the third axial lead are respectively positioned at two opposite sides of the first axial lead, the second axial lead and the first axial lead have a distance d1, and the third axial lead and the first axial lead have a distance d2. Advantageously, the spacing d1 is equal to the spacing d2.
As shown in fig. 5 and 6, the first harmonic-wave rigid gear 3a is disposed on the first shaft section 41, the second harmonic-wave rigid gear 3b is disposed on the second shaft section 42, the output flange 5 is disposed on the third shaft section 43, the motor end flange 7 is disposed on the fourth shaft section 44, and the worm wheel is disposed on the input shaft section 45. Specifically, a bearing 8 is provided between the first harmonic rigid gear 3a and the first shaft section 41 of the eccentric shaft 4, a bearing 8 is provided between the second harmonic rigid gear 3b and the second shaft section 42, a bearing 8 is provided between the output flange 5 and the third shaft section 43, and a bearing 8 is provided between the motor end flange 7 and the fourth shaft section 44. The worm wheel 6 is tightly sleeved on the input shaft section 45, and the specific assembly process is as follows: the worm wheel 6 is heated to expand and then sleeved on the input shaft section 45, and the cooled worm wheel 6 is tightly sleeved on the input shaft section 45 of the eccentric shaft 4. The temperature of the heating treatment is 80 ℃, the time is 3-5 min, and the mesoporous aperture of the worm 6 is 30-100 mm.
Referring to fig. 4, in the present embodiment, the output flange 5 and the motor end flange 7 are both substantially located in the outer casing 1, so that the structure of the speed reducer is further compact. Specifically, the output flange 5 is connected to the inner wall of the left side portion of the outer housing 1 through a bearing 8, and the motor end flange 7 is connected to the inner wall of the right side portion of the outer housing 1 through a bearing 8. A sealing ring 9 is also arranged between the output flange 5 and the outer shell 1. The reducer further comprises an end cap 51, the end cap 51 being arranged in the gap between the output flange 5 and the left end of the eccentric shaft 4.
The first harmonic rigid gear 3a and the second harmonic rigid gear 3b are specifically connected to the output flange 5 by a plurality of bolts 101, thereby outputting torque. Referring to fig. 7 to 9, the output flange 5 is provided with a plurality of first bolt holes 52; referring to fig. 10 to 12, a plurality of second bolt holes 71 are formed in the motor end flange 7; referring to fig. 13 and 14, the first harmonic-wave rigid gear 3a and the second harmonic-wave rigid gear 3b have through holes 32, respectively. The bolts 101 pass through the first bolt holes 52 of the output flange 5, the through holes 32 of the second harmonic rigid gear 3b and the first harmonic rigid gear 3a, and the second bolt holes 71 of the motor end flange 7 in order, thereby connecting the four. Further, the aperture of the through hole 32 is larger than the outer diameter of the bolt 101, thereby allowing the first harmonic rigid gear 3a and the second harmonic rigid gear 3b to rotate under the drive of the eccentric shaft 4. The first bolt hole 52 of the output flange 5, the aperture of the second bolt hole 71 of the motor end flange 7, and the outer diameter of the bolt 101 are fitted to each other, so that they can be closely fitted.
The output flange 5 is fixedly connected with the motor end flange 7, and the first harmonic rigid gear 3a and the second harmonic rigid gear 3b are limited to prevent the first harmonic rigid gear and the second harmonic rigid gear from generating movement along the axial direction of the eccentric shaft 4. Specifically, the output flange 5 and the motor end flange 7 are connected by screws 102. Referring to fig. 7 to 9, the output flange 5 has a plurality of studs 53 extending rightward; referring to fig. 10 to 12, the motor end flange 7 is provided with a plurality of second screw holes 72; referring to fig. 13 and 14, first screw holes 33 are formed in each of the first harmonic-wave rigid gear 3a and the second harmonic-wave rigid gear 3 b. The screws 102 are inserted into the studs 53 of the output flange 5 after passing through the second screw holes 72 of the motor end flange 7, the first harmonic rigid gear 3a and the first screw holes 33 of the second harmonic rigid gear 3b in order to connect the four. The first screw hole 33 of the first harmonic rigid gear 3a and the second harmonic rigid gear 3b has a larger diameter than the screw 102, so as to allow the first harmonic rigid gear 3a and the second harmonic rigid gear 3b to rotate under the drive of the eccentric shaft 4.
In this embodiment, the second axis (i.e., the rotational axis of the first harmonic rigid gear 3 a) and the third axis (i.e., the rotational axis of the first harmonic rigid gear 3 a) are located on the upper and lower sides of the first axis, respectively, and the distance d1 between the second axis and the first axis is equal to the distance d2 between the third axis and the first axis. Accordingly, the first harmonic-wave rigid gear 3a is meshed with the upper side of the ring gear 2 at the upper side, and the second harmonic-wave rigid gear 3b is meshed with the lower side of the ring gear 2 at the lower side, that is, the first meshing point and the second meshing point are located on the upper and lower sides of the ring gear 2, respectively. The gear ring 2 is initially in a circular ring shape as a whole; in operation, the upper and lower side portions of the ring gear 2 are pressed outward, and slightly deformed outward in the up-down direction, and the left and right side portions are deformed inward, so that the number of teeth engaged is relatively large, and a large engagement acceptance angle is provided.
As shown in fig. 1 to 3 and 6, the worm wheel 61 and the input shaft section 45 of the eccentric shaft 4 are coaxial, and the rotation axis of the worm wheel 61 and the rotation axis of the worm 62 are perpendicular to each other. The worm 62 is rotatably inserted in the worm mounting case 63, specifically, with the bearing 8 interposed therebetween. An interface 621 is provided at one end of the worm 62 for directly connecting with the output shaft of the motor or connecting with the output shaft of the motor via a flexible shaft. The interface 621 is embodied as a non-circular slot. The eccentric shaft 4 passes through the worm mounting housing 63 with the bearing 8 and the seal ring 9 disposed therebetween. The speed reducer further includes at least two needle bearings 46, the two needle bearings 46 being disposed on the inner wall of the hollow cavity 40 at left and right intervals. When the hollow cavity 40 of the eccentric shaft 4 is provided with other components or cabling, these components or cables can be fixed to the needle bearing 46, so that interference with the rotation of the eccentric shaft 4 is avoided.
In the speed reducer of the embodiment, the torque output by the motor 62 is transmitted to the eccentric shaft 4 through the worm and gear mechanism 6, the eccentric shaft 4 rotates, meanwhile, the first harmonic rigid gear 3a and the second harmonic rigid gear 3b are respectively meshed with the gear ring 2, and due to the fact that the first harmonic rigid gear 3a and the second harmonic rigid gear 3b are driven by the eccentric shaft 4 and the gear ring 2 to rotate in a decelerating mode due to the fact that the small tooth difference is transmitted, the torque is transmitted to the output flange 5 through the bolts 101, and the output flange 5 is driven to rotate in a decelerating mode.
Referring to fig. 2, 4 and 8 to 9, an output port 50 is provided on the left end face of the output flange 5, and the output port 50 is specifically a blind hole extending laterally. After being assembled into the petroleum exploration equipment or the shield equipment, the speed reducer outputs torque to a left driving object; in the assembly, after the outer case 1 and the support member (for example, case) to be driven are assembled by the fastener, the right end portion of the driven object is automatically pushed into the output port 50 of the output flange 5, and the power input by the motor 62 is reduced in speed and transmitted to the driven object.
The speed reducer can output larger output distortion, particularly can be self-locked when in shutdown, has better safety, is suitable for being applied to a lifting mechanism of petroleum exploration equipment or shield equipment, and effectively prevents the speed reducer from running under the action of load dead weight after the shutdown; the device has the characteristics of light weight and compact structure, is convenient to assemble, wherein the outer shell 1 can be fixed, the transmission parts are rotatably arranged in the outer shell 1, and particularly, the steps of assembling the device into petroleum exploration equipment or shield equipment are convenient and simple, the wiring is convenient, and the risk of scraping or wearing the cable is effectively reduced. Meanwhile, in the gear meshing process, the flexible deformation of the gear ring 2 can be controlled by the meshing of the external teeth of the gear ring 2 and the internal teeth of the outer shell 1, and in the controlled deformation state, the included angle between the internal teeth of the elastic gear ring 2 and the eccentric gear can reach 80 degrees, so that the aim of high torsional rigidity is fulfilled; multiple speed ratios under the same outer envelope size can be realized by adjusting the tooth number pairs of the worm and gear mechanism 6, and the speed ratio is adjustable within the range of 60-320; the speed reducer has the characteristics of high precision and high torsional rigidity, can be suitable for working conditions of various speed ratios, and has a large degree of freedom in design.
As used in this specification and in the claims, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus. The term "and/or" as used herein includes any combination of one or more of the associated listed items.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly or indirectly fixed or connected to the other feature. Further, the descriptions of the upper, lower, left, right, etc. used in the present invention are merely with respect to the mutual positional relationship of the constituent elements of the present invention in the drawings, and reference is made to fig. 5.
It is further understood that the term "plurality" in this disclosure means two or more, and other adjectives are similar thereto. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone.
It is further understood that the terms "first," "second," and the like are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish one type of information from another and do not denote a particular order or importance. Indeed, the expressions "first", "second", etc. may be used entirely interchangeably. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.
The above-described embodiments are provided for illustrating the technical concept and features of the present invention, and are intended to be preferred embodiments for those skilled in the art to understand the present invention and implement the same according to the present invention, not to limit the scope of the present invention. All equivalent changes or modifications made according to the principles of the present invention should be construed to be included within the scope of the present invention.
Claims (10)
1. The speed reducer with the worm and gear mechanism comprises an outer shell and an output flange, and is characterized in that first internal teeth are arranged on the outer shell; the decelerator further includes:
a ring gear elastically deformable, the ring gear having first external teeth and second internal teeth, the ring gear being provided in the outer case and the first external teeth and the first internal teeth meshing with each other;
a first harmonic rigid gear;
a second harmonic rigid gear eccentrically disposed with respect to the first harmonic rigid gear;
the eccentric shaft is used for driving the first harmonic rigid gear and the second harmonic rigid gear to rotate, a hollow cavity is formed in the eccentric shaft, and the hollow cavity axially penetrates through the eccentric shaft and is provided with two open ends;
the worm and gear mechanism has a self-locking function;
the worm and gear mechanism comprises a worm wheel for driving the eccentric shaft to rotate and a worm for driving the worm wheel to rotate, and the worm is in threaded fit with the worm wheel;
the first harmonic rigid gear and the second harmonic rigid gear are provided with second external teeth capable of being meshed with the second internal teeth, the first harmonic rigid gear and the gear ring are provided with first meshing positions, the second harmonic rigid gear and the gear ring are provided with second meshing positions, and the first meshing positions and the second meshing positions are spaced by a distance in the circumferential direction of the gear ring;
the eccentric shaft is provided with a first shaft section, a second shaft section and an input shaft section, the first shaft section, the second shaft section and the input shaft section are eccentrically arranged, the first harmonic rigid gear is arranged on the first shaft section, the second harmonic rigid gear is arranged on the second shaft section, and the worm wheel is arranged on the input shaft section;
the output flange is rotatably arranged in the outer shell, and the output flange is connected with the first harmonic rigid gear and the second harmonic rigid gear.
2. The speed reducer of claim 1, further comprising a worm housing fixedly disposed on the fixed housing, the worm rotatably disposed within the worm housing.
3. A reducer according to claim 1 or 2, wherein the worm centre line of the worm and the centre line of the input shaft section are perpendicular to each other; an interface which is mutually spliced with an output shaft of the motor is arranged at one end part of the worm.
4. A reducer according to claim 2, wherein the eccentric shaft is inserted into the worm housing with a bearing and/or sealing ring interposed therebetween.
5. The speed reducer of claim 1, wherein the worm gear is tightly sleeved on the input shaft section, and the worm gear is sleeved on the input shaft section after being heated.
6. The speed reducer of claim 1, further comprising at least two needle bearings, the two needle bearings being spaced apart on an inner wall of the hollow cavity.
7. The speed reducer of claim 1, wherein a bearing is disposed between the first harmonic rigid gear and the first shaft section, and a bearing is disposed between the second harmonic rigid gear and the second shaft section; the eccentric shaft is further provided with a third shaft section, the output flange is sleeved on the third shaft section, and a bearing is arranged between the output flange and the third shaft section; a bearing is arranged between the output flange and the outer shell; the speed reducer further comprises a motor end flange, the motor end flange and the output flange are oppositely arranged and are connected with each other, the first harmonic rigid gear and the second harmonic rigid gear are arranged between the motor end flange and the output flange, the motor end flange is rotatably arranged in the outer shell, a bearing is arranged between the motor end flange and the output flange, the eccentric shaft is further provided with a fourth shaft section, and the motor end flange is sleeved on the fourth shaft section, and the bearing is arranged between the motor end flange and the output flange.
8. The speed reducer of claim 7, wherein the first harmonic rigid gear and the second harmonic rigid gear each have a through hole, the output flange and the motor end flange are connected by a bolt, and the bolt passes through the through holes of the first harmonic rigid gear and the second harmonic rigid gear, and the through holes have a larger diameter than the outer diameter of the bolt.
9. The speed reducer of claim 1, wherein the input shaft section has a first axis, the first shaft section has a second axis, the third shaft section has a third axis, the first axis, the second axis and the third axis are parallel to each other, the second axis and the third axis are located on upper and lower sides of the first axis, respectively, and the first engagement portion and the second engagement portion are located on upper and lower sides of the ring gear, respectively.
10. The speed reducer of claim 1, wherein a seal ring is further disposed between the output flange and the outer housing.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211650406.5A CN116123254A (en) | 2022-12-21 | 2022-12-21 | Speed reducer with worm and gear mechanism |
| CN202310815873.7A CN116658592A (en) | 2022-12-21 | 2023-07-05 | Speed reducer with worm and gear mechanism |
| PCT/CN2023/118009 WO2024131154A1 (en) | 2022-12-21 | 2023-09-11 | Reducer having worm-gear mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211650406.5A CN116123254A (en) | 2022-12-21 | 2022-12-21 | Speed reducer with worm and gear mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116123254A true CN116123254A (en) | 2023-05-16 |
Family
ID=86305619
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211650406.5A Pending CN116123254A (en) | 2022-12-21 | 2022-12-21 | Speed reducer with worm and gear mechanism |
| CN202310815873.7A Pending CN116658592A (en) | 2022-12-21 | 2023-07-05 | Speed reducer with worm and gear mechanism |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310815873.7A Pending CN116658592A (en) | 2022-12-21 | 2023-07-05 | Speed reducer with worm and gear mechanism |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN116123254A (en) |
| WO (1) | WO2024131154A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116592109A (en) * | 2023-07-04 | 2023-08-15 | 柔昊精密科技(苏州)有限公司 | Staggered shaft bevel gear reducer with small tooth difference |
| WO2024131154A1 (en) * | 2022-12-21 | 2024-06-27 | 柔昊精密科技(苏州)有限公司 | Reducer having worm-gear mechanism |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103206491A (en) * | 2013-04-18 | 2013-07-17 | 新疆金风科技股份有限公司 | Speed reducer |
| JP2015137733A (en) * | 2014-01-23 | 2015-07-30 | Ntn株式会社 | In-wheel motor drive unit |
| CN106763526B (en) * | 2016-12-07 | 2019-11-19 | 长兴柔昊精密科技有限公司 | Robot precision joint speed reducer |
| KR102336717B1 (en) * | 2020-06-29 | 2021-12-08 | 주식회사 디알드라이브 | Reducer having dual eccentric rotating shaft |
| CN115199727A (en) * | 2022-09-16 | 2022-10-18 | 柔昊精密科技(苏州)有限公司 | Small tooth difference planetary reduction mechanism and tooth profile design method thereof |
| CN116123254A (en) * | 2022-12-21 | 2023-05-16 | 柔昊精密科技(苏州)有限公司 | Speed reducer with worm and gear mechanism |
-
2022
- 2022-12-21 CN CN202211650406.5A patent/CN116123254A/en active Pending
-
2023
- 2023-07-05 CN CN202310815873.7A patent/CN116658592A/en active Pending
- 2023-09-11 WO PCT/CN2023/118009 patent/WO2024131154A1/en unknown
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024131154A1 (en) * | 2022-12-21 | 2024-06-27 | 柔昊精密科技(苏州)有限公司 | Reducer having worm-gear mechanism |
| CN116592109A (en) * | 2023-07-04 | 2023-08-15 | 柔昊精密科技(苏州)有限公司 | Staggered shaft bevel gear reducer with small tooth difference |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116658592A (en) | 2023-08-29 |
| WO2024131154A1 (en) | 2024-06-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116123254A (en) | Speed reducer with worm and gear mechanism | |
| CN107246461B (en) | Servo steering engine and robot | |
| US5484345A (en) | Compact gear reducer for rotation through an angle in either directions | |
| WO2012029756A1 (en) | Multi-stage reduction gear | |
| CN116717575A (en) | Light speed reducer and humanoid robot | |
| KR101606863B1 (en) | Robotic disc for coupling Precision reducer | |
| CN108603395B (en) | Wellbore and/or pipe pulling tool and propulsion module for pulling wire and/or fiber optic cable | |
| CN113803443A (en) | Exoskeleton active power-assisted reduction gearbox | |
| US11353090B2 (en) | Speed reducer | |
| EP3643946B1 (en) | Rotary actuator and linear actuator | |
| JPH066786U (en) | Eccentric differential type speed reducer | |
| JP3889300B2 (en) | Reducer for geared motor, geared motor and its series | |
| US6582338B1 (en) | Differential unit with worm gearsets | |
| KR100642307B1 (en) | A speed reducer having hollowness with a motor in midair | |
| CN206344170U (en) | Steering wheel and robot | |
| JP2017040348A (en) | Planetary gear device and its design method | |
| EP0441144A2 (en) | Improvements in epicyclic reduction gears | |
| CN114412966B (en) | Folding mechanism based on toroidal worm drive | |
| KR102275048B1 (en) | Reduction device with high reduction ratio performance | |
| CN117052862A (en) | Speed reducer and robot with same | |
| CN111868412A (en) | Planetary gearbox and related robot joint and robot | |
| CN210397602U (en) | Planetary harmonic combined speed reducer | |
| CN211599411U (en) | Gear meshing reducer with small tooth difference | |
| CN116877641A (en) | Staggered shaft helical gear reducer with small tooth difference | |
| WO2019181965A1 (en) | Reduction gear and method for manufacturing reduction gear series |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20230516 |
|
| WD01 | Invention patent application deemed withdrawn after publication |