CN205534042U - Closed harmonic planetary gear reducer - Google Patents
Closed harmonic planetary gear reducer Download PDFInfo
- Publication number
- CN205534042U CN205534042U CN201620360579.7U CN201620360579U CN205534042U CN 205534042 U CN205534042 U CN 205534042U CN 201620360579 U CN201620360579 U CN 201620360579U CN 205534042 U CN205534042 U CN 205534042U
- Authority
- CN
- China
- Prior art keywords
- gear
- planetary gear
- teeth
- sun
- level
- 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.)
- Expired - Fee Related
Links
Landscapes
- Retarders (AREA)
Abstract
The utility model relates to a closed harmonic planetary gear reducer, including first order harmonic gear drive mechanism, second level planetary gear drive mechanism and third level planetary gear drive mechanism, first order harmonic gear drive mechanism is including setting up at the internal wave generator who is used for receiving power of reductor interior flexbile gear and the circular spline of outwards cup jointing in proper order of last follow, flexbile gear coaxial coupling second level planetary gear's first sun gear, third level planetary gear's second sun gear is connected to second level planetary gear's first planet carrier, the utility model discloses well circular spline is fixed, the wave generator input, and third level planetary gear's input is regarded as again as second level planetary gear's input, second level planetary gear's output to flexbile gear output, finally through the output of third level planetary gear. The utility model discloses a structure that harmonic drive and planet transmission combined together, the drive ratio is great and small.
Description
[technical field]
This utility model relates to decelerator field, is specifically related to a kind of closed harmonic planetary gear reduction unit.
[background technology]
Decelerator is the independent type closed driving device between prime mover and working machine.It is used for reducing rotating speed and increasing torsion
Square, to meet job demand.At present, the main Types of domestic reductor has cylinder gear speed reducer, cone gear reducer, snail
Bar decelerator, gear worm decelerator, planetary reducer etc..Planetary reduction gear is big with its gear ratio, transmission efficiency is high,
The advantages such as compact conformation are widely used in every field.But when required gear ratio is excessive, individually use planetary gear tying
The volume that structure result in reduction box is excessive, has limited to its range.And planetary transmission structure is complicated, part is many, volume is big,
Production cost is high.
[summary of the invention]
The purpose of this utility model is to overcome problems of the prior art, it is provided that a kind of closed harmonic planetary tooth
Wheel decelerator, while retaining big speed ratio, reduces volume.
In order to achieve the above object, this utility model adopts the following technical scheme that
Interior for receiving the wave producer of power including being arranged on reducing gearbox body, wave producer overlaps the most successively
Connect flexbile gear and just taken turns, forming first order harmonic gear drive mechanism；Coaxially connected first sun gear of flexbile gear；Reducer shell front end
Arranging motor interface, just wheel is fixedly mounted on the inwall of motor interface；
The first internal gear being looped around outside the first sun gear, the first sun gear it is wholely set on reducer shell inwall
With first be provided with first planet wheels between internal gear, each planetary gear in first planet wheels is all connected with first planet
Frame, forms second level planetary gear mechanism；
Coaxially connected second sun gear of the first row carrier, reducer shell inwall has also been wholely set and has been looped around second too
Secondary annulus outside sun wheel, is provided with the second planetary gear set, the second planetary gear between the second sun gear and secondary annulus
Each planetary gear in group is all connected with the second planet carrier for exporting power, forms third level planetary gear mechanism.
Further, wave producer uses rolling friction type wave producer.
Further, flexbile gear uses cup-shape flexspline.
Further, the flexbile gear number of teeth is 200, and firm tooth number is 202.
Further, second level planetary gear mechanism and third level planetary gear mechanism all use 2K H (A)
Pattern.
Further, the first sun gear, first planet wheels, the first internal gear, the second sun gear, the second planetary gear set and
Secondary annulus all uses straight spur gear.
Further, the number of teeth of the first sun gear is 12, and the planetary gear number of teeth in first planet wheels is 30, in first
The number of teeth of gear is 72；The number of teeth of the second sun gear is 36, and the planetary gear number of teeth in the second planetary gear set is 18, the second internal tooth
The number of teeth of wheel is 72.
Compared with prior art, this utility model has a following useful technique effect:
This utility model includes first order harmonic gear drive mechanism, second level planetary gear mechanism and third level row
Star gear drive, first order harmonic gear drive mechanism uses just wheel fixing, and wave producer inputs, the shape of flexbile gear output
Formula, is greatly improved the gear ratio of decelerator.The output of first order harmonic gear drive mechanism passes as second level planetary gear
The input of motivation structure, the output of second level planetary gear mechanism again as the input of third level planetary gear mechanism,
The second planet carrier output eventually through third level planetary gear mechanism.This utility model uses harmonic drive to pass with planet
The dynamic mode combined, has compact conformation, volume is little, lightweight, bearing capacity big, transmission accuracy high.Meanwhile, two
The internal gear of level planetary gear mechanism is integrated with reducer shell, reduces whole on the premise of keeping big gear ratio
The volume of individual decelerator.
Further, this utility model, by using rolling friction type wave producer, obtains rolling friction in transmission, rubs
Wiping coefficient is little, and efficiency is high.
Further, in this utility model, two-stage planet drive mechanism all uses 2K H (A) pattern, this pattern
Gear Planet Transmission has compact conformation, and volume is little, and compact conformation is lightweight, transmission efficiency high.
Further, this utility model is by using the second level planetary gear mechanism of the specific number of teeth, Gear Planet Transmission
Meeting stable drive ratio condition, assembled condition, concentric condition and adjacent tree graph, gear ratio is up to 2100.
[accompanying drawing explanation]
Fig. 1 is sectional view of the present utility model.
Fig. 2 is structure diagram of the present utility model.
Fig. 3 is external structure schematic diagram of the present utility model.
Fig. 4 is the sectional view of the second level of the present utility model planetary gear mechanism.
Fig. 5 is the sectional view of third level planetary gear mechanism of the present utility model.
Wherein: 1-wave producer；2-flexbile gear；3-just takes turns；4-the first sun gear；5-first planet wheels；6-first planet
Frame；7-the first internal gear；8-the second sun gear；9-the second planetary gear set；10-the second planet carrier；11-secondary annulus；12-electricity
Machine interface；13-reducer shell.
[detailed description of the invention]
Below in conjunction with the accompanying drawings this utility model is described in further details.
As shown in Figures 1 to 5, this utility model receives the dynamic for receiving of power in including being arranged on reducer shell 13
The wave producer 1 of power, on wave producer 1, socket flexbile gear 2 and just wheel 3 the most successively, form first order Harmonic Gears
Mechanism；Coaxially connected first sun gear 4 of flexbile gear 2.
The first internal gear 7 being looped around outside the first sun gear 4 also it is wholely set on reducer shell 13 inwall, first
Being provided with first planet wheels 5 between sun gear 4 and the first internal gear 7, each planetary gear in first planet wheels 5 is all connected with
The first row carrier 6, the first sun gear 4, first planet wheels 5 and the first internal gear 7 form second level planetary gear mechanism.
Coaxially connected second sun gear 8 of the first row carrier 6, reducer shell 13 inwall has also been wholely set and has been looped around
Secondary annulus 11 outside two sun gears 8, is provided with the second planetary gear set 9 between the second sun gear 8 and secondary annulus 11,
Each planetary gear in second planetary gear set 9 is all connected with the second planet carrier 10, second sun gear the 8, second planetary gear set 9, second
Planet carrier 10 and secondary annulus 11 form third level planetary gear mechanism.
Wave producer 1 is connected with motor output shaft, as the input A of decelerator, is used for receiving power.Flexbile gear 2 uses
Cup-shape flexspline.Reducer shell 13 front end arranges motor interface 12, and just wheel 3 is fixedly mounted on motor interface 12 inwall, and ripple is sent out
Raw device 1 actively, just fix, and flexbile gear 2 exports by wheel 3.Flexbile gear 2 outfan and the first sun gear of second level planetary gear mechanism
4 are connected, as the input of second level planetary gear mechanism.First internal gear 7, secondary annulus 11 and reducer shell
13 are integrated, and maintain static, and the first sun gear 4 inputs, and first planet wheels 5, both around central axis, rotate around self axle again,
First internal gear 7 is fixed, and the first row carrier 6 exports.Meanwhile, the outfan of the first row carrier passes as third level planetary gear again
The input of motivation structure, is connected with the second sun gear 8 of third level planetary gear mechanism, and the second sun gear 8 inputs, in second
Gear 11 is fixed, the second planet carrier 10 output the outfan B as overall decelerator, is used for exporting power.
Second level planetary gear mechanism and third level planetary gear mechanism all use 2K H (A) pattern, this type
The Gear Planet Transmission of formula has compact conformation, and volume is little, lightweight, transmission efficiency high.First sun gear 4, first planet
Wheels the 5, first internal gear the 7, second sun gear the 8, second planetary gear set 9, secondary annulus 11 all use straight spur gear.
Work process that this utility model is main and principle: in use, power is incoming by wave producer 1 one end,
Just wheel 3 is fixed, flexbile gear 2 export, and the rotation direction of flexbile gear 2 is contrary with the rotation direction of wave producer 1.First order harmonic wave tooth
The output speed of wheel drive mechanism is as the input of second level planetary gear mechanism, and the first sun gear 4 is coaxial with flexbile gear 2,
First internal gear 7 is fixed, and the first row carrier 6 exports.The outfan of the first row carrier 6 is as third level planetary gear mechanism
Input, and inputted by the second sun gear 8, the second sun gear 8 is coaxial with the first sun gear 4, and secondary annulus 11 is fixed, the
Two planetary gear set 9 are under the drive with secondary annulus 11 of second sun gear 8, it is achieved that the be connected with the second planetary gear set 9
The rotation of two planet carriers 10, has been finally completed the coaxial output of power.
When just, wheel 3 and the first internal gear 7, secondary annulus 11 are fixed, and wave producer 1 inputs, and the second planet carrier 10 exports
Time, this utility model is three grades of closed harmonic waves that single-stage harmonic gear drive mechanism is connected with two-stage planet drive mechanism
Planetary reducer, according to drive mechanism, the speed reducing ratio computing formula obtaining decelerator of the present utility model is
I=i1×i2×i3 (1)
The gear ratio i of first order harmonic gear drive mechanism1Computing formula is
In formula (2), ZRThe number of teeth for flexbile gear 2；ZGThe number of teeth for just wheel 3；N is wave number.
The gear ratio i of second level planetary gear mechanism2Computing formula be
In formula (3), p1Characterisitic parameter for planetary gears；It it is the number of teeth of the first internal gear 7；It is first too
The number of teeth of sun wheel 4.
The gear ratio i of third level planetary gear mechanism3Computing formula is
In formula (4), p2Characterisitic parameter for planetary gears；The number of teeth for secondary annulus 11；It is second too
The number of teeth of sun wheel 8.
In sum, the gear ratio calculation formula of this closing harmonic planetary decelerator is
Negative sign "-" in formula is denoted as turning to and the wave producer as input component of the second planet carrier 10 of output
1 turn to is contrary, the angular velocity w of the i.e. second planet carrier 1010Angular velocity w with wave producer 11Turn to contrary.
This utility model specific embodiment is as follows: in first order harmonic gear drive mechanism, and just wheel 3 numbers of teeth are 202, flexbile gear
2 numbers of teeth are 200, and wave producer 1 uses the rolling friction type wave producer actively controlling in formula wave producer, is characterized in ellipse
The outside of circle wheel, is set with thin-walled antifriction bearings so that it is obtaining rolling friction in transmission, coefficient of friction is little, and efficiency is high.Ripple is sent out
Raw device 1 inputs, and just wheel 3 is fixed, and flexbile gear 2 exports.For Planetary Gear Transmission, all use straight spur gear Gear Planet Transmission.When
When pressure angle is 20 °, the minimum teeth number not occurring root to cut is 17.In the planetary gear mechanism of the second level, set sun gear 4
The number of teeth is 12, and the planetary gear number of teeth in planetary gear set 5 is 30, and the number of teeth of the first internal gear 7 is 72.Owing to the number of teeth of sun gear is little
In 17, need the planetary gear in sun gear 4, planetary gear set 5 and the first internal gear 7 are conjugated, use height change at this,
Being computed, the modification coefficient choosing sun gear 4 is 0.31, and the modification coefficient of planetary gear and the first internal gear 7 is-0.31.The
In three-stage planetary gear drive mechanism, setting the number of teeth of sun gear 8 as 36, each planetary gear number of teeth in planetary gear set 9 is 18, interior
The number of teeth of gear ring 7 is 72.Two-stage planet drive mechanism is satisfied by stable drive ratio condition, assembled condition, concentric condition with adjacent
Connect condition.According to gear ratio calculation formula, obtain gear ratio i=2100.
If the cogged modulus of the Gear Planet Transmission in this utility model is 1, then in decelerator, largest divisions circle is straight
Footpath is 72mm.And gear ratio reaches the planetary reduction gear of 2100 on the market is that multistage planet transmission combines or uses big mostly
The internal gear of the number of teeth, the sun gear of the little number of teeth improves the gear ratio of planetary reduction gear.A kind of existing planetary reduction gear,
It is 2100 that the mode using four groups of Planetary Gear Transmissions to be in series reaches gear ratio, and first order Planetary Gear Transmission gear ratio is
10, the sun gear number of teeth is 30, and the internal gear number of teeth is 270, and planetary gear number is 6, and the number of teeth is 120.Second level Planetary Gear Transmission
Gear ratio is also 10, and the sun gear number of teeth is 30, and the internal gear number of teeth is 270, and planetary gear number is 6, and the number of teeth is 120.Third level row
Star gear drive gear ratio is 7, and the sun gear number of teeth is, 20, and the internal gear number of teeth is 120, and planetary gear number is 4, and the number of teeth is 50.The
Level Four Planetary Gear Transmission gear ratio is 3, and the sun gear number of teeth is 36, and the internal gear number of teeth is 72, and planetary gear number is 6, and the number of teeth is
18.All Planetary Gear Transmissions are satisfied by stable drive ratio condition, concentric condition, assembled condition and adjacent tree graph.If all gears
Modulus is 1mm, then the gear largest divisions circular diameter of this planetary reduction gear is 270mm, much larger than this utility model.
So reach the planetary reducer of 2100, the body of decelerator of the present utility model compared to gear ratio on the market
Amass and substantially reduce.
This utility model uses the structure that harmonic drive combines with Gear Planet Transmission, owing to this closed gear decelerator uses
Having the Harmonic Gears of multiple gear teeth meshing, have the advantages that gear ratio is big, volume is little, Planetary Gear Transmission have employed
2K-H (A) type i.e. NGW type type of belt drive, this style of Gear Planet Transmission has that volume is little, compact conformation, feature, therefore make it
Entirety has compact conformation, volume is little, lightweight, bearing capacity big, transmission accuracy high.Especially ensureing apparatus body
Long-pending little on the premise of, substantially increase the gear ratio of decelerator.
Claims (7)
1. a closed harmonic planetary gear reduction unit, it is characterised in that: it is used in including being arranged on reducer shell (13)
Receive the wave producer (1) of power, wave producer (1) be socketed flexbile gear (2) the most successively and just taken turns (3), forming first
Level harmonic gear drive mechanism；Coaxially connected first sun gear of flexbile gear (2) (4)；Reducer shell (13) front end arranges motor and connects
Mouth (12), just wheel (3) is fixedly mounted on the inwall of motor interface (12)；
It is wholely set on reducer shell (13) inwall and is looped around the first internal gear (7) that the first sun gear (4) is outside, first
First planet wheels (5), each planet in first planet wheels (5) it is provided with between sun gear (4) and the first internal gear (7)
Wheel is all connected with the first row carrier (6), forms second level planetary gear mechanism；
Coaxially connected second sun gear of the first row carrier (6) (8), reducer shell (13) inwall has also been wholely set and has been looped around
The secondary annulus (11) that second sun gear (8) is outside, is provided with second between the second sun gear (8) and secondary annulus (11)
Planetary gear set (9), each planetary gear in the second planetary gear set (9) is all connected with the second planet carrier (10) for exporting power,
Form third level planetary gear mechanism.
One the most according to claim 1 closed harmonic planetary gear reduction unit, it is characterised in that: wave producer (1)
Use rolling friction type wave producer.
One the most according to claim 1 closed harmonic planetary gear reduction unit, it is characterised in that: flexbile gear (2) uses
Cup-shape flexspline.
One the most according to claim 1 closed harmonic planetary gear reduction unit, it is characterised in that: flexbile gear (2) number of teeth
Being 200, just wheel (3) number of teeth is 202.
One the most according to claim 1 closed harmonic planetary gear reduction unit, it is characterised in that: second level planet tooth
Wheel drive mechanism and third level planetary gear mechanism all use 2K H (A) pattern.
One the most according to claim 1 closed harmonic planetary gear reduction unit, it is characterised in that: the first sun gear
(4), first planet wheels (5), the first internal gear (7), the second sun gear (8), the second planetary gear set (9) and secondary annulus
(11) straight spur gear is all used.
One the most according to claim 1 closed harmonic planetary gear reduction unit, it is characterised in that: the first sun gear
(4) the number of teeth is 12, and the planetary gear number of teeth in first planet wheels (5) is 30, and the number of teeth of the first internal gear (7) is 72；The
The number of teeth of two sun gears (8) is 36, and the planetary gear number of teeth in the second planetary gear set (9) is 18, the tooth of secondary annulus (11)
Number is 72.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620360579.7U CN205534042U (en) | 2016-04-26 | 2016-04-26 | Closed harmonic planetary gear reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620360579.7U CN205534042U (en) | 2016-04-26 | 2016-04-26 | Closed harmonic planetary gear reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205534042U true CN205534042U (en) | 2016-08-31 |
Family
ID=56797420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620360579.7U Expired - Fee Related CN205534042U (en) | 2016-04-26 | 2016-04-26 | Closed harmonic planetary gear reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205534042U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108343723A (en) * | 2017-01-24 | 2018-07-31 | 湖景创新有限公司 | Strain wave gear with planetary compact multilevel gear and the neighbouring multi-stage gear |
| CN108343712A (en) * | 2017-01-24 | 2018-07-31 | 北京龙微智能科技股份有限公司 | Encased differential gear train device and mechanical equipment |
| CN109190214A (en) * | 2018-08-20 | 2019-01-11 | 厦门理工学院 | A kind of planetary gear transmission mechanism and its design method |
| CN113007304A (en) * | 2021-04-16 | 2021-06-22 | 天府重工有限公司 | Single-input double-output driving device |
-
2016
- 2016-04-26 CN CN201620360579.7U patent/CN205534042U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108343723A (en) * | 2017-01-24 | 2018-07-31 | 湖景创新有限公司 | Strain wave gear with planetary compact multilevel gear and the neighbouring multi-stage gear |
| CN108343712A (en) * | 2017-01-24 | 2018-07-31 | 北京龙微智能科技股份有限公司 | Encased differential gear train device and mechanical equipment |
| CN108343723B (en) * | 2017-01-24 | 2021-03-23 | 湖景创新有限公司 | Compact multi-stage gear with planetary gears and strain wave gear adjacent to the multi-stage gear |
| CN109190214A (en) * | 2018-08-20 | 2019-01-11 | 厦门理工学院 | A kind of planetary gear transmission mechanism and its design method |
| CN109190214B (en) * | 2018-08-20 | 2022-07-01 | 厦门理工学院 | Planetary gear transmission mechanism and design method thereof |
| CN113007304A (en) * | 2021-04-16 | 2021-06-22 | 天府重工有限公司 | Single-input double-output driving device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205534041U (en) | Two -stage harmonic planetary gear reducer | |
| CN205534042U (en) | Closed harmonic planetary gear reducer | |
| CN202597596U (en) | Two-stage planetary reducer | |
| CN201293074Y (en) | Double-combining planet double-arm wind power acceleration box | |
| CN107202152A (en) | A kind of pair of gearratio few teeth difference harmonic gear reducer | |
| CN205298420U (en) | Syntropy dual output planet gear | |
| CN201106663Y (en) | Vertical double-planetary reducer | |
| CN102490061B (en) | Planetary speed changing device for machine tool spindle | |
| CN104061295B (en) | Rub planetary reduction gear | |
| CN205503875U (en) | Speed reducer | |
| CN201560903U (en) | Oscillating tooth transmission speed increasing box for wind driven generator | |
| CN210821790U (en) | Two-stage speed reduction coaxial electric driving device | |
| CN201348024Y (en) | Compound small teeth difference reducing gear | |
| CN206816783U (en) | Miniature differential harmonic wave speed reducing machine | |
| CN200999828Y (en) | Vertical double-shunting speed reducer | |
| CN203809637U (en) | Speed reduction device with torsion induction differential planetary gear trains | |
| CN204114018U (en) | High-precision rotary joint speed reducer | |
| CN104121336A (en) | Three-star-wheel planetary speed reducer | |
| CN109424700A (en) | A kind of double star wheel reducers | |
| CN105757185A (en) | Speed reducer | |
| CN201412485Y (en) | Gearbox structure of pole pruning saw | |
| CN202926969U (en) | High-speed planetary gear box | |
| CN209813709U (en) | Single gearbox hybrid power coupling bridge based on single planet row | |
| CN101328959A (en) | Stepless automatic transmission and differential gear transmission system using the same | |
| CN206571911U (en) | Double outputting planetary reducing gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 Termination date: 20170426 |