CN205896052U - Elasticity does not have return difference 3Z planet gear - Google Patents
Elasticity does not have return difference 3Z planet gear Download PDFInfo
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- CN205896052U CN205896052U CN201620928480.2U CN201620928480U CN205896052U CN 205896052 U CN205896052 U CN 205896052U CN 201620928480 U CN201620928480 U CN 201620928480U CN 205896052 U CN205896052 U CN 205896052U
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- sun gear
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Abstract
The utility model discloses an elasticity does not have return difference 3Z planet gear, include: center sun gear, planet wheel, star wheel axle, planet carrier, fixed internal gear, rotation internal gear, the bearing of going, the be expert at cooperation position in star wheel axle and hole of characterized by, the cooperation position in sun gear shaft and hole increases one deck elastic material, it makes the centre -to -centre spacing between it and the sun gear be less than the theoretical value to adjust one of them planet wheel, central sun gear off -centre on fixed internal gear shell is placed to the rethread, make corresponding planet wheel and the centre -to -centre spacing of fixing between the internal gear be greater than the theoretical value, it makes central sun gear to warp through elastic material, corresponding planet wheel, it does not have the sideshake closely to mesh between fixed internal gear and the rotation internal gear.
Description
Technical field
This utility model belongs to gear technique field, more particularly to 3z () type planetary reduction gear.
Background technology
Existing 3z type planetary reduction gear, compared with other kinds of planetary reduction gear, has that gear range is big, structure
The advantages of compact, transmission efficiency, stable movement, small volume.But have that hysterisis error is big, the low shortcoming of transmission accuracy, one
Use in a little visual plants and precision instrument is restricted, and for example present robot joint speed reducer is substantially all and adopts rv
Decelerator harmonic decelerator.The manufacturing technology of rv decelerator harmonic decelerator is monopolized by foreign country again, limits China's machine
The development of people's industry.Therefore extremely be necessary to design that a gear range is big, compact conformation, transmission efficiency, stable drive,
Small volume, the high accurate speed reducer of low cost of manufacture.
Content of the invention
This utility model be overcome the deficiencies in the prior art in place of, a kind of simple and compact for structure, no return difference, gear ratio are proposed
Greatly, a kind of elasticity no return difference 3z planetary reduction gear of transmission efficiency, stable drive, small volume, to can be to a certain extent
Reducing and rv decelerator, the gap of harmonic speed reducer, thus improving the transmission accuracy of decelerator, reducing hysterisis error.
This utility model is to solve technical problem to adopt the following technical scheme that
A kind of elasticity of this utility model no return difference 3z planetary reduction gear, comprising: three planetary gears, center sun gear, fixations
Internal gear, rotational inner gear, planet wheel spindle, planet carrier；Be bearing in center sun gear in casing simultaneously with three planetary gear phases
Engagement, described three planetary gears are meshed with fixed annulus and rotational inner gear again simultaneously, and with rotational inner gear output, its
Feature is:
Make described center sun gear be eccentric placement on fixed annulus shell, and eccentric throw is e；At described center too
Sun wheel is provided with any one planetary gear on the direction the shortest with fixed annulus tooth top distance；
It is provided with the first elastic original paper between described center sun gear and bearing；
It is provided with the second elastic original paper between described planet wheel spindle and the endoporus of planet carrier；
Adjust corresponding planetary gear and the first centre-to-centre spacing and the sun gear of center between so that adjustment after the first centre-to-centre spacing
Less than calculating centre-to-centre spacing；And adjust the second center between corresponding planetary gear and described fixed annulus and rotational inner gear
Away from so that the second centre-to-centre spacing after adjustment is more than calculates centre-to-centre spacing；
To eliminate the flank between the planetary gear of corresponding adjustment and center sun gear with the deformation of the described first elastic original paper
Gap；To eliminate planetary gear and described fixed annulus and the rotation internal tooth of corresponding adjustment with the deformation of the described second elastic original paper
Backlash between wheel.
A kind of feature of elasticity no return difference 3z planetary reduction gear described in the utility model lies also in,
Described center sun gear is made to be normal shift or make described fixed annulus and rotational inner gear be negative addendum modification.
The structure of the described first elastic original paper and the second elastic original paper is sleeve-shaped；
Offer circular trough on several in the upper surface of the described first elastic original paper and the second elastic original paper, lower surface is opened
Be provided with several lower circular troughs, and described several upper between circular trough and lower circular trough for being crisscross arranged；
Offer cross recess in the upper surface of the described first elastic original paper and the second elastic original paper, under lower surface offers
Also it is to be crisscross arranged between cross recess, and described upper cross recess and lower cross recess.
Described first elastic original paper and the second elastic original paper adopt 65mn material.
Compared with the prior art, the beneficial effects of the utility model are embodied in:
1st, this utility model is less than calculating center by adjusting planetary gear and the centre-to-centre spacing and the sun gear of center between
Away from, and the centre-to-centre spacing adjusting between corresponding planetary gear and fixed annulus and rotational inner gear be allowed to more than calculate centre-to-centre spacing；With
The deformation of elastic original paper, to eliminate backlash during gear engagement, thus eliminating the hysterisis error in gear drive, improves
Transmission accuracy, reduces the requirement to the accuracy of gear.
2nd, this utility model elastomeric material has the impact during cushioning effect decreases gear drive, improves gear
Life-span with bearing.
3rd, uniform three planetary gears on this utility model planet carrier circumferencial direction, the elastomeric material deformation at planet wheel spindle,
The stress of each planetary gear is made to more they tend to uniformly, play certain all loads effect.
4th, this utility model elasticity original paper devises a kind of new structure, and material can select 65mn, has elasticity change
Shape is little, rigidity is high, non-linear the features such as, meet very much the performance requirement to elastic original paper in structure.
5th, this utility model can change the center between center sun gear and planetary gear using center sun gear normal shift
Away from as the supplementary adjustment in above-mentioned center distance regulation, the center sun gear reducing needs adjustment is in fixed annulus shell
On eccentric distance e.Can be negative addendum modification using fixed annulus and rotational inner gear in the same manner.
6th, this utility model package unit has that structure is simple, good manufacturability, low cost, is mainly used in high-performance and high accuracy
Planetary reducer, eliminates the hysterisis error in gear drive.
Brief description
Fig. 1 is installation diagram of the present utility model；
Fig. 2 is internal structure schematic diagram of the present utility model；
Fig. 3 is explosive view of the present utility model；
Fig. 4 is transmission principle figure of the present utility model；
Fig. 5 is transmission Fig. 1 of the present utility model；
Fig. 6 is transmission Fig. 2 of the present utility model；
Fig. 7 is planet carrier installation diagram of the present utility model；
Fig. 8 is elasticity original paper structural representation of the present utility model；
Fig. 9 is fixed annulus figure of the present utility model；
Figure 10 is rotational inner gear figure of the present utility model；
Figure 11 is profile front view of the present utility model；
Figure 12 is profile side view of the present utility model；
In figure label: 1, planetary gear；2nd, planet wheel spindle；3rd, the first elastic original paper；4th, deep groove ball bearing；5th, the center sun
Wheel；6th, the second elastic original paper；7th, fixed annulus；8th, planet carrier；9th, mounting flange；10th, cylinder crossed roller bearing；11st, OK
Star-wheel bushing 12, rotational inner gear 13, needle bearing 14, deep groove ball bearing 15, planet carrier assemble Figure 16, fixing internal tooth
The gear ring 17 of wheel, the gear ring of rotational inner gear.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is further illustrated.
A kind of elasticity no return difference 3z planetary reduction gear, comprising: three planetary gears, center sun gear 5, fixed annulus 7, turn
Dynamic internal gear 12, planet wheel spindle 2, planet carrier 8, bearing；By bearing be bearing in center sun gear 5 in casing simultaneously with three row
Star-wheel is meshed makes it rotate, and three planetary gears keep internal messing with fixed annulus 7 and rotational inner gear 12, finally again simultaneously
Drive internal gear 12 to rotate and output speed torque, wherein, referring to Fig. 1, be 3z () type planetary reduction gear schematic diagram, referring to figure
2 and Fig. 3, public planetary gear 1 should engage with center sun gear 5, simultaneously again with fixed annulus 7 and rotational inner gear 12 phase
Engagement.Referring to Fig. 4, Fig. 5 and Fig. 6, motion is inputted by center sun gear 5, and center sun gear 5 is connected in fixing by bearings
On gear 7 and rotational inner gear 12 shell, three planetary gears pass through in the uniform planet carrier 8 of planet wheel spindle 2, rotational inner gear 12
It is connected with mounting flange 9 by cylinder crossed roller bearing 10, mounting flange 9 is connected with fixed annulus 7 shell by bolt,
Center sun gear 5 makes planetary gear move simultaneously with three planetary gear external toothings, fixed annulus 7, rotational inner gear 12 and three
Planetary gear keeps internal messing simultaneously, and two are engaged with identical centre-to-centre spacing to interior, and the number of teeth difference of two internal gears is less, need to be according to
To realize this difference, and the shell output campaign by rotational inner gear 12 by gear modification；
Referring to Fig. 4, center sun gear 5 is made to be eccentric placement on fixed annulus and rotational inner gear shell, fixing interior
, referring to Fig. 9, rotational inner gear is referring to Figure 10 for gear.And eccentric throw is e, in center sun gear 5 tooth top and fixed annulus 7 tooth top
Distance is provided with any one planetary gear 1 on direction the shortest.
Referring to Fig. 6, between center sun gear 5 and bearing 4, it is provided with the second elastic original paper 6；Referring to Fig. 7, planet wheel spindle 2 He
It is provided with the first elastic original paper 3 between the endoporus of planet carrier 8；Planet carrier bearing be may also be arranged on according to practical situation elasticity original paper
In the hole.
Referring to Fig. 7, planetary gear assembly is made up of the elastic original paper of three planetary gears, three planet wheel spindles and three first,
Three planetary gears pass through in the uniform planet carrier 8 of planet wheel spindle 2.
Adjust the first centre-to-centre spacing between corresponding planetary gear 1 and center sun gear 5 so that the first centre-to-centre spacing after adjustment
Less than calculating centre-to-centre spacing；And the second centre-to-centre spacing between the corresponding planetary gear 1 of adjustment and fixed annulus 7, rotational inner gear 12,
So that the second centre-to-centre spacing after adjustment is more than and calculate centre-to-centre spacing；And fixed annulus 7 center, center sun gear 5 center, corresponding row
Star-wheel center is on same straight line.
To be eliminated between the flank between the planetary gear 1 of corresponding adjustment and center sun gear 5 with the deformation of the first elastic original paper 6
Gap；To eliminate planetary gear 1 and described fixed annulus 7 and the rotational inner gear of corresponding adjustment with the deformation of the second elastic original paper 3
Backlash between 12；
Center sun gear 5 is made to be normal shift or make fixed annulus 7 and rotational inner gear 12 be negative addendum modification as in above-mentioned
The eccentric distance e supplementing adjustment, reducing needs adjustment in adjustment for the heart；
Referring to Fig. 8, the structure of the first elastic original paper 6 and the second elastic original paper 3 is sleeve-shaped, the first elastic original paper 6 He
The upper surface of the second elastic original paper 3 offers circular trough on several, lower surface offers several lower circular troughs, and several
It is to be crisscross arranged between upper circular trough and lower circular trough；
Offer cross recess in the upper surface of the first elastic original paper 6 and the second elastic original paper 3, lower surface offers lower ten
Also it is to be crisscross arranged between word groove, and upper cross recess and lower cross recess；
Because the first elastic original paper 6 and the second elastic original paper 3 have special construction material and can select 65mn, make the first bullet
Property original paper and the second elastic original paper have that elastic deformation is little, rigidity is high, non-linear the features such as, meet very much former to elasticity in structure
The performance requirement of part.
Referring to Fig. 9, fixed annulus profile is a disk class shape on the whole, processes with teeth in the inner surface side of disk
Wheel, the outer surface of disk is the half of speed reducer housing.
Referring to Figure 10, rotational inner gear profile is also a disk class shape on the whole, is machined with the inner surface side of disk
Gear, the outer surface of disk intersects bearing by cylindrical roller and mounting flange form speed reducer housing second half.
Referring to Figure 11, elasticity no return difference 3z planetary reduction gear outline drawing, fixed annulus and frame phase in real work
Even, the connecting hole of setting can be seen from figure.
Referring to Figure 12, elasticity no return difference 3z planetary reduction gear outline drawing side view.
In sum, this programme is by the adjustment of centre-to-centre spacing, the setting of eccentric distance e, the design of elastic original paper and gear ginseng
The reasonable selection of number, this programme improves the transmission accuracy of planetary reduction gear, eliminates the hysterisis error in gear drive, reduces
Requirement to the accuracy of gear；The cushioning effect of elastic original paper, decreases the impact during gear drive, improve gear and
The life-span of bearing；Certain all loads effect is played in the deformation of the elastic original paper at planet wheel spindle, thus having, structure is simple, technique
Good, low cost the advantage of property, is mainly used in high-performance planetary reducer.
The gear ratio of decelerator can be calculated with formula (1):
In formula (1), z1: center sun gear；z2: planetary gear；z3: fixed annulus；z4: rotational inner gear；
When taking number of teeth z1=z2=17, z3=52, z4When=51, gear ratio i can be obtainedab=-207, negative sign represents input shaft a
Turn on the contrary with output shaft b.When taking number of teeth z1=z2=17, z3=51, z4When=52, gear ratio i can be obtainedab=207, at this moment defeated
Enter axle a identical with output shaft b steering.
Claims (4)
1. a kind of elasticity no return difference 3z planetary reduction gear, comprising: three planetary gears, center sun gear (5), fixed annulus (7),
Rotational inner gear (12), planet wheel spindle (2), planet carrier (8)；Be bearing in center sun gear (5) in casing simultaneously with three row
Star-wheel is meshed, and described three planetary gears are meshed with fixed annulus (7) and rotational inner gear (12) again simultaneously, and to rotate
Internal gear (12) exports, and it is characterized in that:
Make described center sun gear (5) be eccentric placement on fixed annulus shell, and eccentric throw is e；At described center too
Sun wheel (5) is provided with any one planetary gear (1) on the direction the shortest with fixed annulus (7) tooth top distance；
It is provided with the first elastic original paper (6) between described center sun gear (5) and bearing (4)；
It is provided with the second elastic original paper (3) between the endoporus of described planet wheel spindle (2) and planet carrier (8)；
Adjust corresponding planetary gear (1) and the first centre-to-centre spacing and center sun gear (5) between so that adjustment after the first center
Away from less than calculating centre-to-centre spacing；And adjust between corresponding planetary gear (1) and described fixed annulus (7) and rotational inner gear (12)
The second centre-to-centre spacing so that adjustment after the second centre-to-centre spacing be more than calculate centre-to-centre spacing；
To be eliminated between planetary gear (1) and the center sun gear (5) of corresponding adjustment with the deformation of the described first elastic original paper (6)
Backlash；The planetary gear (1) of corresponding adjustment and described fixed annulus are eliminated with the deformation of the described second elastic original paper (3)
(7) backlash and rotational inner gear (12) between.
2. a kind of elasticity according to claim 1 no return difference 3z planetary reduction gear, is characterized in that, makes described center sun gear
(5) it is normal shift or makes described fixed annulus (7) and rotational inner gear (12) for negative addendum modification.
3. a kind of elasticity according to claim 1 no return difference 3z planetary reduction gear, is characterized in that: the described first elastic original paper
(6) structure of and the second elastic original paper (3) is sleeve-shaped；
Offer circular trough on several, lower surface in the upper surface of the described first elastic original paper (6) and the second elastic original paper (3)
Offer several lower circular troughs, and described several upper between circular trough and lower circular trough for being crisscross arranged；
Offer upper cross recess in the upper surface of the described first elastic original paper (6) and the second elasticity original paper (3), lower surface offers
Also it is to be crisscross arranged between lower cross recess, and described upper cross recess and lower cross recess.
4. a kind of no return difference 3z planetary reduction gear of the elasticity according to claim 1 or 3, is characterized in that, described first elasticity
Original paper (6) and the second elastic original paper (3) adopt 65mn material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620928480.2U CN205896052U (en) | 2016-08-23 | 2016-08-23 | Elasticity does not have return difference 3Z planet gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620928480.2U CN205896052U (en) | 2016-08-23 | 2016-08-23 | Elasticity does not have return difference 3Z planet gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205896052U true CN205896052U (en) | 2017-01-18 |
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ID=57777904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620928480.2U Expired - Fee Related CN205896052U (en) | 2016-08-23 | 2016-08-23 | Elasticity does not have return difference 3Z planet gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205896052U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106090140A (en) * | 2016-08-23 | 2016-11-09 | 合肥工业大学 | Elastic without return difference 3Z planetary reduction gear |
| WO2019137043A1 (en) * | 2018-01-10 | 2019-07-18 | 山东大学 | Gear ring-free planetary magnetic gear transmission system |
-
2016
- 2016-08-23 CN CN201620928480.2U patent/CN205896052U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106090140A (en) * | 2016-08-23 | 2016-11-09 | 合肥工业大学 | Elastic without return difference 3Z planetary reduction gear |
| WO2019137043A1 (en) * | 2018-01-10 | 2019-07-18 | 山东大学 | Gear ring-free planetary magnetic gear transmission system |
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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 |
Granted publication date: 20170118 Termination date: 20190823 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |