CN210397603U

CN210397603U - Planetary harmonic combined speed reducer

Info

Publication number: CN210397603U
Application number: CN201921005211.9U
Authority: CN
Inventors: 彭盼道; 丁宏钰; 熊友军
Original assignee: Ubtech Robotics Corp
Current assignee: Ubtech Robotics Corp
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2020-04-24
Anticipated expiration: 2029-06-28

Abstract

The utility model belongs to the technical field of the reduction gear, a planet harmonic combination reduction gear is related to. The input shaft, the sun gear, the planet carrier and the flexible gear form a primary planet speed reduction gear train, the annular part of the flexible gear is fixed, the input shaft is used for being connected with external input equipment to serve as an input part, the sun gear rotates along with the input shaft, the planet gear is meshed with the sun gear and the flexible gear simultaneously, revolves around the input shaft and rotates around the mandrel of the planet carrier, the cylindrical part of the flexible gear generates forced outward expansion deformation at the meshing part of the flexible gear and generates inward contraction deformation in the middle area of the cylindrical part. The sun gear, the planet gear and the planet carrier form a wave generator, a second harmonic reduction gear train is formed by the sun gear, the planet gear and the planet carrier, the flexible gear, the rigid gear and the first bearing, the annular part of the flexible gear is fixed, the wave generator inputs the wave, and the rigid gear is used for being connected with external output equipment to output power. The flexible gear participates in the motion of the first-stage planetary reduction gear train and the second-stage harmonic reduction gear train simultaneously, the high reduction ratio is realized, the space is effectively utilized, and the processing and the assembly are easy.

Description

Planetary harmonic combined speed reducer

Technical Field

The utility model belongs to the technical field of the reduction gear, more specifically say, relate to planet harmonic combination reduction gear.

Background

The reduction ratio of the harmonic reducer is generally 30 to 160, and the application field is limited because the harmonic reducer cannot realize larger reduction ratio due to the limitation of the volume and the modulus of the harmonic reducer. In the prior art, a planetary speed reducer and a harmonic speed reducer are combined to obtain a planetary harmonic combined speed reducer, so that a higher speed reduction ratio is realized, but the planetary harmonic combined speed reducer has the defects of large volume and difficult processing and assembly.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a planet harmonic combination reduction gear to solve the technical problem of current planet harmonic combination reduction gear bulky, processing assembly difficulty.

The embodiment of the utility model provides a planet harmonic combination reduction gear, include:

a rigid wheel with a first inner gear ring;

the input shaft penetrates through the rigid wheel;

the flexible gear comprises a cylindrical part and an annular part formed by extending the edge of one end of the cylindrical part, an outer gear ring meshed with the first inner gear ring is arranged on the outer side surface of the cylindrical part, and a second inner gear ring is arranged on the inner side surface of the cylindrical part;

a wave generator including a sun gear rotating synchronously with the input shaft, a planet carrier rotatably mounted on the input shaft and having a spindle, and a planet gear rotatably mounted on the spindle, the planet gear being simultaneously meshed with the sun gear and the second ring gear; and

a first bearing for supporting the rigid wheel to the annular portion.

Optionally, the annular portion is fixedly connected with an input flange, the rigid wheel is fixedly connected with an output flange, and the input flange and the output flange are arranged at intervals.

Optionally, the input shaft passes through an interface of the input flange and an interface of the output flange.

Optionally, the input shaft is supported at the interface of the input flange by a second bearing and the input shaft is supported at the interface of the output flange by a third bearing.

Optionally, the annular region is located between the input flange and the first bearing; the rigid wheel is located between the output flange and the first bearing.

Optionally, the planet carrier is supported from the input shaft by a fourth bearing.

Optionally, the number of the spindles is two or three, the spindles are distributed along the circumferential direction of the input shaft, the number of the planet gears is equal to the number of the spindles, the planet gears are rotatably mounted on the spindles in a one-to-one correspondence, and the sum of the number of the outer ring gears and the number of the planet gears is equal to the number of the teeth of the first inner ring gear.

Optionally, the first inner gear ring and the outer gear ring are both double-arc gear rings;

and/or the second inner gear ring is an involute gear ring, and the sun gear and the planet gear are involute gears.

Optionally, the annular portion is formed by extending outward at one end edge of the cylindrical portion, and the first bearing is located outside the cylindrical portion.

Optionally, the annular portion is connected to an outer race of the first bearing, and the rigid wheel is connected to an inner race of the first bearing.

The utility model provides an above-mentioned one or more technical scheme in the planet harmonic combination reduction gear have one of following technological effect at least: the input shaft, the sun gear, the planet carrier and the flexible gear form a primary planet speed reduction gear train, the position of the annular part of the flexible gear is fixed, the input shaft is used for being connected with external input equipment to serve as an input part, the sun gear rotates along with the input shaft, the planet gear is meshed with the sun gear and a second inner gear ring of the cylindrical part of the flexible gear at the same time, the planet gear revolves around the input shaft and rotates around a mandrel of the planet carrier, the cylindrical part of the flexible gear generates forced outward expansion deformation at the meshing part of the cylindrical part of the flexible gear, and the cylindrical part of the flexible gear generates inward contraction deformation in a middle area which. The sun gear, the planet gear and the planet carrier form a wave generator in a harmonic speed reduction gear train, the wave generator, the flexible gear, the rigid gear and the first bearing form a secondary harmonic speed reduction gear train, the annular part of the flexible gear is fixed in position, the primary planetary speed reduction gear train transmits power to the wave generator, the wave generator serves as an input part, the cylindrical part of the flexible gear generates elastic deformation, the outer gear ring of the flexible gear is meshed with the first inner gear ring of the rigid gear to further drive the rigid gear to rotate, and the rigid gear is used for being connected with external output equipment to output power.

The flexible gear is provided with the outer gear ring and the second inner gear ring, the flexible gear simultaneously participates in the movement of the primary planetary reduction gear train and the secondary harmonic reduction gear train, and the sun gear, the planet gear and the planet carrier of the primary planetary reduction gear train are used as the wave generator of the secondary harmonic reduction gear train.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a perspective assembly view of a planetary harmonic combination reducer provided by an embodiment of the present invention;

FIG. 2 is an exploded perspective view of the planetary harmonic combination reducer of FIG. 1;

FIG. 3 is an exploded perspective view of an input shaft, a wave generator and a fourth bearing employed in the planetary harmonic combination reducer of FIG. 2;

FIG. 4 is a cross-sectional view of the planetary harmonic combination reducer of FIG. 1;

FIG. 5 is a perspective view of a flexspline employed in the planetary harmonic combination reducer of FIG. 2;

fig. 6 is a schematic diagram showing a variation of a flexspline applied to the planetary reduction gear of fig. 2 under the action of a planetary gear, and a broken line indicates the flexspline at another time point.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the embodiments of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings only for the convenience of description and simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the embodiments of the present invention.

Furthermore, the terms "first", "second", "third", "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third", "fourth" may explicitly or implicitly include one or more of the features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as fixed or detachable connections or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the embodiments of the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1 to 6, an embodiment of the present invention provides a planetary harmonic combined speed reducer, which includes a rigid gear 10, an input shaft 20, a flexible gear 30, a wave generator 40, and a first bearing 51. The rigid wheel 10 is provided with a first inner gear ring 11; the input shaft 20 is arranged through the rigid wheel 10; the flexible gear 30 comprises a cylindrical part 31 and an annular part 32 formed by extending from one end edge of the cylindrical part 31, an outer gear ring 311 engaged with the first inner gear ring 11 is arranged on the outer side surface of the cylindrical part 31, and a second inner gear ring 312 is arranged on the inner side surface of the cylindrical part 31; the wave generator 40 comprises a sun gear 41 rotating synchronously with the input shaft 20, a planet carrier 42 rotatably mounted on the input shaft 20 and having a spindle 421, and planet gears 43 rotatably mounted on the spindle 421, the planet gears 43 being simultaneously meshed with the sun gear 41 and the second ring gear 312; the first bearing 51 is used to support the rigid wheel 10 to the annular portion 32.

The input shaft 20, the sun gear 41, the planet gears 43, the planet carrier 42 and the flexible gear 30 form a primary planetary reduction gear train, the annular part 32 of the flexible gear 30 is fixed in position, the input shaft 20 is used for being connected with an external input device to serve as an input part, the sun gear 41 rotates along with the input shaft 20, the planet gears 43 are simultaneously meshed with the sun gear 41 and the second inner gear ring 312 of the cylindrical part 31 of the flexible gear 30 and rotate around the spindle 421 of the planet carrier 42 while revolving around the input shaft 20, the cylindrical part 31 of the flexible gear 30 generates forced outward expansion deformation at the meshing part with the planet gears 43, and the cylindrical part 31 of the flexible gear 30 generates inward contraction deformation at the middle area which is not meshed with the planet gears 43. The sun gear 41, the planet gear 43 and the planet carrier 42 form a wave generator 40 in a harmonic speed reduction gear train, the wave generator 40, the flexible gear 30, the rigid gear 10 and the first bearing 51 form a second harmonic speed reduction gear train, wherein the position of the annular part 32 of the flexible gear 30 is fixed, the first planetary speed reduction gear train transmits power to the wave generator 40, the wave generator 40 serves as an input part, the cylindrical part 31 of the flexible gear 30 generates elastic deformation, the outer gear ring 311 of the flexible gear 30 is meshed with the first inner gear ring 11 of the rigid gear 10, the rigid gear 10 is driven to rotate, and the rigid gear 10 is used for being connected with external output equipment to output power.

The flexible gear 30 is provided with the outer gear ring 311 and the second inner gear ring 312, the flexible gear 30 simultaneously participates in the movement of the primary planetary reduction gear train and the secondary harmonic reduction gear train, the sun gear 41, the planet gear 43 and the planet carrier 42 of the primary planetary reduction gear train are used as the wave generator 40 of the secondary harmonic reduction gear train, the space is effectively utilized while the high reduction ratio is realized, the radial size and the axial size are reduced, and the flexible gear has the advantages of small volume, simple and compact structure, easiness in processing and assembly, large reduction ratio, high power density and the like, and is suitable for application in the fields of robot steering engines, various instruments and meters and the like.

In another embodiment of the present invention, the first ring gear 11 of the rigid gear 10, the sun gear 41 and the planet gear 43 are on the same plane, the axis of the mandrel 421 is parallel to the axis of the input shaft 20, so that the input shaft 20, the sun gear 41, the planet gear 43, the planet carrier 42, the flexible gear 30 constitutes an one-level planetary reduction gear train, the position of the flexible gear 30 is fixed, the sun gear 41 rotates along with the input shaft 20, the planet gear 43 is engaged with the sun gear 41 and the flexible gear 30 simultaneously, and rotates around the mandrel 421 of the planet carrier 42 while revolving around the input shaft 20, the flexible gear 30 is forced to expand and deform outwards at the engagement position with the planet gear 43, and generates inward shrinkage and deformation in the middle area of the flexible gear 30. The sun gear 41, the planet gear 43 and the planet carrier 42 form a wave generator 40 in a harmonic reduction gear train.

In another embodiment of the present invention, the first bearing 51 is a cross roller bearing, which is a bearing with inner ring split and outer ring rotation, and has large rigidity, adjustable bearing gap, and high precision rotation motion. The first bearing 51 may also be another type of bearing.

In another embodiment of the present invention, the ring portion 32 is fixedly connected with the input flange 60, the rigid wheel 10 is fixedly connected with the output flange 70, and the input flange 60 is spaced apart from the output flange 70. The scheme is easy to assemble, can effectively protect the flexible gear 30 and the wave generator 40 between the input flange 60 and the output flange 70, fixes the planetary harmonic combined speed reducer at the installation position through the input flange 60, and is connected with external output equipment through the output flange 70.

Referring to fig. 2 and 4, in another embodiment of the present invention, a first positioning edge 12 is disposed on an inner edge of a surface of the rigid wheel 10, so as to align the rigid wheel 10 with the inner ring 512 of the first bearing 51. In particular, the first positioning rim 12 is annular, facilitating the positioning of the rigid wheel 10, which is annular. The outer edge of one of the surfaces of the output flange 70 is provided with a second positioning rim 72 for radially positioning the rigid wheel 10, so as to facilitate the alignment of the output flange 70 with the rigid wheel 10. Specifically, the second positioning rim 72 is annular to facilitate positioning of the inner race 512 of the annular first bearing 51. A third locating lip 62 is provided on an inner edge of a surface of the input flange 60 to facilitate alignment of the input flange 60 with the annular portion 32 of the flexspline 30 and the outer race 511 of the first bearing 51. Specifically, the third locating lip 62 is annular to facilitate locating the input flange 60 on the annular portion 32.

In another embodiment of the present invention, the output flange 70 is provided with an accommodating groove 73 for accommodating the planet carrier 42, so that the planet carrier 42 is partially accommodated in the accommodating groove 73, and the axial dimension of the whole structure can be reduced.

In another embodiment of the present invention, the input shaft 20 passes through the interface 61 of the input flange 60 and the interface 71 of the output flange 70. This arrangement allows the input shaft 20 to pass from the input flange 60 through the output flange 70. One end of the input shaft 20 is close to the end of the output flange 70, and the input shaft 20 and the output flange 70 pass through the existing rotation angle sensor to detect the rotation angle, so that the whole structure is compact.

In another embodiment of the present invention, the input shaft 20 is a hollow shaft 421, which is easy to be formed, and a circuit or other parts can be inserted into the inner cavity of the input shaft 20.

In another embodiment of the present invention, the input shaft 20 is supported at the interface 61 of the input flange 60 by the second bearing 52, and the input shaft 20 is supported at the interface 71 of the output flange 70 by the third bearing 53. This structure facilitates assembly, reduces friction between the input shaft 20 and the input flange 60 or the output flange 70, and stably and reliably supports the input shaft 20 on the input flange 60 and the output flange 70. Specifically, the second bearing 52 and the third bearing 53 may be deep groove ball bearings capable of bearing radial and axial loads. The input shaft 20 is externally provided with mounting positions for mounting to the second bearing 52 and the third bearing 53, so that the bearings can be assembled conveniently.

In another embodiment of the present invention, the annular portion 32 is located between the input flange 60 and the first bearing 51; the rigid wheel 10 is located between the output flange 70 and the first bearing 51. The scheme can reduce the size of the whole structure, occupies small space and is easy to assemble.

Referring to fig. 3 and 4, in another embodiment of the present invention, the planet carrier 42 is supported on the input shaft 20 through a fourth bearing 54. This arrangement allows the carrier 42 to be rotatably mounted to the input shaft 20. Specifically, the fourth bearing 54 may be a deep groove ball bearing capable of withstanding radial and axial loads.

Referring to fig. 3, fig. 4 and fig. 6, in another embodiment of the present invention, the number of the spindles 421 is two or three, the spindles 421 are distributed along the circumferential direction of the input shaft 20, the number of the planet wheels 43 is equal to the number of the spindles 421, the planet wheels 43 are rotatably mounted on the spindles 421 in a one-to-one correspondence, and the sum of the number of teeth of the outer ring gear 311 and the number of the planet wheels 43 is equal to the number of teeth of the first ring gear 11. The number of the different shafts 421, the number of teeth of the outer ring gear 311, and the number of teeth of the first ring gear 11 are configured to form a predetermined reduction ratio, which is set as needed. The sun gear 41 rotates along with the input shaft 20, the planet gears 43 are meshed with the sun gear 41 and the flexible gear 30 simultaneously, revolve around the input shaft 20 and rotate around the spindle 421 of the planet carrier 42, inward contraction deformation is generated in the middle areas of the flexible gear 30 which are expanded and deformed outwards, inward contraction deformation is generated in the middle areas of the flexible gear 30, and the sun gear 41, the planet gears 43 and the planet carrier 42 form a wave generator 40 in a harmonic speed reduction gear train.

In another embodiment of the present invention, the planet carrier 42 has two spindles 421 corresponding to two planet wheels 43, and the number of teeth of the outer ring 311 of the flexible gear 30 is two less than the number of teeth of the first ring 11 of the rigid gear 10, so as to form a predetermined reduction ratio.

In another embodiment of the present invention, there are three spindles 421 on the planet carrier 42, corresponding to three planet wheels 43, and the number of teeth of the outer ring 311 of the flexible gear 30 is three less than that of the first ring 11 of the rigid gear 10, so as to form a predetermined reduction ratio.

In another embodiment of the present invention, the first inner gear ring 11 and the outer gear ring 311 are both double-arc gear rings; the double-circular-arc gear ring has great advantages in the aspects of stability, torque and service life, can realize continuous and stable transmission, and is particularly suitable for harmonic reduction gear trains.

In another embodiment of the present invention, the second ring gear 312 is an involute ring gear, and the sun gear 41 and the planet gear 43 are involute gears. The involute gear is easy to process, has the advantage of unchanged angular speed, and is particularly suitable for planetary reduction gear trains.

Referring to fig. 5, in another embodiment of the present invention, the annular portion 32 is formed by extending outward from one end edge of the cylindrical portion 31, and the first bearing 51 is located outside the cylindrical portion 31. This structure is easy to mold, enables reduction in the radial dimension, and facilitates the rotational mounting of the rigid wheel 10 to the annular portion 32.

Referring to fig. 2 and 4, in another embodiment of the present invention, the annular portion 32 is connected to the outer ring 511 of the first bearing 51, and the rigid wheel 10 is connected to the inner ring 512 of the first bearing 51. This structure is easy to assemble, allowing the rigid wheel 10 to be rotatably mounted to the annular portion 32. Specifically, the input flange 60 and the annular portion 32 are fixedly connected to the outer ring 511 of the first bearing 51 by fasteners, and the output flange 70 and the rigid wheel 10 are fixedly connected to the inner ring 512 of the first bearing 51 by fasteners.

In another embodiment of the present invention, the sun gear 41 is mounted on the input shaft 20 by a flat key connection or other means, which is easy to assemble and reliable in connection, so that the sun gear 41 can rotate along with the input shaft 20. Alternatively, the sun gear 41 is integrally formed with the input shaft 20.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. Planetary harmonic combination reduction gear, its characterized in that includes:

a rigid wheel with a first inner gear ring;

the input shaft penetrates through the rigid wheel;

a first bearing for supporting the rigid wheel to the annular portion.

2. A planetary harmonic compound speed reducer as in claim 1 wherein said annulus is fixedly connected to an input flange and said ring gear is fixedly connected to an output flange, said input flange being spaced from said output flange.

3. A planetary harmonic compound reducer as in claim 2 wherein said input shaft passes through the interface of said input flange and the interface of said output flange.

4. A planetary harmonic compound reducer as in claim 3 wherein said input shaft is supported at the interface of said input flange by a second bearing and said input shaft is supported at the interface of said output flange by a third bearing.

5. A planetary harmonic compound reducer as in claim 2 wherein said annulus is located between said input flange and said first bearing; the rigid wheel is located between the output flange and the first bearing.

6. A planetary harmonic compound speed reducer as in any one of claims 1 to 5 wherein said planet carrier is supported on said input shaft by a fourth bearing.

7. A planetary harmonic combined reducer as in any one of claims 1 to 5 wherein the number of spindles is two or three, the spindles are distributed along the circumferential direction of the input shaft, the number of planetary gears is equal to the number of spindles, the planetary gears are rotatably mounted on the spindles in one-to-one correspondence, and the sum of the number of teeth of the outer ring gear and the number of planetary gears is equal to the number of teeth of the first inner ring gear.

8. The planetary harmonic combined speed reducer of any one of claims 1 to 5, wherein the first inner ring gear and the outer ring gear are both double-circular-arc ring gears;

9. The planetary harmonic composite speed reducer according to any one of claims 1 to 5, wherein the annular portion is formed extending outward at one end edge of the cylindrical portion, and the first bearing is located outside the cylindrical portion.

10. The planetary harmonic compound speed reducer of any one of claims 1 to 5, wherein the annular portion is connected to an outer race of the first bearing, and the rigid gear is connected to an inner race of the first bearing.