CN212584198U

CN212584198U - Planet speed reducer with small tooth difference

Info

Publication number: CN212584198U
Application number: CN202020518113.1U
Authority: CN
Inventors: 李汉江
Original assignee: Shenzhen Qichilong Technology Co ltd
Current assignee: Shenzhen Qichilong Technology Co ltd
Priority date: 2020-04-09
Filing date: 2020-04-09
Publication date: 2021-02-23
Anticipated expiration: 2030-04-09

Abstract

The utility model discloses a planet small tooth difference speed reducer, which comprises a sun gear, a planet gear, a shock wave device, a rolling friction piece, a flexible gear and a rigid gear; an inner gear ring is arranged on the shock wave device, the sun gear and the inner gear ring are coaxially arranged, and the planet gear is respectively meshed with the sun gear and the inner gear ring to form a planet transmission system; a rolling friction piece is arranged between the shock wave device and the flexible gear, the flexible gear is meshed with the rigid gear, and a small-tooth-difference transmission system is formed among the shock wave device, the rolling friction piece, the flexible gear and the rigid gear. The utility model discloses a poor reduction gear of few tooth of planet, it can reduce the occupation to axial space when increasing the reduction ratio.

Description

Planet speed reducer with small tooth difference

Technical Field

The utility model relates to a reduction gear machinery technical field especially relates to a few poor reduction gear of tooth of planet.

Background

The harmonic reducer is a gear transmission mechanism which uses a shock wave device to assemble a flexible bearing to enable a flexible gear to generate controllable elastic deformation and is meshed with a rigid gear to transmit motion and power. The gear transmission mechanism has the advantages of large reduction ratio and high transmission precision. In order to pursue a larger reduction ratio, another reduction mechanism is often added outside the harmonic reducer to form multi-stage reduction, so that the axial space of the harmonic reducer is increased, and the use field of the harmonic reducer is limited.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model aims to provide a planet few-tooth difference speed reducer, which can reduce the occupation of axial space while increasing the reduction ratio.

The purpose of the utility model is realized by adopting the following technical scheme:

a planetary reduction gear with small tooth difference comprises: the device comprises a sun wheel, a planet wheel, a shock wave device, a rolling friction piece, a flexible wheel and a rigid wheel; an inner gear ring is arranged on the shock wave device, the sun gear and the inner gear ring are coaxially arranged, and the planet gear is respectively meshed with the sun gear and the inner gear ring to form a planet transmission system; the rolling friction piece is arranged between the shock wave device and the flexible gear, the flexible gear is meshed with the rigid gear, and a small-tooth-difference transmission system is formed among the shock wave device, the rolling friction piece, the flexible gear and the rigid gear.

Furthermore, the shock wave generator is circular, and the shock wave generator and the inner gear ring are eccentrically arranged; the flexible gear is provided with an inner ring and outer teeth, and the rigid gear is provided with inner teeth; the inner ring of the flexible gear is sleeved on the shock wave device; and the outer teeth of the flexible gear are meshed with the inner teeth of the rigid gear on one side far away from the center of the inner gear ring.

Further, the rolling friction piece is a bearing.

Further, the rolling friction piece is a roller pin or a ball; and two sides of the shock wave device in the thickness direction are respectively provided with a baffle plate, and the baffle plates are used for limiting the rolling friction piece.

Furthermore, the shock wave device is elliptical, and the center of the inner gear ring is superposed with the center of the shock wave device; the flexible gear is provided with an inner ring and outer teeth, and the rigid gear is provided with inner teeth; the inner ring of the flexible gear is sleeved on the shock wave device; accommodating parts are arranged at two ends of a long shaft of the shock wave device, and the rolling friction piece is only arranged in the accommodating parts; the outer teeth of the flexible gear are meshed with the inner teeth of the rigid gear at two ends close to the long shaft of the shock wave generator.

Furthermore, the shock wave device is elliptical, and the center of the inner gear ring is superposed with the center of the shock wave device; and the flexible gear and the rigid gear form movable tooth two-tooth difference transmission.

Furthermore, rolling grooves are formed in the flexible gear, the rolling grooves are circumferentially and uniformly distributed on the flexible gear, the length directions of the rolling grooves point to the center of the shock wave generator, rolling friction pieces are arranged in each rolling groove, the outer side of the flexible gear is in contact with the rolling friction pieces, and a corrugated surface meshed with the rolling friction pieces is arranged on the inner side of the rigid gear.

Furthermore, the shock wave device is in a shape of a rounded triangle, and the center of the inner gear ring is superposed with the center of the shock wave device; the flexible gear is provided with an inner ring and outer teeth, and the rigid gear is provided with inner teeth; the inner ring of the flexible gear is sleeved on the shock wave device; the circular-angle end of the shock wave device is provided with an accommodating part, and the rolling friction piece is only arranged in the accommodating part; the outer teeth of the flexible gear are meshed with the inner teeth of the rigid gear at a round angle close to the shock wave device.

Furthermore, the rolling friction piece is a roller pin or a ball, two sides of the shock wave device in the thickness direction are respectively provided with a baffle, and the baffles are used for limiting the rolling friction piece.

Further, the rigid gear sets up to two, is first rigid gear and second rigid gear respectively, the flexbile gear is two external teeth flexbile gear, and it has first flexbile gear external tooth and second flexbile gear external tooth, the internal tooth of first rigid gear with first flexbile gear external tooth meshing, the internal tooth of second rigid gear with second flexbile gear external tooth meshing.

Compared with the prior art, the beneficial effects of the utility model reside in that: set up the ring gear on the shock wave ware, sun gear and the coaxial setting of ring gear, planet wheel constitute planetary transmission with sun gear and ring gear meshing respectively, promptly the utility model discloses compound planetary reduction mechanism in the shock wave ware to reduced the axial space that planetary transmission took, reduced the utility model discloses a volume of the poor reduction gear of planet few tooth. Additionally, the utility model discloses be in the same place the integration of planetary drive system and the poor transmission system of few tooth, make the utility model discloses a poor reduction gear of few tooth of planet has bigger reduction ratio.

Drawings

FIG. 1 is a schematic view of a first embodiment of a planetary reducer with small tooth difference according to the present invention;

FIG. 2 is a schematic view of a second embodiment of the planetary reducer with small tooth difference according to the present invention;

FIG. 3 is a schematic view of a third embodiment of the planetary reducer with small tooth difference according to the present invention;

FIG. 4 is a schematic view of a fourth embodiment of the planetary reducer with small tooth difference according to the present invention;

fig. 5 is a schematic diagram of the planetary small tooth difference speed reducer adopting NGW + harmonic + NGWN combination.

In the figure: 11. a sun gear; 12. a planet wheel; 2. a shock wave device; 21. an inner gear ring; 22. a rolling friction member; 23. an accommodating portion; 31. a flexible gear; 311. a rolling groove; 312. a first flexspline outer tooth; 313. a second flexspline outer tooth; 32. a rigid wheel; 321. a first rigid wheel; 322. and a second rigid wheel.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The planet small tooth difference speed reducer of the utility model at least comprises a sun gear 11, a planet gear 12, a shock wave device 2, a rolling friction piece 22, a flexible gear 31 and a rigid gear 32; an inner gear ring 21 is arranged on the shock absorber 2, the sun gear 11 and the inner gear ring 21 are coaxially arranged, and the planet gear 12 is respectively meshed with the sun gear 11 and the inner gear ring 21 to form a planet transmission system; a rolling friction piece 22 is arranged between the shock wave machine 2 and the flexible gear 31, the flexible gear 31 is meshed with the rigid gear 32, and a small-tooth-difference transmission system is formed among the shock wave machine 2, the rolling friction piece 22, the flexible gear 31 and the rigid gear 32. The NGW type planetary transmission system is formed by meshing the planetary gear 12, the sun gear 11 and the inner gear ring 21. For convenience of explanation, the carrier and the like are not shown in the drawings.

Because the utility model discloses set up ring gear 21 on shock wave ware 2, sun gear 11 and the coaxial setting of ring gear 21, planet wheel 12 constitutes planetary transmission with sun gear 11 and the meshing of ring gear 21 respectively, promptly the utility model discloses compound in shock wave ware 2 with planet reduction gears to reduce the axial space that planetary transmission took, reduced the utility model discloses a planet volume of few tooth difference reduction gears makes the occasion of its ability application more extensive. Additionally, the utility model discloses be in the same place the integration of planetary drive system and the poor transmission system of few tooth, make the utility model discloses a poor reduction gear of few tooth of planet has bigger reduction ratio.

Preferably, referring to fig. 1, the shock wave generator 2 may be circular, and the shock wave generator 2 is eccentrically disposed with respect to the ring gear 21; the flexible gear 31 has an inner ring and an outer ring (not shown), and the rigid gear 32 has an inner ring (not shown); the inner ring of the flexible gear 31 is sleeved on the shock device 2; the external teeth of the flexspline 31 mesh with the internal teeth of the circular spline 32 on the side away from the center of the ring gear 21. The wave number of the shock wave device 2 adopting the above arrangement mode is one. Specifically, the rolling friction member 22 is a bearing (not shown). Namely, the inner ring of the flexible gear 31 is sleeved on the shock device 2 through a bearing. Of course, the rolling friction member 22 may be a roller pin or a ball, and when the roller pin or the ball is adopted, in order to avoid the roller pin or the ball falling off, the present invention adopts a conventional limiting manner that baffles (not shown) are arranged on both sides of the shock wave generator 2 in the thickness direction for limiting, which will not be described herein.

Preferably, referring to fig. 2, the shock wave generator 2 is in an oval shape, and the center of the inner gear ring 21 coincides with the center of the shock wave generator 2; the flexible gear 31 has an inner ring and an outer tooth, and the rigid gear 32 has an inner tooth; the inner ring of the flexible gear 31 is sleeved on the shock device 2; both ends of the long shaft of the shock absorber 2 are provided with accommodating parts 23, and only the accommodating parts 23 are provided with rolling friction pieces 22; the outer teeth of the flexspline 31 mesh with the inner teeth of the ring spline 32 at both ends near the long axis of the shock 2. The wave number of the shock wave device 2 adopting the above arrangement mode is two. In the above arrangement, the rolling friction member 22 is only arranged in the accommodating portion 23, so that the internal space of the shock absorber 2 can be saved, the inner gear ring 21 can be made larger, and the transmission ratio can be further increased. Specifically, the rolling friction member 22 is a needle roller or a ball, and the shock absorber 2 is provided with a baffle on each of the two sides in the thickness direction thereof, and the baffle is used for limiting the rolling friction member 22.

Preferably, referring to fig. 3, the shock wave generator 2 is in an oval shape, and the center of the ring gear 21 coincides with the center of the shock wave generator 2; the flexible gear 31 and the rigid gear 32 form oscillating tooth two-tooth difference transmission. The wave number of the exciter 2 adopting the above arrangement is also two. Specifically, rolling grooves 311 are formed in the flexible gear 31, the rolling grooves 311 are circumferentially and uniformly distributed on the flexible gear 31, the length directions of the rolling grooves 311 point to the center of the shock absorber 2, a rolling friction member 22 is arranged in each rolling groove 311, the outer side of the flexible gear 31 is in contact with the rolling friction member 22, and a wavy surface meshed with the rolling friction member 22 is arranged on the inner side of the rigid gear 32. Namely, the movable tooth two-tooth difference transmission is realized by the mode.

Preferably, referring to fig. 4, the shock wave device 2 is in a shape of a rounded triangle, and the center of the ring gear 21 coincides with the center of the shock wave device 2; the flexible gear 31 has an inner ring and an outer tooth, and the rigid gear 32 has an inner tooth; the inner ring of the flexible gear 31 is sleeved on the shock device 2; an accommodating part 23 is arranged at the round corner end of the shock absorber 2, and a rolling friction piece 22 is arranged in the accommodating part 23; the outer teeth of the flexspline 31 mesh with the inner teeth of the ring spline 32 at a rounded corner near the shock 2. The wave number of the shock wave device 2 adopting the above arrangement mode is three. Also, in such an arrangement, since the rolling friction members 22 are provided only in the accommodating portions 23, the internal space of the shock absorber 2 can be saved, so that the ring gear 21 can be made larger, further increasing the transmission ratio. Specifically, the rolling friction member 22 is a needle roller or a ball, and the shock absorber 2 is provided with a baffle on each of the two sides in the thickness direction thereof, and the baffle is used for limiting the rolling friction member 22.

Preferably, as shown in fig. 5, the rigid gears 32 are provided in two, namely, a first rigid gear 321 and a second rigid gear 322, and the flexible gear 31 is a double-outer-tooth flexible gear having a first flexible gear outer tooth 312 and a second flexible gear outer tooth 313, wherein the inner tooth of the first rigid gear 321 is engaged with the first flexible gear outer tooth 312, and the inner tooth of the second rigid gear 322 is engaged with the second flexible gear outer tooth 313. In fact, the compound mode can be understood as the compound of the NGW planetary transmission system and the NGWN harmonic transmission system, so that a larger transmission ratio can be obtained, the efficiency is high, and the volume is relatively small.

Above only be the embodiment of the utility model discloses a, not therefore the restriction the utility model discloses a patent range, the NWG planetary drive system is not only limited to be the profile of tooth meshing in this patent, also can the pinwheel meshing etc. all utilize the utility model discloses equivalent structure or equivalent flow transform that the description and the attached content do, or direct or indirect application are in other relevant technical fields, all the same reason is included in the patent protection scope of the utility model.

Claims

1. A planetary reducer with small tooth difference is characterized by comprising: the device comprises a sun wheel, a planet wheel, a shock wave device, a rolling friction piece, a flexible wheel and a rigid wheel; an inner gear ring is arranged on the shock wave device, the sun gear and the inner gear ring are coaxially arranged, and the planet gear is respectively meshed with the sun gear and the inner gear ring to form a planet transmission system; the rolling friction piece is arranged between the shock wave device and the flexible gear, the flexible gear is meshed with the rigid gear, and a small-tooth-difference transmission system is formed among the shock wave device, the rolling friction piece, the flexible gear and the rigid gear.

2. The planetary reducer with few tooth differences according to claim 1, wherein the shock wave generator is circular and is eccentrically arranged with the inner gear ring; the flexible gear is provided with an inner ring and outer teeth, and the rigid gear is provided with inner teeth; the inner ring of the flexible gear is sleeved on the shock wave device; and the outer teeth of the flexible gear are meshed with the inner teeth of the rigid gear on one side far away from the center of the inner gear ring.

3. The planetary reduction gear according to claim 2, wherein the rolling friction member is a bearing.

4. The planetary small tooth difference speed reducer according to claim 2, wherein said rolling friction members are needle rollers or balls; and two sides of the shock wave device in the thickness direction are respectively provided with a baffle plate, and the baffle plates are used for limiting the rolling friction piece.

5. The planetary reducer with few tooth differences according to claim 1, wherein the shock wave device is elliptical, and the center of the inner gear ring coincides with the center of the shock wave device; the flexible gear is provided with an inner ring and outer teeth, and the rigid gear is provided with inner teeth; the inner ring of the flexible gear is sleeved on the shock wave device; accommodating parts are arranged at two ends of a long shaft of the shock wave device, and the rolling friction piece is only arranged in the accommodating parts; the outer teeth of the flexible gear are meshed with the inner teeth of the rigid gear at two ends close to the long shaft of the shock wave generator.

6. The planetary reducer with few tooth differences according to claim 1, wherein the shock wave device is elliptical, and the center of the inner gear ring coincides with the center of the shock wave device; and the flexible gear and the rigid gear form movable tooth two-tooth difference transmission.

7. The planetary reducer of claim 6, wherein the flexspline has rolling grooves formed therein, the rolling grooves are circumferentially and uniformly distributed on the flexspline, the rolling grooves have a length direction pointing to the center of the shock absorber, the rolling friction member is disposed in each rolling groove, the outer side of the flexspline contacts the rolling friction member, and the inner side of the rigid spline has a corrugated surface engaged with the rolling friction member.

8. The planetary reducer with few tooth differences according to claim 1, wherein the shock wave device is in a shape of a rounded triangle, and the center of the inner gear ring is coincident with the center of the shock wave device; the flexible gear is provided with an inner ring and outer teeth, and the rigid gear is provided with inner teeth; the inner ring of the flexible gear is sleeved on the shock wave device; the circular-angle end of the shock wave device is provided with an accommodating part, and the rolling friction piece is only arranged in the accommodating part; the outer teeth of the flexible gear are meshed with the inner teeth of the rigid gear at a round angle close to the shock wave device.

9. The planetary reducer with small tooth difference according to claim 5 or 8, wherein the rolling friction members are needle rollers or ball bearings, and baffles are respectively disposed on both sides of the shock absorber in the thickness direction and used for limiting the rolling friction members.

10. The planetary small tooth difference speed reducer according to any one of claims 2-5, wherein the rigid gears are arranged in two, namely a first rigid gear and a second rigid gear, the flexible gear is a double-outer-tooth flexible gear which is provided with a first flexible gear outer tooth and a second flexible gear outer tooth, the first rigid gear inner tooth is meshed with the first flexible gear outer tooth, and the second rigid gear inner tooth is meshed with the second flexible gear outer tooth.