CN213298713U - Multi-planetary-wheel type involute speed reducing mechanism with small tooth difference - Google Patents
Multi-planetary-wheel type involute speed reducing mechanism with small tooth difference Download PDFInfo
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- CN213298713U CN213298713U CN202022188286.4U CN202022188286U CN213298713U CN 213298713 U CN213298713 U CN 213298713U CN 202022188286 U CN202022188286 U CN 202022188286U CN 213298713 U CN213298713 U CN 213298713U
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Abstract
A multi-planetary-wheel type involute speed reducing mechanism with small tooth difference comprises an inner gear ring, an input shaft gear, three second planetary wheels with small tooth difference, at least three first planetary wheels and an eccentric shaft; the eccentric shaft comprises three sections of eccentric structures with the angle difference of 120 degrees and involute external spline teeth; the three second small tooth difference planet wheels are meshed with the inner gear ring; the input shaft gear sequentially penetrates through the central positions of the three second planetary gears with small tooth difference, and the input shaft gear is meshed with the three first planetary gears; three sections of eccentric structures on the eccentric shaft simultaneously penetrate through the three second small-tooth-difference planet wheels; the involute outer spline teeth are fixedly connected with the first planet wheel. Because the number of the second few-tooth-difference planet wheels is three, the load born by each eccentric shaft is greatly reduced. Meanwhile, the stress of a tooth part borne by the second small tooth difference planet wheel is improved, so that the problems of the bearing capacity and the service life of the eccentric bearing are solved, and the bearing capacity, the input rotating speed, the motion stability, the precision retentivity and the service life of the speed reducing mechanism are integrally improved.
Description
Technical Field
The utility model belongs to a reduction gears specifically is a few tooth difference of multirow star wheel formula reduction gears that gradually bursts at seams.
Background
The small tooth difference planetary gear transmission is one of planetary gear transmissions, and a pair of internal gear pairs is formed by an external gear and an internal gear, and adopts an involute tooth form, the tooth number difference of the internal gear and the external gear is small, usually, the tooth number difference is 1-5, the external gear is installed on an input shaft of a speed reducer through a bearing and an eccentric sleeve, and most of the internal gears are fixed. The output mechanism transmits the rotation of the external gear to the output shaft through the pin shaft, and ensures that the angular speed of the external gear is unchanged.
However, in order to balance part of inertia force and improve bearing capacity, the existing reduction mechanism with few tooth difference usually adopts two planet wheels with phase difference of 180 ° to carry out reduction transmission. This has the problems that: under the condition of not changing the appearance volume, the transmission power and the motion precision of the whole speed reducing mechanism cannot be further improved. In addition, with the existing planet wheel with 180-degree phase, the eccentric shaft bears larger shearing force to influence the bearing capacity and the service life, and further influence the running stability and the precision retentivity of the whole speed reducing mechanism.
Disclosure of Invention
In view of this, the utility model provides a few tooth difference of multirow star wheel formula reduction gears that gradually bursts at seams to improve whole reduction gears's bearing capacity and life, guarantee the stationarity and the precision retentivity of mechanism's operation.
The technical scheme of the utility model is that: the utility model provides a few tooth difference of multiring planetary wheel formula involute reduction gear, is including the shell, the left planet carrier that are equipped with the ring gear, the few tooth difference planet wheel of second, first planet wheel, right planet carrier, eccentric shaft and input shaft gear, its characterized in that: the number of the second few-tooth-difference planet wheels is three; the number of the first planetary gears and the number of the eccentric shafts are the same and are at least three; the eccentric shaft comprises three sections of eccentric structures and one section of involute external spline teeth, and the angle difference of the three sections of eccentric structures is 120 degrees; the three second small tooth difference planet wheels are provided with center holes, and are provided with eccentric shaft through holes at equal angles around the center holes, and the number of the eccentric shaft through holes is consistent with that of the eccentric shafts; the left planet carrier and the right planet carrier are respectively arranged on two sides of the inner gear ring and are connected with the shell through bearings; the three second small tooth difference planet wheels are simultaneously meshed with the inner gear ring; the input shaft gear sequentially penetrates through the center positions of the left planet carrier, the three second planetary gears with small tooth difference and the right planet carrier, and an external gear at the right section of the input shaft gear is meshed with the three uniformly distributed first planetary gears; three sections of eccentric structures on the eccentric shaft simultaneously penetrate through eccentric shaft through holes at the same position on the three second small-tooth-difference planet wheels and are connected through bearings; two ends of the eccentric shaft are respectively connected with the left planet carrier and the right planet carrier through bearings; and the involute external spline teeth of the eccentric shaft penetrate through the right planet carrier and are fixedly connected with the central position of the first planet wheel.
Furthermore, the eccentric shaft is positioned at the leftmost eccentric structure, the center connecting line of the eccentric shaft at the left end and the eccentric shaft at the left end is superposed with the center of the involute external spline tooth at the right end, and the contact ratio is not more than +/-2'.
The beneficial effects of the utility model reside in that, owing to set up the quantity of first planet wheel and eccentric shaft, the poor planet wheel of the few tooth of second into three, just make the load greatly reduced that every eccentric shaft bore. Meanwhile, the stress of a tooth part borne by the second small tooth difference planet wheel is improved, so that the problems of the bearing capacity and the service life of the eccentric bearing are solved, and the bearing capacity, the input rotating speed, the motion stability, the precision retentivity and the service life of the speed reducing mechanism are integrally improved.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is a right side view of fig. 1.
Fig. 4 is an installation schematic diagram of the second planetary gear with small tooth difference in the present invention.
Fig. 5 is a schematic structural view of the first planetary gear meshed with the input shaft gear.
Fig. 6 is a schematic view of a first planetary gear.
Fig. 7 is a structural schematic diagram of a second few-tooth-difference planetary gear.
Fig. 8 is a schematic structural view of the eccentric shaft.
Fig. 9 is a schematic structural view of the input shaft gear.
Fig. 10 is a schematic structural diagram of the left carrier.
Fig. 11 is a left side view of fig. 10.
Fig. 12 is a schematic structural view of the right carrier.
Fig. 13 is a left side view of fig. 12.
In the figure: 1. the planetary gear set comprises a hole retainer ring, 2, a left planet carrier, 3, a deep groove ball bearing, 4, a second planetary gear with small tooth difference, 5, a needle bearing, 6, a gasket, 7, an inner gear ring, 8, a bearing, 9, a right planet carrier, 10, a first planetary gear, 10-1, cylindrical teeth, 10-2, involute internal spline teeth, 11, a shaft retainer ring, 12, an eccentric shaft, 12-1, involute external spline teeth, 13, an input shaft gear, 14, a central hole, 15 and an eccentric shaft through hole.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
It should be noted that the terms of left and right in the present invention are only used as relative concepts or reference to the normal use status of the product, and should not be considered as limiting.
As shown in fig. 1, the multi-planetary-wheel involute speed reducing mechanism with small tooth difference comprises a shell provided with an inner gear ring 7, a left planetary carrier 2, a second planetary carrier 4 with small tooth difference, a first planetary gear 10, a right planetary carrier 9, an eccentric shaft 12 and an input shaft gear 13. The number of the second few-tooth-difference planet wheels 4 is three. The number of first planet gears 10 and eccentric shafts 12 is the same and at least three. As shown in fig. 7, each of the three second small-tooth-difference planetary gears 4 is provided with a central hole 14, and eccentric shaft through holes 15 are formed around the central hole 14 at equal angles, and the number of the eccentric shaft through holes 15 is the same as that of the eccentric shafts 12. As shown in fig. 8, the eccentric shaft 12 includes three sections of eccentric structures and one section of involute external spline teeth 12-1, and the angles of the three sections of eccentric structures differ by 120 °. As shown in fig. 10 to 13, through holes are provided at the center positions of the left carrier 2 and the right carrier 9, and through holes are provided at positions corresponding to the eccentric shaft through holes 15 of the second small-difference planetary gears 4, respectively. As shown in fig. 9, the right section of the input shaft gear 13 is provided with an external gear for meshing with the first planetary gears 10.
Now, the structure of the present invention will be described in detail by taking three examples of the number of the first planetary gear 10 and the eccentric shaft 12, as follows:
as shown in fig. 1 to 3, the left carrier 2 and the right carrier 9 are respectively provided on both sides of the ring gear 7 and are connected to the housing through bearings 8. The bearing 8 may be an angular contact bearing. The three second few-tooth-difference planet wheels 4 are simultaneously meshed with the inner gear ring 7. The input shaft gear 13 sequentially passes through holes in the centers of the left planet carrier 2, the three second small tooth difference planet wheels 4 and the right planet carrier 9. As shown in fig. 1 and 6, the external gear located on the right segment of the input shaft gear 13 meshes with the cylindrical teeth 10-1 of the three first planetary gears 10, respectively. As shown in fig. 5, three first planetary gears 10 are uniformly distributed on the circumference of the input shaft gear 13. It should be noted that the shaft diameter of the input shaft gear 13 is smaller than the diameter of the central hole 14 of the second small tooth difference planetary gear 4.
The three-section eccentric structure on the eccentric shaft 12 simultaneously passes through the eccentric shaft through holes 15 at the same position on the three second small tooth difference planet wheels 4 and is connected through the needle roller bearing 5. Two ends of the eccentric shaft 12 are respectively connected with the left planet carrier 2 and the right planet carrier 9 through the deep groove ball bearings 3. The left planet carrier 2 and the right planet carrier 9 are respectively provided with a hole check ring 1 at the outer side position of the deep groove ball bearing 3 for limiting the axial displacement of the eccentric shaft 12 between the left planet carrier 2 and the right planet carrier 9. And a gasket 6 is arranged at the inner side position of the deep groove ball bearing 3 and used for blocking and buffering between the deep groove ball bearing 3 and the eccentric shaft 12. As shown in fig. 1 and 6, the involute external spline teeth 12-1 of the eccentric shaft 12 are engaged and fixedly coupled with the involute internal spline teeth 10-2 of the first planetary gear 10 through the right carrier 9. Shaft retainers 11 are provided on both sides of the involute external spline teeth 12-1 of the eccentric shaft 12 to restrict axial displacement of the first planetary gear 10 on the eccentric shaft 12.
As shown in fig. 4, since the three eccentric structures on the three eccentric shafts 12 have a phase difference of 120 °, the phase difference of the three second small-tooth-difference planetary gears 4 sleeved on the three eccentric shafts 12 is 120 °.
In order to ensure that the input shaft gear 13 is well meshed with the first planet gear 10 and the three second planet gears 4 with small tooth difference are well meshed with the inner gear ring 7 to meet the requirements of optimal power splitting, load balancing, contact ratio and the like, the central connecting line of the eccentric shaft at the leftmost end and the eccentric shaft at the left end needs to be ensured to be superposed with the center of the involute external spline 12-1 at the right end, and the contact ratio is not more than +/-2'.
The working principle of the utility model is as shown in figure 1: the input shaft gear 13 rotates with the three first planetary gears 10. The three first planet gears 10 will rotate the eccentric shaft 12. Under the drive of the eccentric shaft 12, the three second small-tooth-difference planetary wheels 4 meshed with the inner gear ring 7 revolve around the axis of the input shaft gear 13 and simultaneously rotate around the axis of the input shaft gear. And because of the rotation of the three second small-tooth-difference planetary gears 4, the three eccentric shafts 12 are driven to revolve around the axis of the input shaft gear 13, that is, the three first planetary gears 10 revolve around the axis of the input shaft gear 13. Since the three eccentric shafts 12 are connected with the left carrier 2 and the right carrier 9 through the bearings 8, the revolution of the three eccentric shafts 12 around the axis of the input shaft gear 13 drives the rotation of the left carrier 2 and the right carrier 9 around the axis of the input shaft gear 13. Finally, the transmission of the rotation vector of the planetary gear from the left planet carrier 9 to the outside at the speed ratio of 1:1 is realized.
In the present invention, the first planetary gear 10 splits the input power to each eccentric shaft 12. Because the phase difference of the three second few-tooth-difference planetary wheels 4 is 120 degrees, the power is averagely divided again, and the power divided by each second few-tooth-difference planetary wheel 4 is smaller and the carried power is equal. The planet gears 4 are simultaneously meshed with the inner gear ring 7 due to the three second small tooth difference. The tooth profile clearance between adjacent working tooth pairs near the meshing line is very small, and the two contact tooth pairs generate elastic deformation under the action of load, so that the tooth profile clearance between the adjacent working tooth pairs disappears, and a multi-tooth elastic meshing effect is generated. The number of teeth of each second small-tooth-difference planetary gear 4 and the inner gear ring 7 which are meshed simultaneously can reach 3-5 pairs. When the number of the second few-tooth-difference planet wheels 4 is three, the number of pairs of teeth meshed at the same time can reach 12-16 pairs. When the speed reducing mechanism works, the normal contact force on a single gear tooth is increased along with the increase of the torque, the multidentate elastic meshing effect coefficient of the main gear tooth pair of the gear pair is continuously reduced, and the multidentate elastic meshing effect coefficient of other contact gear tooth pairs is increased under the condition that the meshing tooth number is not changed. The number of the meshing teeth borne at the same time is increased, so that the stress borne by the tooth pairs is reduced, the bearing capacity of the speed reducing mechanism is improved, the bearing capacity is improved by about 20% compared with that of a few-tooth-difference involute speed reducing mechanism under the condition that the outer diameter size of the speed reducing mechanism is not increased, the return error and the motion precision can reach within 1', the motion is more stable, the rigidity is higher, and the precision retentivity is more stable.
The utility model discloses design the poor planet wheel 4 quantity of the few tooth of second into three for the optimal choice, when the quantity increases to more than three, it is very limited to promote the space once more to reduction gears's performance.
The number of the first planet gears 10, the eccentric shafts 12 and the second small tooth difference planet gears 4 is three, so that the load born by each eccentric shaft 12 is greatly reduced. Meanwhile, the stress of a tooth part borne by the second small tooth difference planet wheel 4 is improved, so that the problems of the bearing capacity and the service life of the eccentric shaft 12 are solved, and the bearing capacity, the input rotating speed, the motion stability, the precision retentivity and the service life of the speed reducing mechanism are integrally improved.
Claims (2)
1. The utility model provides a few tooth difference of multiring planetary wheel formula involute reduction gear, is including the shell, the left planet carrier that are equipped with the ring gear, the few tooth difference planet wheel of second, first planet wheel, right planet carrier, eccentric shaft and input shaft gear, its characterized in that: the number of the second few-tooth-difference planet wheels is three; the number of the first planetary gears and the number of the eccentric shafts are the same and are at least three; the eccentric shaft comprises three sections of eccentric structures and one section of involute external spline teeth, and the angle difference of the three sections of eccentric structures is 120 degrees; the three second small tooth difference planet wheels are provided with center holes, and are provided with eccentric shaft through holes at equal angles around the center holes, and the number of the eccentric shaft through holes is consistent with that of the eccentric shafts; the left planet carrier and the right planet carrier are respectively arranged on two sides of the inner gear ring and are connected with the shell through bearings; the three second small tooth difference planet wheels are simultaneously meshed with the inner gear ring; the input shaft gear sequentially penetrates through the center positions of the left planet carrier, the three second planetary gears with small tooth difference and the right planet carrier, and an external gear at the right section of the input shaft gear is meshed with the three uniformly distributed first planetary gears; three sections of eccentric structures on the eccentric shaft simultaneously penetrate through eccentric shaft through holes at the same position on the three second small-tooth-difference planet wheels and are connected through bearings; two ends of the eccentric shaft are respectively connected with the left planet carrier and the right planet carrier through bearings; and the involute external spline teeth of the eccentric shaft penetrate through the right planet carrier and are fixedly connected with the central position of the first planet wheel.
2. A multiple planetary gear type involute speed reducing mechanism with small tooth difference as claimed in claim 1, wherein: the eccentric shaft is positioned at the leftmost eccentric structure, the center connecting line of the eccentric shaft at the left end and the eccentric shaft at the left end is superposed with the center of the involute external spline tooth at the right end, and the contact ratio is not more than +/-2'.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022188286.4U CN213298713U (en) | 2020-09-29 | 2020-09-29 | Multi-planetary-wheel type involute speed reducing mechanism with small tooth difference |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022188286.4U CN213298713U (en) | 2020-09-29 | 2020-09-29 | Multi-planetary-wheel type involute speed reducing mechanism with small tooth difference |
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| CN213298713U true CN213298713U (en) | 2021-05-28 |
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| CN202022188286.4U Active CN213298713U (en) | 2020-09-29 | 2020-09-29 | Multi-planetary-wheel type involute speed reducing mechanism with small tooth difference |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024055933A1 (en) * | 2022-09-16 | 2024-03-21 | 柔昊精密科技(苏州)有限公司 | Small-tooth-difference planetary speed-reduction mechanism and tooth shape design method therefor |
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2020
- 2020-09-29 CN CN202022188286.4U patent/CN213298713U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024055933A1 (en) * | 2022-09-16 | 2024-03-21 | 柔昊精密科技(苏州)有限公司 | Small-tooth-difference planetary speed-reduction mechanism and tooth shape design method therefor |
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