CN215763080U - Speed reducer - Google Patents

Abstract

The utility model belongs to the technical field of speed reducers, and particularly discloses a speed reducer which comprises a speed reducing box body, a speed reducing structure and a driving device, wherein the speed reducing structure is installed in the speed reducing box body; the speed reduction structure comprises a planetary gear set, a planet carrier which is used for mounting the planetary gear set and is in transmission connection with the driving device, and a gear ring set which is mounted in the reduction gearbox body and is meshed with the planetary gear set; the gear ring group is sleeved outside the planetary gear set; the planetary gear set comprises a first gear and a second gear which are coaxially arranged and mutually connected; the planetary gear set and the gear ring set are eccentrically arranged; the gear ring group comprises a gear ring I which is meshed with the gear I and fixed in the reduction box body, and a gear ring II which is meshed with the gear II and rotationally connected with the reduction box body; the planet carrier, the gear ring set and the output shaft of the driving device are coaxially arranged. The utility model can provide extremely high speed reduction ratio and extremely wide speed reduction ratio range, and has high efficiency, small volume and light weight.

Description

Speed reducer

Technical Field

The utility model relates to the technical field of speed reducers, in particular to a speed reducer.

Background

With the development of economy and technology, a high reduction ratio, high efficiency, small volume, low weight and low cost reduction scheme has become indispensable for equipment manufacture. Especially for the fields of power exoskeleton, robots, mechanical arms, vehicles and the like, the speed reduction scheme is very important.

Taking a mechanical arm as an example, the conventional deceleration scheme includes a traditional planetary gear box and a harmonic reducer. The traditional planetary gear box has high monopole efficiency (about 95%), but the monopole speed reduction ratio is low (3-10 times), and if the high reduction ratio is reached, deceleration stages must be superposed, so that the problems of linear weight increase, efficiency reduction, volume increase and the like are caused. The existing deceleration motor applying the reduction box body, such as the M2006 deceleration motor of the Dajiang company, often has the volume and weight ratio of the gear box body far higher than that of the motor (the weight of the reduction box body of the M2006 is twice of that of the motor).

The harmonic reducer has the characteristics of high reduction ratio (30-320 times) and low volume, but has low efficiency (about 70 percent), and meanwhile, the complex special-shaped structures of the wave generator and the flexible wheel cause short service life, complex design and manufacture and extremely high cost. The conventional reduction gear box applying the harmonic reduction principle, such as a CSF-5 reduction gear box of HDSI (HarmonicDriveSystems Inc.) of the industry known as Japan, has a reduction ratio of 1: the maximum efficiency is only 62% at 30, and the maximum efficiency is only 73% at a reduction ratio of 1: 100. However, the selling price is high.

The two speed reducers have the defects, and the development of the fields of mechanical arms, robots, power exoskeletons and the like is greatly limited.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a speed reducer which can provide a higher speed reduction ratio, and has high efficiency, small volume and low weight.

The technical problem to be solved by the utility model is as follows:

a speed reducer comprises a speed reducing box body, a speed reducing structure and a driving device, wherein the speed reducing structure is installed in the speed reducing box body;

the speed reduction structure comprises a planetary gear set, a planet carrier which is used for mounting the planetary gear set and is in transmission connection with the driving device, and a gear ring set which is mounted in the reduction gearbox body and is meshed with the planetary gear set; the gear ring group is sleeved outside the planetary gear set;

the planetary gear set comprises a first gear and a second gear which are coaxially arranged and mutually connected; the planetary gear set and the gear ring set are eccentrically arranged;

the gear ring group comprises a gear ring I which is meshed with the gear I and fixed in the reduction box body, and a gear ring II which is meshed with the gear II and rotationally connected with the reduction box body; the planet carrier, the gear ring set and the output shaft of the driving device are coaxially arranged.

The output shaft of the driving device is connected with the planet carrier and coaxially arranged, the output shaft rotates to drive the planet carrier and the planetary gear set arranged on the planet carrier to rotate around the output shaft, and the planetary gear set is meshed with the gear ring set, so that the planetary gear set rotates around the connecting shaft connected with the planet carrier;

the first gear and the second gear are coaxially arranged and are mutually connected, so that torque transmission is realized; the planetary gear set and the planet carrier are arranged eccentrically, and the first gear is connected with the planet carrier and rotates around the planet carrier; the first gear ring is fixedly connected with the reduction box body, so that the gear can rotate at a speed different from the output shaft of the motor; the first gear and the second gear are connected with each other to form an integral combined gear and rotate synchronously around the planet carrier together. The gear ring II is rotationally connected with the reduction box body, and the gear II is meshed with the gear ring II to drive the gear ring II to rotate; and the second gear ring is used as an output shaft to be connected with other parts to realize speed reduction.

In some possible embodiments, for efficient implementation, the mounting of the planet carrier with the planetary gear set;

the planet carrier comprises an eccentric shaft which is not coaxial with the gear ring set, an input shaft which is coaxial with the gear ring set and is connected with the driving device, and a mounting frame for mounting the eccentric shaft; the first gear and the second gear are coaxially arranged with the eccentric shaft and are in transmission connection.

In some possible embodiments, when the planetary gear sets are in one group; the planet carrier generates vibration due to unbalanced dynamic and static conditions;

the mounting frame is of a [ -shaped structure and comprises an upper transverse plate I, a vertical plate I and a lower transverse plate I which are sequentially connected and form a mounting cavity; the eccentric shaft is arranged in the mounting cavity and is arranged on one side, far away from the vertical plate, of the input shaft; the planetary gear set penetrates through the mounting cavity to be meshed with the gear ring set. The input shaft penetrates through the eccentric shaft and is relatively and fixedly connected with the eccentric shaft, the first gear and the second gear are sleeved on the outer side of the eccentric shaft, and the eccentric shaft, the first gear and the second gear rotate through the bearing.

Preferably, a riser is arranged outside the planetary gear set with a clearance from the planetary gear set so that the rotation of the planetary gear set about the eccentric shaft is not affected.

Preferably, the riser can be arranged inside the eccentric shaft when the eccentric shaft is sufficiently large.

The mounting mode of the two vertical plates I can ensure dynamic and static balance of the speed reduction structure.

The eccentric shaft is used for mounting the planetary gear set, so that the planetary gear set rotates relative to the eccentric shaft, the upper transverse plate I and the lower transverse plate I are used for supporting the first vertical plate I, and the first vertical plate I is used as a counterweight component, so that the planetary gear set and the planet carrier are effectively kept in dynamic and static balance after being mounted in the gear ring set, and the phenomenon that the planetary gear set generates vibration due to dynamic and static imbalance caused by the fact that the planetary gear set is eccentrically arranged on the planet carrier is avoided, and finally the device cannot normally operate is caused;

in some possible embodiments, in order to effectively improve the contact ratio of the planetary gear set and the ring gear set, the service life of the planetary gear set is prolonged;

the first gear and the second gear are both HCR gears.

In some possible embodiments, to ensure that the planetary gear sets are balanced within the ring gear set; the planetary gear sets are at least two and are uniformly arranged along the circumferential direction of the input shaft; are respectively arranged on the mounting frame through eccentric shafts and are respectively meshed with the gear ring group.

In some possible embodiments, the planetary gear sets are two sets; the two eccentric shafts are arranged on the mounting frame; the mounting rack is of an エ -shaped structure and comprises an upper transverse plate II, a vertical plate II and a lower transverse plate II which are sequentially connected and form two symmetrical mounting cavities; the input shaft is coaxially connected with the second vertical plate and penetrates through the second vertical plate; the two eccentric shafts are respectively arranged in the two mounting cavities; the planetary gear set penetrates through the mounting cavity to be meshed with the gear ring set.

The tooth number of the first gear ring is G2, the tooth number of the first gear ring is G1, the tooth number of the second gear ring is G3, and the tooth number of the second gear ring is G4, wherein G2-G1 is G4-G3.

In some possible embodiments, the output disc is connected with one side of the second gear ring away from the driving device; the output disc and the gear ring II are coaxially arranged.

In some possible embodiments, in order to effectively realize the rotary connection between the second gear ring and the reduction box body;

compared with the prior art, the utility model has the beneficial effects that:

the utility model effectively realizes speed reduction through the matching of the planetary gear set, the gear ring set and the reduction box body;

when the single planetary gear set is adopted to realize speed reduction, the mounting frame is arranged in the gear ring set, so that the planetary gear set and the planet carrier are effectively kept in dynamic and static balance after being mounted in the gear ring set, and the condition that the device cannot normally operate due to vibration caused by dynamic and static imbalance of the planetary gear set due to the fact that the planet carrier is eccentrically arranged by the planetary gear set is avoided;

according to the utility model, the first gear and the second gear are set as HCR gears, so that the contact ratio of the planetary gear set and the gear ring set is effectively improved, and the service life of the planetary gear set is prolonged;

the utility model has the characteristics of wide speed reduction ratio range, high limit speed reduction ratio (0.5-10000 times), balanced stress and high bearing capacity.

Drawings

FIG. 1 is a schematic structural view of a reduction case, a planet carrier, a ring gear set and a planetary gear set according to the present invention;

FIG. 2 is a schematic view showing a connection relationship between the reduction case and the ring gear set according to the present invention;

FIG. 3 is a schematic cross-sectional view of the reduction case and the ring gear set according to the present invention;

FIG. 4 is a schematic illustration of the connection of a planetary gear set to a carrier when a single set of planetary gear sets is employed in the present invention;

FIG. 5 is a schematic structural view of the mounting bracket of FIG. 4;

FIG. 6 is a schematic view of the planetary gear set and the carrier when two planetary gear sets are employed in the present invention;

FIG. 7 is a schematic structural view of the mounting bracket of FIG. 6;

FIG. 8 is an isometric view of the present invention;

FIG. 9 is a schematic view of the reduction structure and reduction case structure of the present invention when two planetary gear sets are employed;

wherein: 1-reduction box body, 2-reduction structure, 21-planetary gear set, 211-gear I, 212-gear II, 213-planet carrier, 2131-upper transverse plate I, 2132-vertical plate I, 2133-lower transverse plate I, 2134-upper transverse plate II, 2135-vertical plate II, 2136-lower transverse plate II, 214-eccentric shaft, 215-input shaft, 22-gear ring set, 221-gear ring I, 222-gear ring II, 3-output disc and 10-driving device.

Detailed Description

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. Reference herein to "first," "second," and similar words, does not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. In the implementation of the present application, "and/or" describes an association relationship of associated objects, which means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In the description of the embodiments of the present application, the meaning of "a plurality" means two or more unless otherwise specified. For example, the plurality of positioning posts refers to two or more positioning posts. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The present invention will be described in detail below.

As shown in fig. 1-9;

a speed reducer comprises a speed reducing box body 1, a speed reducing structure 2 installed in the speed reducing box body 1, and a driving device 10 penetrating through the speed reducing box body 1 and connected with the speed reducing structure 2;

the reduction structure 2 comprises a planetary gear set 21, a planet carrier 213 for mounting the planetary gear set 21 and in transmission connection with the driving device 10, and a ring gear set 22 mounted in the reduction box body 1 and meshed with the planetary gear set 21; the gear ring group 22 is sleeved on the outer side of the planetary gear set 21;

the planetary gear set 21 comprises a first gear 211 and a second gear 212 which are coaxially arranged and connected with each other; the planetary gear set 21 and the gear ring set 22 are eccentrically arranged;

as shown in fig. 2 and 3, the gear ring group 22 includes a first gear ring 221 engaged with the first gear 211 and fixed in the reduction case 1, and a second gear ring 222 engaged with the second gear ring 212 and rotationally connected with the reduction case 1; the carrier 213, the ring gear set 22, and the output shaft of the drive device 10 are coaxially disposed.

The output shaft of the driving device 10 is connected with and coaxially arranged with the planet carrier 213, and the rotation of the output shaft will drive the planet carrier 213 and the planetary gear set 21 mounted on the planet carrier 213 to rotate around the output shaft, which will cause the planetary gear set 21 to rotate around the connecting shaft thereof connected with the planet carrier 213 due to the meshing of the planetary gear set 21 and the ring gear set 22;

the first gear 211 and the second gear 212 are coaxially arranged and are connected with each other so as to realize the transmission of torque; the planetary gear set 21 and the planet carrier 213 are eccentrically arranged, and the first gear 211 is connected with the planet carrier 213 and rotates around the planet carrier; the first gear ring 221 is fixedly connected with the reduction box body 1, so that the first gear 211 can rotate at a different rotating speed from the rotating speed of the output shaft of the driving device 10; gear one 211 and gear two 212 are interconnected to form an integral composite gear and rotate together in unison about carrier 213.

The second gear ring 222 is rotationally connected with the reduction box body 1, the second gear 212 is meshed with the second gear ring 222 to drive the second gear ring 222 to rotate, and the second gear ring 222 rotates at a rotating speed lower than that of the output shaft of the driving device 10. The second gear ring 222 is connected with other components as an output end to realize speed reduction.

In some possible embodiments, in order to efficiently implement the mounting of the carrier 213 with the planetary gear set 21;

the planet carrier 213 comprises an eccentric shaft 214 which is not coaxial with the ring gear set 22, an input shaft 215 which is arranged coaxially with the ring gear set 22 and is connected with the driving device 10, and a mounting frame for mounting the eccentric shaft 214; the first gear 211 and the second gear 212 are coaxially arranged with the eccentric shaft 214 and are in transmission connection.

In some possible embodiments, when the space inside the ring gear is small, and the planetary gear set 21 can be only one set; the planet carrier 213 will generate vibration due to dynamic and static imbalance;

as shown in fig. 4 and 5, the mounting frame is of a [ -shaped structure, and comprises an upper transverse plate 2131, a vertical plate 2132 and a lower transverse plate 2133 which are sequentially connected and form a mounting cavity; the eccentric shaft 214 is installed in the installation cavity and is arranged on one side of the input shaft 215 far away from the vertical plate; the planetary gear set 21 passes through the mounting cavity and is meshed with the ring gear set 22.

The eccentric shaft 214 is used for mounting the planetary gear set 21, so that the planetary gear set 21 rotates relative to the planet carrier 213, the first upper transverse plate 2131 and the second lower transverse plate 2136 are used for supporting the first vertical plate 2132 and realizing the rotary connection with the eccentric shaft 214, and the first vertical plate 2132 is used as a counterweight component, so that the dynamic and static balance of the planetary gear set 21 and the planet carrier 213 is effectively kept after the planetary gear set 21 and the planet carrier 213 are mounted in the gear ring set 22, and the phenomenon that the vibration is generated due to the dynamic and static imbalance of the planetary gear set 21 caused by the eccentric arrangement of the planetary gear set 21 on the planet carrier 213 is avoided, and finally the device cannot normally operate is caused;

the output shaft of the driving device passes through the first transverse plate 2131 to be connected with the eccentric shaft 213, and the eccentric shaft 214 is not coaxial with the output shaft of the driving device.

In some possible embodiments, in order to effectively improve the contact ratio of the planetary gear set 21 to the ring gear set 22, the service life of the planetary gear set 21 is increased;

the first gear 211 and the second gear 212 are both HCR gears, and the HCR gears are high-contact-ratio gears meshed with the gear rings.

In some possible embodiments, as shown in fig. 6, 7 and 9, in order to ensure that the planetary gear sets 21 can be balanced in the ring gear set 22 and multiple planetary gear sets 21 can be mounted on the carrier 213, the planetary gear sets 21 are at least two and are uniformly arranged along the circumferential direction of the input shaft 215; are respectively mounted on the mounting brackets by eccentric shafts 214 and are respectively engaged with the ring gear sets 22.

Balance is realized by arranging the planetary gear sets 21 which are uniformly arranged, and the load of the planetary gear sets 21 is shared;

for example, when the planetary gear set 21 is two, the axes of the two eccentric shafts 214 are on the same plane with the axis of the input shaft 215.

When the planetary gear set 21 is three sets, the eccentric shafts 214 are connected in sequence to form an equilateral triangle, the center of which is on the same line with the axis of the input shaft 215.

When the planetary gear set 21 is four, the axes of the eccentric shafts 214 are connected in sequence to form a square, and the center of the square is aligned with the axis of the input shaft 215.

In some possible embodiments, as shown in fig. 6, 7, 9, the planetary gear sets 21 are in two groups; is mounted on the mounting frame by two eccentric shafts 214; the mounting rack is of an エ -shaped structure and comprises an upper transverse plate II 2134, a vertical plate II 2135 and a lower transverse plate II 2136 which are sequentially connected and form two symmetrical mounting cavities; the input shaft 215 is coaxially connected with the second riser 2135 and penetrates through the second riser 2135; the two eccentric shafts 214 are respectively arranged in the two mounting cavities; the planetary gear set 21 passes through the mounting cavity and is meshed with the ring gear set 22.

The two eccentric shafts 214 are respectively installed in the two installation cavities and are symmetrically arranged, and the axis of the input shaft 215 is on the same straight line with the axis of the second vertical plate 2135 along the vertical direction.

When the planetary gear set 21 is a plurality of sets, the principle of rotation is the same as that when a set of planetary gear set 21 is adopted, and the plurality of sets are mainly arranged to ensure dynamic and static balance.

The number of teeth of the first gear ring 221 is G2, the number of teeth of the first gear ring 211 is G1, the number of teeth of the second gear ring 212 is G3, and the number of teeth of the second gear ring 222 is G4, wherein G2-G1 is G4-G3. By derivation, the reduction ratio R can be obtained,

when G2-G1 is G4-G3, the closer the tooth numbers of the first ring gear 221 and the second ring gear 222 are, and the smaller the tooth number difference between the ring gear set 22 and the planetary gear set 21 is, the larger the transmission ratio is; when the transmission ratio is increased to increase the torque, the difference between the numbers of teeth of the inner ring and the outer ring needs to be reduced, the number of teeth participating in meshing is increased, the stress is more dispersed, and therefore the bearing capacity of the structure is increased along with the increase of the transmission ratio under the condition of the same output torque;

the present invention has the advantage of high torque transmission, contrary to the conventional planetary gear set 21 that the difference between the numbers of teeth is increased to reduce the number of teeth engaged, thereby reducing the load-bearing capacity.

Such as:

if the first ring gear 221 is the largest ring gear and the number of teeth is 101, then the maximum reduction ratio R is 10000 when the number of teeth G1 of the first gear 211 is 100, the number of teeth G4 of the second ring gear 222 is 100, and the number of teeth G3 of the second gear 212 is 99: 1. this reduction ratio is much higher than single stage planetary reduction ratios (about R10: 1) and single stage harmonic reducer reduction ratios (about R100: 1) that use the same maximum number of teeth. In addition, the structure only has twice gear engagement, and the structure cannot be deformed intentionally like a harmonic reducer, so that the efficiency of the structure is far higher than that of a planetary gear and the harmonic reducer under the condition of a large reduction ratio.

The present invention has a feature of achieving an extremely small reduction ratio, and when the tooth number G1 of the first gear 211 is 10, the tooth number G2 of the first ring gear 221 is 40, the tooth number G3 of the second gear 212 is 30, and the tooth number G4 of the ring gear ER is 60, the reduction ratio R is-1: 1. if G4 is further increased, the magnitude of the reduction ratio can be further reduced. By exchanging the input/output shafts 215, the reduction ratio can be made closer to 0, and thus the reduction ratio range of the present invention is very wide, and almost all conceivable reduction ratios can be covered.

In some possible embodiments, as shown in fig. 2, 3 and 8, the driving device further comprises an output disc 3 connected with the side of the second ring gear 222 away from the driving device 10; the output disc 3 and the second gear ring 222 are coaxially arranged.

In some possible embodiments, in order to effectively realize the rotary connection between the second ring gear 222 and the reduction box body 1;

and a bearing is sleeved outside the second gear ring 222, and the bearing is fixedly installed in the reduction box body 1 and is coaxially arranged with the second gear ring 222.

Preferably, a bearing is also provided between the planetary gear set 21 and the eccentric shaft 214, so as to realize the rotation of the planetary gear set 21 around the eccentric shaft 214.

Preferably, the first gear 211 is provided with an annular groove close to the second gear 212, and one side of the second gear 212 close to the first gear 211 is provided with an annular boss, and the annular groove and the annular boss are connected to form a whole.

Preferably, the driving device 10 is a motor, and an output shaft of the motor enters the reduction gear box 1 and is connected with the input shaft 215. Namely, the output shaft of the motor is the input shaft of the speed reduction structure.

The utility model is not limited to the foregoing embodiments. The utility model extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.

Claims (9)

1. The speed reducer is characterized by comprising a speed reducing box body, a speed reducing structure and a driving device, wherein the speed reducing structure is installed in the speed reducing box body;

the speed reduction structure comprises a planetary gear set, a planet carrier which is used for mounting the planetary gear set and is in transmission connection with the driving device, and a gear ring set which is mounted in the reduction gearbox body and is meshed with the planetary gear set; the gear ring group is sleeved outside the planetary gear set;

the planetary gear set comprises a first gear and a second gear which are coaxially arranged and mutually connected; the planetary gear set and the gear ring set are eccentrically arranged;

the gear ring group comprises a gear ring I which is meshed with the gear I and fixed in the reduction box body, and a gear ring II which is meshed with the gear II and rotationally connected with the reduction box body; the planet carrier, the gear ring set and the output shaft of the driving device are coaxially arranged.

2. A reducer according to claim 1, in which the planet carrier comprises an eccentric shaft which is not coaxial with the set of gear rings, an input shaft which is arranged coaxially with the set of gear rings and is connected to the drive means, and a mounting for mounting the eccentric shaft, the input shaft being connected eccentrically to the eccentric shaft; the first gear and the second gear are coaxially arranged with the eccentric shaft and are in transmission connection.

3. The reducer according to claim 2, wherein the mounting frame is of a [ -shaped structure and comprises a first upper transverse plate, a first vertical plate and a first lower transverse plate which are sequentially connected and form a mounting cavity; the eccentric shaft is arranged in the mounting cavity and is arranged on one side, far away from the vertical plate, of the input shaft; the planetary gear set penetrates through the mounting cavity to be meshed with the gear ring set.

4. A decelerator according to claim 3, wherein the first and second gears are HCR gears.

5. A speed reducer according to claim 2, wherein the planetary gear sets are in at least two groups and are arranged uniformly in the circumferential direction of the input shaft; are respectively arranged on the mounting frame through eccentric shafts and are respectively meshed with the gear ring group.

6. A reducer according to claim 5, in which the planetary gear sets are in two groups; the two eccentric shafts are arranged on the mounting frame; the mounting rack is of an エ -shaped structure and comprises an upper transverse plate II, a vertical plate II and a lower transverse plate II which are sequentially connected and form two symmetrical mounting cavities; the input shaft is coaxially connected with the second vertical plate and penetrates through the second vertical plate; the two eccentric shafts are respectively arranged in the two mounting cavities; the planetary gear set penetrates through the mounting cavity to be meshed with the gear ring set.

7. A decelerator according to any one of claims 1-6, wherein the first ring gear has G2 teeth, the first gear has G1 teeth, the second gear has G3 teeth, and the second ring gear has G4 teeth, where G2-G1-G4-G3 teeth.

8. A reducer according to claim 7, further comprising an output disc connected to the second ring gear on the side remote from the drive means; the output disc and the gear ring II are coaxially arranged.

9. A reducer according to claim 7, wherein a bearing is sleeved on the outer side of the second gear ring, and the bearing is fixedly mounted in the reducer box and is arranged coaxially with the second gear ring.

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