WO2012088752A1 - 一种高精度高效率的减速器 - Google Patents

一种高精度高效率的减速器 Download PDF

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Publication number
WO2012088752A1
WO2012088752A1 PCT/CN2011/002112 CN2011002112W WO2012088752A1 WO 2012088752 A1 WO2012088752 A1 WO 2012088752A1 CN 2011002112 W CN2011002112 W CN 2011002112W WO 2012088752 A1 WO2012088752 A1 WO 2012088752A1
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Prior art keywords
gear
shaft
input
transmission
coupled
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PCT/CN2011/002112
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English (en)
French (fr)
Inventor
杨新胜
Original Assignee
Yang Xinsheng
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Publication of WO2012088752A1 publication Critical patent/WO2012088752A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/04—Combinations of toothed gearings only
    • F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes

Definitions

  • the present invention relates to a speed reducer, and more particularly to a high precision and high efficiency speed reducer.
  • the gear unit is a type of gear unit commonly used in the industry to convert high speed inputs to low speed outputs.
  • industrial robots are also a development focus in the future. High precision reduction for existing industrial robots
  • the speed reducer is mainly RV reducer and harmonic reducer, but both reducers have their own defects.
  • RV reducer is also called eccentric differential cycloid reducer, its reduction ratio can reach 30 ⁇ 300, but due to the adoption
  • the eccentric rotation method is used to realize the large reduction ratio, that is, there is a crankshaft structure, so there is centrifugal force in the radial direction of the rotating shaft. It is this centrifugal force that greatly affects the accuracy, efficiency, and output torque of the RV reducer. , input speed and service life, and require higher manufacturing precision.
  • the harmonic reducer is a planetary gear transmission (referred to as harmonic drive) that relies on flexible parts to generate elastic mechanical waves to transmit power and motion. Its gear ratio can reach 1:500, but due to the flexible wheel drive, The flexible wheel is made of elastic material, which will deform under the force of force, affect the accuracy, and the output torque is small. Moreover, when the flexible wheel is working, it is always deformed, which is easy to cause fatigue damage of the flexible wheel. It affects the service life of the harmonic reducer. In addition, the reduction ratio is too small for both the RV reducer and the harmonic reducer.
  • the technical problem to be solved by the present invention is to provide a high-precision and high-efficiency speed reducer which is simple in processing, good in rigidity, high in precision, high in efficiency, and capable of achieving an excessively large reduction ratio.
  • a high-precision and high-efficiency reducer comprising a housing, an input shaft, an output shaft, a differential gear set, a transmission plate and an input gear, and the input shaft and the input shaft
  • the differential gear set is coupled to the drive plate and the input gear
  • the drive plate is axially coupled with at least one planetary gear
  • the housing is Coaxially fixedly provided with a transmission internal gear
  • the planetary gear simultaneously meshes with the input gear and the transmission internal gear
  • the output shaft is coaxially fixedly connected
  • the speed reducer can have different speed reduction ratios, and a super-high reduction ratio can be realized in real sense, and the gears can be changed by changing the meshing gears.
  • the number of teeth makes the input motor and the output shaft rotate in the same direction or in the opposite direction to meet the requirements of the reducer under various conditions.
  • the differential gear set includes a transmission shaft, a first gear, a second gear, a third gear, and a fourth gear, wherein the input shaft is coaxially disposed with the output shaft, and the transmission shaft and the The input shaft is disposed in parallel, the first gear is coaxially fixedly coupled to the input shaft, the input shaft is fixedly coupled to the input gear, and the second gear and the third gear are respectively.
  • the shaft is fixedly connected to the transmission shaft, the input shaft is axially coupled with a sleeve, the fourth gear is coaxially fixedly disposed on the sleeve, and the sleeve and the shaft are
  • the drive plate is fixedly coupled, the first gear meshes with the second gear, the third gear meshes with the fourth gear, and the housing is axially coupled to the bushing on.
  • the differential gear set includes a transmission shaft, a first gear, a second gear, a third gear, and a fourth gear, wherein the transmission shaft is coaxially disposed with the output shaft, and the input shaft and the The output shafts are arranged in parallel, the first gear is coaxially fixedly connected to the transmission shaft, the transmission shaft is fixedly connected with the input gear, and the second gear and the third gear are respectively.
  • the shaft is fixedly coupled to the input shaft, the transmission shaft is axially coupled with a sleeve, the fourth gear is coaxially fixedly disposed on the sleeve, and the sleeve is coupled to the shaft
  • the drive plate is fixedly coupled, the first gear meshes with the second gear, the third gear meshes with the fourth gear, and the housing is axially coupled to the bushing on.
  • the transmission shaft may be a solid shaft or a hollow shaft.
  • the planetary gears may be one, two, three or more and are evenly coupled to the drive plate about the input gear.
  • the number of teeth of the planetary gears may or may not be equal to the number of teeth of the input gear.
  • the invention has the advantages that since the differential gear set is respectively coupled with the drive plate and the input gear, the drive plate and the input gear have different rotational speeds, and the housing is rotated by the transmission of the planetary gears, thereby achieving high The conversion between the input speed and the low output speed.
  • the speed reducer With it is necessary to design the speed reducer with different reduction ratios, it is only necessary to change the number of teeth of the meshing gears to have different transmission ratios with each other, and it can realize the true meaning.
  • Extra large reduction ratio (reduction ratio i is between 300 ⁇ 10000), and all gears can be driven by spur gear or other forms of gears, and when the number of planetary gears is more than two, the entire reducer is completely symmetrical.
  • the rotating structure makes the whole reducer simple in structure, convenient in processing, large in rigidity, and can withstand large torque. At the same time, it can reach the maximum dead space of the reducer ⁇ 1 arc minute, maximum angular error ⁇ 1 second, transmission efficiency>0. 92 , to achieve high precision and high efficiency transmission of the reducer; In addition, the reducer has a long service life.
  • Figure 1 is a schematic diagram of the transmission of the present invention
  • Figure 2 is a front elevational view of the first embodiment of the present invention
  • Figure 3 is an end view of Figure 2 after opening the housing
  • Figure 4 is a cross-sectional view of Figure 2. detailed description
  • a high-precision and high-efficiency reducer includes an input shaft 1, an output shaft 2, a differential gear set, a transmission plate 3, an input gear 4, and a housing 7, and the differential gear set includes The transmission shaft 5, the first gear 51, the second gear 52, the third gear 53 and the fourth gear 54 are disposed coaxially with the output shaft 2, and the transmission shaft 5 is disposed in parallel with the input shaft 1, the first gear 51 is the same
  • the shaft is fixedly connected to the input shaft 1, and the input shaft 1 is fixedly connected to the input gear 4.
  • the second gear 52 and the third gear 53 are coaxially fixedly connected to the transmission shaft 5, and the input shaft 1 is connected with a sleeve 6 on the shaft.
  • the fourth gear 54 is coaxially fixedly disposed on the sleeve 6.
  • the sleeve 6 is fixedly connected to the drive plate 3, the first gear 51 meshes with the second gear 52, and the third gear 53 meshes with the fourth gear 54.
  • 7 is connected to the sleeve 6 through the bearing shaft, and the transmission plate 3 is connected with three planetary gears 8 uniformly distributed around the input gear 4, and the transmission internal gear 71 is coaxially fixed in the housing 7, and the planetary gear 8 is simultaneously input and input.
  • Gear 4 and transmission internal gear 71 phase 2 together coaxially, the output shaft 7 is integrally attached to the housing.
  • Embodiment 2 The other structure is the same as that of the first embodiment, except that the positions of the input shaft 1 and the transmission shaft 5 are mutually reversed, that is, the transmission shaft 5 and the output shaft 2 are coaxially arranged, and the input shaft 1 and the output shaft 2 are arranged in parallel.
  • the first gear 51 is coaxially fixedly connected to the transmission shaft 5, the transmission shaft 5 is fixedly connected with the input gear 4, and the second gear 52 and the third gear 53 are coaxially fixedly connected to the input shaft 1, respectively, and the transmission shaft 5 is sleeved.
  • the sleeve 6 is disposed, and the fourth gear 54 is coaxially fixedly disposed on the sleeve 6.
  • the sleeve 6 is fixedly connected with the drive plate 3, the first gear 51 meshes with the second gear 52, and the third gear 53 and the fourth gear 54 meshed.
  • the transmission shaft 5 may be a hollow shaft to facilitate the wearing of the wires.
  • the speed reducer can have different reduction ratios, By changing the number of teeth of the meshing gear, the input motor and the output shaft can be rotated in the same direction or in the opposite direction to meet the requirements of the reducer in various situations; secondly, by changing the relative number of teeth of the planetary gear 8 and the input gear 4 , to change the reduction ratio of the reducer.
  • the speed reducer described in the first embodiment or the second embodiment may be selected according to different mounting positions of the speed reducers in different industrial robots, and the speed reducer may be used in other equipment.

Description

一种高精度高效率的减速器 技术领域
本发明涉及一种减速器， 尤其涉及一种高精度高效率的减速器。
背景技术
减速器是工业中常用的一种减速装置， 它可将高转速输入转化为低转速输出。而随 着科技的发展， 工业机器人也是将来的一个发展重点。现有工业机器人上用的高精密减 确
速器主要是 RV减速器和谐波减速器两种， 但是这两种减速器都存在各自的缺陷。
认
RV减速器也称偏心差动式摆线针轮减速器， 它的减速比可达 30〜300， 但是由于采 本
用了偏心转动的方法来实现大减速比， 即存在曲轴结构， 因而在转轴的径向方向上就存 在离心力， 正是这种离心力的存在， 大大影响了 RV减速器的精度、 效率、 输出扭矩、 输入转速和使用寿命， 并对制造精度要求更高。
谐波减速器是依靠柔性零件产生弹性机械波来传递动力和运动的一种行星齿轮传 动 （简称谐波传动） 的减速器， 它的传动比可达 1 : 500, 但是由于采用了柔性轮传动， 而柔性轮是采用弹性材料制成的， 在受力的情况下会产生变形， 影响精度， 输出扭矩较 小， 而且柔性轮在工作时， 时时刻刻在变形， 容易造成柔性轮的疲劳损伤， 影响谐波减 速器的使用寿命， 此外， 不管是 RV减速器还是谐波减速器其减速比还太小。
发明内容
本发明所要解决的技术问题是提供一种加工简单、 刚性好、 精度高、 效率高且可实 现超大减速比的高精度高效率的减速器。
本发明解决上述技术问题所采用的技术方案为： 一种高精度高效率的减速器， 包括 壳体、 输入轴、 输出轴、 差动齿轮组、 传动板和输入齿轮， 所述的输入轴与所述的差动 齿轮组联接， 所述的差动齿轮组分别与所述的传动板和所述的输入齿轮联接， 所述的传 动板上轴接有至少一个行星齿轮， 所述的壳体内同轴固定设置有传动内齿轮， 所述的行 星齿轮同时与所述的输入齿轮和所述的传动内齿轮相啮合，所述的输出轴同轴固定连接 在所述的壳体上， 对于该减速器， 只要改变相啮合齿轮的齿数， 就可使减速器具有不同 的减速比， 且可实现真正意义上的超大减速比， 也可通过改变相啮合齿轮的齿数， 使输 入电机和输出轴同向转动或反向转动， 以满足各种情况下对减速器的要求。
所述的差动齿轮组包括传动轴、 第一齿轮、 第二齿轮、 第三齿轮和第四齿轮， 所述 的输入轴与所述的输出轴同轴设置， 所述的传动轴与所述的输入轴平行设置， 所述的第 一齿轮同轴固定连接在所述的输入轴上， 所述的输入轴与所述的输入齿轮固定连接， 所 述的第二齿轮和第三齿轮分别同轴固定连接在所述的传动轴上，所述的输入轴上轴接有 轴套， 所述的第四齿轮同轴固定设置在所述的轴套上， 所述的轴套与所述的传动板固定 连接， 所述的第一齿轮与所述的第二齿轮相啮合， 所述的第三齿轮与所述的第四齿轮相 啮合， 所述的壳体轴接在所述的轴套上。
所述的差动齿轮组包括传动轴、 第一齿轮、 第二齿轮、 第三齿轮和第四齿轮， 所述 的传动轴与所述的输出轴同轴设置， 所述的输入轴与所述的输出轴平行设置， 所述的第 一齿轮同轴固定连接在所述的传动轴上， 所述的传动轴与所述的输入齿轮固定连接， 所 述的第二齿轮和第三齿轮分别同轴固定连接在所述的输入轴上，所述的传动轴上轴接有 轴套， 所述的第四齿轮同轴固定设置在所述的轴套上， 所述的轴套与所述的传动板固定 连接， 所述的第一齿轮与所述的第二齿轮相啮合， 所述的第三齿轮与所述的第四齿轮相 啮合， 所述的壳体轴接在所述的轴套上。
所述的传动轴可以为实心轴， 也可以为空心轴。
所述的行星齿轮可以为一个、 两个、 三个或多个， 且绕所述的输入齿轮均匀轴接在 所述的传动板上。
所述的行星齿轮的齿数可以与所述的输入齿轮的齿数相等， 也可以不相等。
与现有技术相比， 本发明的优点是由于差动齿轮组分别与传动板和输入齿轮联接， 使传动板和输入齿轮具有不同的转速， 并通过行星齿轮的传动带动壳体转动， 实现高输 入转速与低输出转速之间的转换， 当需要设计具有不同减速比的减速器时， 只要改变相 啮合齿轮的齿数， 使其相互间具有不同的传动比即可， 且可实现真正意义上的超大减速 比 （减速比 i在 300〜10000之间）， 而且所有齿轮都可以采用直齿传动或其它形式的齿 轮传动， 且当行星齿轮的数量在两个以上时， 整个减速器具有完全对称的旋转结构， 使 整个减速器结构简单， 加工方便， 刚性大， 可承受的扭矩大， 同时还可达到减速器的最 大空程 <1弧分、最大角误差 <1秒、传动效率 >0. 92，实现减速器的高精度和高效率传动； 此外， 减速器的使用寿命长。 附图说明
图 1为本发明的传动原理图；
图 2为本发明实施例一的主视图；
图 3为图 2打开壳体后的端面视图；
图 4为图 2的剖视图。 具体实施方式
以下结合附图实施例对本发明作进一步详细描述。
实施例一： 如图所示， 一种高精度高效率的减速器， 包括输入轴 1、 输出轴 2、 差 动齿轮组、 传动板 3、 输入齿轮 4和壳体 7， 差动齿轮组包括传动轴 5、 第一齿轮 51、 第二齿轮 52、 第三齿轮 53和第四齿轮 54， 输入轴 1与输出轴 2同轴设置， 传动轴 5与 输入轴 1平行设置， 第一齿轮 51同轴固定连接在输入轴 1上， 输入轴 1与输入齿轮 4 固定连接， 第二齿轮 52和第三齿轮 53分别同轴固定连接在传动轴 5上， 输入轴 1上轴 接有轴套 6， 第四齿轮 54同轴固定设置在轴套 6上， 轴套 6与传动板 3固定连接， 第一 齿轮 51与第二齿轮 52相啮合， 第三齿轮 53与第四齿轮 54相啮合， 壳体 7通过轴承轴 接在轴套 6上， 传动板 3上轴接有三个绕输入齿轮 4均匀分布的行星齿轮 8, 壳体 7内 同轴固定设置有传动内齿轮 71，行星齿轮 8同时与输入齿轮 4和传动内齿轮 71相啮合， 输出轴 2同轴一体连接在壳体 7上。
实施例二： 其它结构同实施例一， 不同之处在于输入轴 1和传动轴 5的位置相互对 换， 即： 传动轴 5与输出轴 2同轴设置， 输入轴 1与输出轴 2平行设置， 第一齿轮 51 同轴固定连接在传动轴 5上， 传动轴 5与输入齿轮 4固定连接， 第二齿轮 52和第三齿 轮 53分别同轴固定连接在输入轴 1上， 传动轴 5上套设有轴套 6， 第四齿轮 54同轴固 定设置在轴套 6上， 轴套 6与传动板 3固定连接， 第一齿轮 51与第二齿轮 52相啮合， 第三齿轮 53与第四齿轮 54相啮合。
上述实施例二中， 传动轴 5可以为空心轴， 以方便穿电线。
上述实施例中， 只要改变相啮合齿轮的齿数， 就可使减速器具有不同的减速比， 也 可通过改变相啮合齿轮的齿数， 使输入电机和输出轴同向转动或反向转动， 以满足各种 情况下对减速器的要求； 其次还可通过改变行星齿轮 8与输入齿轮 4的相对齿数， 来改 变减速器的减速比。
此外， 可根据不同工业机器人中减速器的不同安装位置， 选择上述实施例一或二所 描述的减速器， 而且该减速器也可使用在其它的设备中。

Claims

权 利 要 求
1、一种高精度高效率的减速器， 其特征在于包括壳体、 输入轴、 输出轴、 差动齿 轮组、 传动板和输入齿轮， 所述的输入轴与所述的差动齿轮组联接， 所述的差动齿轮组 分别与所述的传动板和所述的输入齿轮联接， 所述的传动板上轴接有至少一个行星齿 轮， 所述的壳体内同轴固定设置有传动内齿轮， 所述的行星齿轮同时与所述的输入齿轮 和所述的传动内齿轮相啮合， 所述的输出轴同轴固定连接在所述的壳体上， 对于该减速 器， 只要改变相啮合齿轮的齿数， 就可使减速器具有不同的减速比， 且可实现真正意义 上的超大减速比， 也可通过改变相啮合齿轮的齿数， 使输入电机和输出轴同向转动或反 向转动， 以满足各种情况下对减速器的要求。
2、 如权利要求 1所述的一种高精度高效率的减速器， 其特征在于所述的差动齿轮 组包括传动轴、 第一齿轮、 第二齿轮、 第三齿轮和第四齿轮， 所述的输入轴与所述的输 出轴同轴设置， 所述的传动轴与所述的输入轴平行设置， 所述的第一齿轮同轴固定连接 在所述的输入轴上， 所述的输入轴与所述的输入齿轮固定连接， 所述的第二齿轮和第三 齿轮分别同轴固定连接在所述的传动轴上， 所述的输入轴上轴接有轴套， 所述的第四齿 轮同轴固定设置在所述的轴套上， 所述的轴套与所述的传动板固定连接， 所述的第一齿 轮与所述的第二齿轮相啮合， 所述的第三齿轮与所述的第四齿轮相啮合， 所述的壳体轴 接在所述的轴套上。
3、 如权利要求 1所述的一种高精度高效率的减速器， 其特征在于所述的差动齿轮 组包括传动轴、 第一齿轮、 第二齿轮、 第三齿轮和第四齿轮， 所述的传动轴与所述的输 出轴同轴设置， 所述的输入轴与所述的输出轴平行设置， 所述的第一齿轮同轴固定连接 在所述的传动轴上， 所述的传动轴与所述的输入齿轮固定连接， 所述的第二齿轮和第三 齿轮分别同轴固定连接在所述的输入轴上， 所述的传动轴上轴接有轴套， 所述的第四齿 轮同轴固定设置在所述的轴套上， 所述的轴套与所述的传动板固定连接， 所述的第一齿 轮与所述的第二齿轮相啮合， 所述的第三齿轮与所述的第四齿轮相啮合， 所述的壳体轴 接在所述的轴套上。
4、 如权利要求 3所述的一种高精度高效率的减速器， 其特征在于所述的传动轴为 实心轴或空心轴。
5、 如权利要求 1所述的一种高精度高效率的减速器， 其特征在于所述的行星齿轮 为一个、 两个、 三个或多个， 且绕所述的输入齿轮均匀轴接在所述的传动板上。
6、 如权利要求 1所述的一种高精度高效率的减速器， 其特征在于所述的行星齿轮 的齿数与所述的输入齿轮的齿数相等或不相等。
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