WO2019200898A1

WO2019200898A1 - Improved planetary gear reducer

Info

Publication number: WO2019200898A1
Application number: PCT/CN2018/114849
Authority: WO
Inventors: 吴永德
Original assignee: 吴永德
Priority date: 2018-04-20
Filing date: 2018-11-09
Publication date: 2019-10-24
Also published as: CN108425997A

Abstract

The present invention discloses an improved planetary gear reducer, comprising: a center gear; a stationary gear circumferentially disposed around one end of the center gear; at least one planet gear mechanism disposed between the stationary gear and the center gear; and an output gear disposed on and around the circumference of the other end of the center gear. The planet gear mechanism comprises: a planet carrier rotatably disposed on the stationary gear; a planet shaft disposed on the planet carrier; and a planet gear rotatably disposed on the planet shaft. The stationary gear, the output gear, and the center gear are coaxially arranged. The axis of the planet gear is parallel to the axis of the center gear. The planet gear meshes with the center gear, the stationary gear, and the output gear. The stationary gear and the output gear have different numbers of teeth. The improved planetary gear reducer provided by the present invention has a simple structure, low cost, and high precision.

Description

Improved planetary reducer

Technical field

The invention relates to the technical field of reducers, and in particular to an improved planetary reducer.

Background technique

The precision large speed ratio reducer is a mechanical power transmission mechanism designed to reduce the speed and increase the torque. In recent years, with the development of industrial robots, one of the core components of robots, the development of precision large speed ratio reducers has become a major obstacle to the development of robots. Among the three major reducers used in robots, the harmonic reducer has the highest accuracy, but the accuracy is poor, and the life is short. It is mainly used for small torques such as robot joints; RV reducer, long life, complicated structure and high cost. It is mainly used in large speed ratio and large torque occasions; the precision planetary reducer has a small single-stage reduction ratio, and it requires a multi-stage combination to achieve a large speed ratio, so the volume is large and the precision is not high. The most critical components of the precision large speed ratio reducer robot drive are designed with a simple structure, convenient processing, wide speed ratio range, large torque range, small size, light weight, high life, high reliability and low cost. Generalized, modular, grounded gas precision large speed ratio reducer is a top priority for mechanical technicians. The present invention thus comes.

Summary of the invention

It is an object of the present invention to provide an improved planetary reducer that is compact and efficient.

Based on the above problems, the technical solution provided by the present invention is:

An improved planetary reducer comprising a center wheel, a stationary wheel circumferentially disposed along one end of the center wheel, at least one planetary gear mechanism disposed between the stationary wheel and the center wheel, and at the center An output wheel in the circumferential direction of the other end of the wheel, the planetary gear mechanism including a planet carrier rotatably disposed on the stationary wheel, a planet shaft disposed on the planet carrier, and a planetary gear disposed on the planet shaft The stationary wheel and the output wheel are coaxially arranged with the center wheel, the axis of the planetary wheel is parallel to the axis of the center wheel, and the planetary wheel meshes with the center wheel, the stationary wheel and the output wheel. There is a difference in the number of teeth between the stationary wheel and the output wheel.

In some of these embodiments, an end cap is provided at the output end of the output wheel, the end cap is fixed to the stationary wheel, and the output wheel is rotatably disposed in the middle of the end cap.

In some embodiments, a first bearing is disposed between one end of the rotating shaft of the center wheel and the carrier, and a second bearing is disposed between the carrier and the stationary wheel, the planetary gear a third bearing is disposed between the other end of the rotating shaft of the center wheel and the output wheel, and a fourth bearing is disposed between the output wheel and the end cover. Bearing.

In some of these embodiments, the gear meshing is one of internal and external tooth engagement, tapered tooth engagement, or planar tooth engagement.

In some of these embodiments, the tooth profile of the gear is an involute, a circular arc, a hyperbola, a cycloid, or an S-line.

In some of these embodiments, the gear teeth are spur, helical or helical.

The advantages of the present invention over the prior art are:

By adopting the technical scheme of the invention, the first-stage deceleration is realized between the center wheel and the planetary wheel, and then the second-stage deceleration is realized by the planetary wheel, the stationary wheel and the output wheel, the speed reducer has a simple structure, a large reduction ratio range, a small volume, and a weight. Light, long life, stable return accuracy, high efficiency, easy manufacturing, stable transmission, high torsional rigidity, low price, etc., basically overcome the problem of RV reducer, can be produced in large quantities at low cost, and can be derived from many The class reducer can be widely used in industrial robots and other occasions requiring small volume, large torque, high precision and large reduction ratio.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. The drawings in the following description are only some embodiments of the present invention, which are common in the art. For the skilled person, other drawings can be obtained from these drawings without any creative work.

Figure 1 is a schematic view showing the operation of a planetary mechanism of the improved planetary reducer of the present invention;

2 is a schematic diagram showing the operation of a plurality of planetary mechanisms according to an embodiment of the present invention;

3 is a schematic structural view of an embodiment of a modified planetary reducer of the present invention;

4 is a schematic structural view of another embodiment of the present invention.

among them:

100, center wheel; 200, planet carrier; 300, planetary wheel; 400, output wheel; 500, stationary wheel;

1. Center wheel; 2. First bearing; 3. Planet carrier; 4. Planetary shaft; 5. Second bearing; 6. Planetary wheel; 7. Static wheel; 8. Third bearing; , output wheel; 11, fifth bearing; 12, end cover.

detailed description

The above scheme will be further described below in conjunction with specific embodiments. It is to be understood that the examples are intended to illustrate the invention and not to limit the scope of the invention. The implementation conditions employed in the examples can be further adjusted according to the conditions of the specific manufacturer, and the unspecified implementation conditions are usually the conditions in the conventional experiment.

Referring to FIG. 3, a schematic structural view of an embodiment of the present invention provides an improved planetary reducer including a center wheel 1, a stationary wheel 7 circumferentially arranged along one end of the center wheel 1, and a stationary wheel 7 and a center wheel 1 At least one planetary mechanism, and an output wheel 10 disposed at a circumferential direction of the other end of the center wheel 1, the planetary gear mechanism includes a planetary carrier 3 rotatably disposed on the stationary wheel 7, and a planetary shaft 4 disposed on the carrier 3, And rotating the planetary gear 6 disposed on the planetary shaft 4, the stationary wheel 7, the output wheel 10 and the center wheel 1 are coaxially arranged, the axis of the planetary gear 6 is parallel to the axis of the center wheel 1, and the planetary gear 6 and the center wheel 1 are stationary. Both the wheel 7 and the output wheel 10 are meshed, and the stationary wheel 7 and the output wheel 10 have a difference in the number of teeth n, and n is 1, 2, 3, ....

Since the planetary gear 6 is to be meshed with the stationary wheel 7 and the output wheel 10 of different numbers of teeth at the same time, more than one gear must be used for the displacement processing, and all the displacement teeth can be used. The gear displacement is prior art. .

In the implementation, as shown in FIG. 1, a planetary mechanism may be disposed. As shown in FIG. 2, a plurality of planetary mechanisms are preferably disposed, and the number of the planetary wheels 300 is increased, thereby increasing the number of the planetary wheels 300 simultaneously with the stationary wheel 500 and the output wheel 400. The number of teeth meshed, thereby increasing the transmission torque, reducing the gear gap, improving the transmission accuracy, and also overcoming the vibration and noise caused by the asymmetry of the single planet gear 300.

Referring to FIG. 4, in other embodiments, an end cap 12 disposed at the output end of the output wheel 10 is further included. The end cap 12 is fixed to the stationary wheel 7, and the output wheel 10 is rotatably disposed at the center of the end cap 12.

In this example, a first bearing 2 is disposed between one end of the rotating shaft of the center wheel 1 and the carrier 3, and a second bearing 5 is disposed between the carrier 3 and the stationary wheel 7, and between the planetary gear 6 and the planetary shaft 4 The third bearing 8, between the other end of the rotating shaft of the center wheel 1 and the output wheel 10, is provided with a fourth bearing 9, and a fifth bearing 11 between the output wheel 10 and the end cover 12.

In practice, the gear meshing may be one of internal and external tooth engagement, tapered tooth engagement or planar tooth engagement. The tooth profile of the gear is involute, circular arc, hyperbolic, cycloidal or S-line; the gears are spur, helical or helical; the reducer can be flange input, output or shaft input and output. In use, it can be set as needed, and the invention is not limited.

The working principle of the invention is that the external motor torque is input through the center wheel 1, and the center wheel 1 is rotated about its own axis. Since the planetary gear 6 is simultaneously meshed with the center wheel 1, the stationary wheel 7, and the output wheel 10, the planetary gear 6 is wound around the center wheel. 1. The stationary wheel 7 rotates around its own axis while rotating. Since the stationary wheel 7 is fixed and does not rotate, the rotation of the center wheel 1 causes the relative rotation of the planetary gear 6 to perform planetary motion to achieve the first-stage deceleration of the speed reducer; The planetary gear 6 meshes with the stationary wheel 7 and the output wheel 10 at the same time. Since there is a difference in the number of teeth between the stationary wheel 7 and the output wheel 10, when the planetary gear 6 rotates around the stationary wheel 7, the stationary wheel 7 cannot rotate, so that the output wheel 10 Rotating a tooth difference angle to achieve the second-stage deceleration of the reducer; when the input torque is continuously input from the center wheel, the above-mentioned two-stage deceleration causes the torque to be amplified by n times and reduced by n times. The speed is output from the output wheel.

The above examples are only intended to illustrate the technical concept and the features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the present invention and to implement the present invention, and the scope of the present invention is not limited thereto. Equivalent transformations or modifications made in accordance with the spirit of the invention are intended to be included within the scope of the invention.

Claims

An improved planetary reducer characterized by comprising a center wheel (1), a stationary wheel (7) circumferentially arranged along one end of the center wheel (1), and a stationary wheel (7) and the center wheel (1) at least one planetary gear mechanism between, and an output wheel (10) disposed in a circumferential direction of the other end of the center wheel (1), the planetary gear mechanism including a rotation set on the stationary wheel (7) a planet carrier (3), a planet shaft (4) disposed on the planet carrier (3), and a planet gear (6) disposed on the planet shaft (4), the stationary wheel (7) An output wheel (10) is disposed coaxially with the center wheel (1), an axis of the planet gear (6) being parallel to an axis of the center wheel (1), the planet gear (6) and the center The wheel (1), the stationary wheel (7), and the output wheel (10) are engaged, and the stationary wheel (7) and the output wheel (10) have a difference in the number of teeth.
The improved planetary reducer of claim 1 further comprising an end cap (12) disposed at an output end of said output wheel (10), said end cap (12) being secured to said stationary wheel ( 7) The upper output wheel (10) is rotatably disposed in the middle of the end cover (12).
The improved planetary reducer according to claim 2, characterized in that a first bearing (2) is provided between one end of the rotating shaft of the center wheel (1) and the carrier (3), the planet a second bearing (5) is disposed between the frame (3) and the stationary wheel (7), and a third bearing (5) is disposed between the planetary gear (6) and the planetary shaft (4). A fourth bearing (9) is disposed between the other end of the rotating shaft of the center wheel (1) and the output wheel (10), and the output wheel (10) and the end cover (12) are provided with a Five bearings (11).
The improved planetary reducer according to any one of claims 1 to 3, wherein the gear meshing is one of internal and external tooth engagement, tapered tooth engagement or planar tooth engagement.
The improved planetary reducer of claim 4 wherein the tooth profile of the gear is an involute, a circular arc, a hyperbola, a cycloid or an S-line.
The improved planetary reducer of claim 5 wherein the gear is in the form of a spur, a helical or a helical tooth.