WO2019200899A1 - Nouveau réducteur à engrenage planétaire - Google Patents

Nouveau réducteur à engrenage planétaire Download PDF

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Publication number
WO2019200899A1
WO2019200899A1 PCT/CN2018/114850 CN2018114850W WO2019200899A1 WO 2019200899 A1 WO2019200899 A1 WO 2019200899A1 CN 2018114850 W CN2018114850 W CN 2018114850W WO 2019200899 A1 WO2019200899 A1 WO 2019200899A1
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WO
WIPO (PCT)
Prior art keywords
gear
wheel
planet
disposed
carrier
Prior art date
Application number
PCT/CN2018/114850
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English (en)
Chinese (zh)
Inventor
吴永德
Original Assignee
吴永德
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 吴永德 filed Critical 吴永德
Publication of WO2019200899A1 publication Critical patent/WO2019200899A1/fr

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    • 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
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear

Definitions

  • the invention relates to the technical field of a reducer, and in particular to a novel planetary reducer.
  • the precision reducer is a mechanical power transmission mechanism designed to reduce the rotational speed and increase the torque.
  • the harmonic reducer used in the three large speed reducers in the robot is a speed reducer developed by the principle of planetary gear transmission. It is mainly composed of four basic components: wave generator, flexible gear, flexible bearing and rigid gear.
  • the harmonic drive reducer is a kind of flexible bearing assembled by wave generator to make the flexible gear produce controllable elastic deformation and rigid gear. A gear train that meshes to transmit motion and power.
  • the harmonic reducer has the highest precision, the precision retention ability is poor. Because the flexible wheel is subjected to a large alternating load, the anti-fatigue strength and heat treatment requirements of the flexible wheel material are high, the process is complicated, the processing is difficult, and the service life is short. .
  • the most critical components of the precision reducer robot transmission are designed with a simple structure, convenient processing, wide speed ratio range, large torque range, small size, light weight, high life, high reliability, low cost and generalization.
  • Modular, grounded gas precision reducers are a top priority for mechanical technicians. The present invention thus comes.
  • the object of the present invention is to provide a novel planetary reducer which has a simple structure and a long service life.
  • a novel planetary reducer comprising a stationary wheel, a planet carrier disposed in the stationary wheel, at least one planetary gear mechanism disposed on the planet carrier, and an output wheel disposed on the planet carrier
  • the planetary gear mechanism includes a planetary shaft disposed on a planet carrier and a planetary gear disposed on the planetary shaft, the planetary carrier having a power input portion, the stationary wheel, the carrier and the output wheel being coaxially disposed, An axis of the planetary gear is parallel to an axis of the planet carrier, and the planetary gear is meshed with the stationary wheel and the output wheel, and the stationary wheel and the output wheel have a difference in the number of teeth.
  • an end cap disposed at an outer end of the output wheel is further included, the end cap is fixed to the stationary wheel, and the output wheel is rotatably disposed in a middle portion of the end cap.
  • a first bearing is disposed between the carrier and the stationary wheel, and a second bearing is disposed between the planetary gear and the planetary shaft, the output wheel and the planet A third bearing is disposed between the frames, and a fourth bearing is disposed between the end cover and the output wheel.
  • the gear meshing is one of internal and external tooth engagement, tapered tooth engagement, or planar tooth engagement.
  • the tooth profile of the gear is an involute, a circular arc, a hyperbola, a cycloid, or an S-line.
  • the gear teeth are spur, helical or helical.
  • the planet carrier is used as an input component, the planet carrier drives the planetary wheel to rotate around the stationary wheel and the output wheel, and the planetary wheel rotates around its own rotating shaft, and the planetary gear meshes with the stationary wheel and the output wheel, because the output wheel and the stationary wheel There is a difference in the number of teeth between the wheels.
  • the planet carrier rotates one turn, the output wheel rotates by n degrees of difference with respect to the stationary wheel.
  • the output wheel will continuously amplify the torque by n times and reduce.
  • the speed output of n times realizes the function of the reducer;
  • the structure of the reducer is simple, which is equivalent to realizing the same large reduction ratio of the harmonic reducer or the cycloidal reducer in the space of the primary planetary gear reducer, and the structure is compact Small size; due to the use of rigid gears, flexible gears are used compared to harmonic reducers, and the life is long; multiple planetary gears can be arranged, because the number of teeth is large, the output torque is large; high-precision grinding of the tooth profile After that, it has extremely high transmission accuracy, low noise and low vibration.
  • the flexible gear and flexible bearing in the harmonic reducer are eliminated, so the material requirements are low. Low cost, simple manufacturing and other notable features, be widely used in industrial robots and the like requiring a small volume, a large torque, high accuracy, where a large reduction ratio.
  • FIG. 1 is a working principle diagram of a planetary gear mechanism of the present invention
  • FIG. 2 is a schematic view showing the operation of a plurality of planetary gear mechanisms according to an embodiment of the present invention
  • FIG. 3 is a schematic structural view of an embodiment of a novel planetary reducer of the present invention.
  • FIG. 4 is a schematic structural view of another embodiment of the present invention.
  • 100 planet carrier; 200, planetary gear; 300, output wheel; 400, stationary wheel; 1, planet carrier; 2, planetary gear; 3, planetary shaft; 4, first bearing; 5, second bearing; , stationary wheel; 7, output wheel; 8, third bearing; 9, fourth bearing; 10, end cap.
  • FIG. 3 is a schematic structural view of an embodiment of the present invention, and provides a novel planetary reducer including a stationary wheel 6, a planetary carrier 1 disposed in the stationary wheel 6, and at least one planetary gear mechanism disposed on the carrier 1. And rotating the output wheel 7 disposed on the carrier 1, the planetary gear mechanism includes a planetary shaft 3 disposed on the carrier 1, and a planetary gear 2 rotatably disposed on the planetary shaft 3.
  • the carrier 1 has a power input portion For the external motor to input power to the carrier 1 to drive the carrier 1 to rotate, the stationary wheel 6, the planetary gear 2 and the output wheel 7 are coaxially arranged, the axis of the planetary gear 2 is parallel with the axis of the carrier 1, the planetary gear 2 and The stationary wheel 6 and the output wheel 7 are meshed, and the stationary wheel 6 and the output wheel 7 have a tooth difference n, and n is 1, 2, 3, ....
  • a planetary mechanism may be disposed.
  • a plurality of planetary mechanisms may be disposed, and the number of the planetary gears 200 may be increased to increase the planetary gear 200 , the stationary wheel 400 , and the output wheel 300 .
  • 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 a single planet wheel.
  • an end cap 10 is provided at the outer end of the output wheel 7, the end cap 10 is fixed to the stationary wheel 6, and the output wheel 7 is rotatably disposed in the middle of the end cap 10.
  • a first bearing 4 is disposed between the carrier and the stationary wheel 6
  • a second bearing 5 is disposed between the planetary gear 2 and the planetary shaft 3
  • a third is disposed between the output wheel 7 and the carrier.
  • a fourth bearing 9 is provided between the bearing 8, the end cap 10 and the output wheel 7.
  • the gear meshing may be one of internal and external tooth meshing, tapered tooth meshing or planar tooth meshing; the tooth profile of the gear is involute, circular arc, hyperbolic, cycloidal or S-line; Straight, helical or helical.
  • the reducer can adopt flange input, output or shaft input and output, and can be set as needed in use, and the invention is not limited.
  • the working principle of the invention is that the input torque of the external motor is input to the reducer through the carrier, the carrier 1 drives the planetary gear 2 to rotate around the stationary wheel 6, the output wheel 7, and the planetary gear 2 meshes with the stationary wheel 6 and the output wheel 7. At the same time, the planetary gear 2 rotates about its own axis. This planetary motion forcibly rotates the output wheel 7 having a difference in the number of teeth with the stationary wheel 6. When the carrier 1 rotates one turn, the output wheel 7 rotates by n degrees of difference with respect to the stationary wheel 6. With the continuous input of the external motor, the output wheel 7 will continuously amplify n times of torque and reduce the speed output by n times.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

La présente invention concerne un nouveau réducteur à engrenage planétaire, comprenant : un engrenage fixe ; un porte-satellites disposé de manière rotative à l'intérieur de l'engrenage fixe ; au moins un mécanisme d'engrenage planétaire disposé sur le porte-satellites ; et un engrenage de sortie disposé de manière rotative sur le porte-satellites. Le mécanisme d'engrenage planétaire comprend : un arbre planétaire disposé sur le porte-satellites ; et un engrenage planétaire disposé de manière rotative sur l'arbre planétaire. Le porte-satellites a une section d'entrée de puissance. L'engrenage fixe, le porte-satellites et l'engrenage de sortie sont agencés de manière coaxiale. L'axe de l'engrenage planétaire est parallèle par rapport à l'axe du porte-satellites. L'engrenage planétaire s'engrène à la fois avec l'engrenage fixe et l'engrenage de sortie. L'engrenage fixe et l'engrenage de sortie ont des nombres de dents différents. Le nouveau réducteur à engrenage planétaire selon la présente invention peut remplacer un réducteur harmonique, et a une structure simple, un traitement pratique, une longue durée de vie et un faible coût.
PCT/CN2018/114850 2018-04-20 2018-11-09 Nouveau réducteur à engrenage planétaire WO2019200899A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810364166.XA CN108458059A (zh) 2018-04-20 2018-04-20 新型行星减速器
CN201810364166.X 2018-04-20

Publications (1)

Publication Number Publication Date
WO2019200899A1 true WO2019200899A1 (fr) 2019-10-24

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PCT/CN2018/114850 WO2019200899A1 (fr) 2018-04-20 2018-11-09 Nouveau réducteur à engrenage planétaire

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CN (1) CN108458059A (fr)
WO (1) WO2019200899A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108458059A (zh) * 2018-04-20 2018-08-28 吴永德 新型行星减速器

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3941719A1 (de) * 1989-12-18 1991-06-20 Harmonic Drive Antriebstechnik Umlaufgetriebe
CN2198453Y (zh) * 1994-02-05 1995-05-24 饶振纲 微型行星齿轮减速器
CN2531172Y (zh) * 1999-02-22 2003-01-15 赵韩 无系杆3k行星减速器
CN106090140A (zh) * 2016-08-23 2016-11-09 合肥工业大学 弹性无回差3z行星减速器
CN108458059A (zh) * 2018-04-20 2018-08-28 吴永德 新型行星减速器

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN85205664U (zh) * 1985-12-28 1986-12-10 沈阳矿山机器厂 行星内齿差减速器
CN102226463A (zh) * 2011-05-25 2011-10-26 深圳市琛玛华夏科技有限公司 一种新型的行星减速器及减速电机

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3941719A1 (de) * 1989-12-18 1991-06-20 Harmonic Drive Antriebstechnik Umlaufgetriebe
CN2198453Y (zh) * 1994-02-05 1995-05-24 饶振纲 微型行星齿轮减速器
CN2531172Y (zh) * 1999-02-22 2003-01-15 赵韩 无系杆3k行星减速器
CN106090140A (zh) * 2016-08-23 2016-11-09 合肥工业大学 弹性无回差3z行星减速器
CN108458059A (zh) * 2018-04-20 2018-08-28 吴永德 新型行星减速器

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