WO2020083423A1 - Engrenage planétaire pour robot - Google Patents

Engrenage planétaire pour robot Download PDF

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Publication number
WO2020083423A1
WO2020083423A1 PCT/DE2019/100703 DE2019100703W WO2020083423A1 WO 2020083423 A1 WO2020083423 A1 WO 2020083423A1 DE 2019100703 W DE2019100703 W DE 2019100703W WO 2020083423 A1 WO2020083423 A1 WO 2020083423A1
Authority
WO
WIPO (PCT)
Prior art keywords
teeth
gears
gear
planetary
planetary gear
Prior art date
Application number
PCT/DE2019/100703
Other languages
German (de)
English (en)
Inventor
Franz Voelkel
Ralph Schimpf
Original Assignee
Schaeffler Technologies AG & Co. KG
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 Schaeffler Technologies AG & Co. KG filed Critical Schaeffler Technologies AG & Co. KG
Publication of WO2020083423A1 publication Critical patent/WO2020083423A1/fr

Links

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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/2863—Arrangements for adjusting or for taking-up backlash
    • 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
    • F16H2200/00—Transmissions for multiple ratios
    • F16H2200/20—Transmissions using gears with orbital motion
    • F16H2200/2002—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears
    • F16H2200/2007—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears with two sets of orbital gears
    • 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
    • F16H2200/00—Transmissions for multiple ratios
    • F16H2200/20—Transmissions using gears with orbital motion
    • F16H2200/2097—Transmissions using gears with orbital motion comprising an orbital gear set member permanently connected to the housing, e.g. a sun wheel permanently connected to the housing

Definitions

  • the invention relates to a planetary gear for a robot, comprising a first planetary gear set and a second planetary gear set, each having a plurality of planet gears mounted on planet carriers, the planet gears of the first planetary gear set being in mesh with a first sun gear and a first ring gear, and the Planet gears of the second planetary gear set mesh with a second sun gear and a second ring gear.
  • Robots need precision gears that are essentially free of play.
  • a tooth engagement between two gear wheels must be carried out in such a way that there is little or no play between the tooth flanks of the gear wheels.
  • Clearance between the tooth flanks of gear wheels is undesirable in precision gearboxes for robotics applications because this creates inaccuracies in the movement sequence.
  • gearwheels of a gearbox are idle or change from one direction of rotation to another, interfering noises can occur, among other things, due to play between the tooth flanks of the gearwheels that collide.
  • the abrupt contact processes during tooth entry and exit can lead to undesirable torque peaks and noise.
  • the overlap that fluctuates during operation ie the number of teeth in engagement, leads to fluctuations in stiffness, which in turn manifests itself in torque and positioning errors and can lead to undesirable vibrations.
  • DE 10 2013 217 522 A1 discloses a planetary coupling gear with a first planetary gear set, a second planetary gear set, a planet carrier for both planetary gear sets, and a first and second sun gear. Furthermore, the planetary coupling gear comprises two ring gears.
  • the first planetary gear set has first planet gears, which are each rotatably supported by the planet carrier at a radial distance from a central axis of the planetary coupling gear, each about its own first rotational axis.
  • the planet gears mesh with the first sun gear and the first ring gear.
  • the second planetary gear set has second planet gears, each of which rotates about a rotational axis at a radial distance from the central axis. are carried by the planet carrier.
  • the planet gears mesh with the second sun gear and the second ring gear.
  • the first sun gear has a first toothing with a first number of teeth that is different than a second number of teeth of a second toothing of the second sun gear.
  • the second planetary gear set has at least one planet gear with a third toothing, the third number of teeth of which is different than a fourth number of teeth of a fourth toothing of at least one of the second planetary gears.
  • the object of the present invention is to create a planetary gear which is in particular of simple construction and enables a high transmission ratio.
  • the object is achieved by the subject matter of patent claim 1. Preferred embodiments can be found in the dependent claims.
  • a planetary gear according to the invention for a robot comprises two planetary gear sets, the first planetary gear set comprising a first planet carrier with a plurality of first planet gears rotatably arranged thereon, the first planetary gears having a first number of teeth and meshing with a first sun gear and a first ring gear , wherein the second planetary gear set comprises a second planet carrier with a plurality of rotatably arranged second and third planet gears, the second planet gears having a second number of teeth which is not equal to a third number of teeth of the third planet gears, the second and third planet gears having a second sun gear and a second ring gear are in mesh, the two sun gears being connected to one another in a rotationally fixed manner and being drivable via a drive shaft, the first sun gear having a first toothing with a fourth number of teeth and the second sun gear e has second toothing with a fifth number of teeth, the two ring gears being connected to one another in a rotationally fixed manner, the
  • the planetary gear has two planet carriers which are separate from one another and are not connected to one another.
  • the planet gears rotatably mounted on the first or second planet carrier are radially spaced from an axis of rotation of the sun gears or the drive shaft and can be rotated about their own axis of rotation by the respective first or second planet carrier.
  • the two planet carriers are preferably supported on the drive shaft of the planetary gear, the drive shaft being rotatably mounted relative to the two planet carriers.
  • All first planet gears of the first planetary gear set are identical with the same first number of teeth, with at least two planet gears differing in the number of teeth being arranged in the second planet gear set, the second number of teeth of the second planet gears being different from the third number of teeth of the third planet gears differs.
  • the two sun gears are preferably connected to one another in one piece, the sun gears in particular being connected in one piece to the drive shaft and arranged axially adjacent to one another.
  • a drive power is introduced into the planetary gear via the two sun gears.
  • the sun gears are therefore at least indirectly operatively connected to a drive machine or an actuator, the planetary gear being driven via the sun gears.
  • the ring gears are preferably connected to one another in one piece, the ring gears being freely rotatable together about the axis of rotation of the sun gears.
  • Alternative connections for producing a rotationally fixed connection between the two sun gears or between the two ring gears are also conceivable.
  • the fourth number of teeth of the first sun gear is preferably greater than the fifth number of teeth of the second sun gear.
  • the sixth and seventh number of teeth of the two ring gears are identical. Consequently, the two ring gears are constructed identically.
  • the first sun gear has two teeth more than the second sun gear.
  • the sixth number of teeth of the first ring gear is greater than the seventh number of teeth of the second ring gear.
  • the fourth and fifth number of teeth is the Sun gears of the same design.
  • the two sun gears are constructed identically.
  • the first ring gear has two teeth more than the second ring gear.
  • the third number of teeth of the third planet gears is preferably greater than the second number of teeth of the second planet gears. Furthermore, the first number of teeth of the first planet gears and the third number of teeth of the third planet gears are preferably identical.
  • the different number of teeth on the planet gears makes it possible to compensate for a conventional installation condition, by means of which an increase in the overall gear ratio can be achieved.
  • the overall gear ratio is largely dependent on the difference in the number of teeth between the two sun gears or the two hollow gears. The smaller the difference in the number of teeth, the greater the overall ratio of the planetary gear.
  • the first planet carrier is designed to be fixed to the housing.
  • the first planet carrier is fixed in relation to the second planet carrier.
  • the second planet carrier is preferably connected in a rotationally fixed manner to an output shaft of the planetary gear. Accordingly, the second planet carrier is arranged together with the output shaft so as to be rotatable about an axis of rotation, the first planet carrier, on the other hand, being held in a rotationally rigid manner with respect to the axis of rotation.
  • the planetary gear is thus driven via the second planet carrier.
  • the invention includes the technical teaching that the output shaft is set up to be operatively connected to an actuator of the robot, the drive shaft being set up to be operatively connected to an actuator.
  • the actuator can be designed electrically and comprise a stator and a rotor.
  • the rotor is operatively connected to a rotor shaft, the rotor shaft preferably being operatively connected to the drive shaft or the rotor shaft being connected in one piece to the drive shaft in order to set the drive shaft into a rotary movement.
  • the drive shaft is accordingly designed as a rotor shaft.
  • the drive shaft and the output shaft are preferably arranged coaxially to one another.
  • gear elements can be connected directly to one another, or that there are further gear elements between two gear elements, for example one or more shafts or gear wheels.
  • Two gearwheels that mesh with one another are provided for transmitting a torque and a speed from one gearwheel to the other gearwheel.
  • a gearwheel is understood to mean, for example, a sun gear, a ring gear and a planet gear of a planetary gear set.
  • the invention further relates to a robot comprising a planetary gear according to the invention.
  • the robot also has at least one actuator and one actuator, a first drive torque or a first speed of a drive shaft being converted into a second drive torque or a second speed by the planetary gear.
  • the planetary gear is arranged in the power flow between the actuator and the at least one actuator and is driven by the actuator.
  • Figure 1 is a simplified schematic representation to illustrate the
  • Figure 2 is a schematic cross-sectional view of a first planetary gear set of the planetary gear according to the invention according to Figure 1, and
  • FIG. 3 shows a schematic cross-sectional illustration of a second planetary gear set of the planetary gear according to FIG. 1.
  • a planetary gear according to the invention for a robot (not shown here) comprises two planetary gear sets 2a, 2b.
  • the first planetary gear set 2a comprises a first planet carrier 3a with four first planet gears 4 rotatably arranged thereon, the first planet gears 4 having a first number of teeth. point and mesh with a first sun gear 5a and a first ring gear 6a of the first planetary gear set 2a.
  • the first planet carrier 3a is presently fixed to a housing 17.
  • the second planetary gear set 2b comprises a second planet carrier 3b, each with two second and third planet gears 7, 8 rotatably arranged thereon, the two second planet gears 7 having a second number of teeth which is not equal to a third number of teeth of the two third planet gears 8.
  • the second and third planet gears 7, 8 mesh with a second sun gear 5b and a second ring gear 6b of the second planetary gear set 2b.
  • the second planet carrier 3b is non-rotatably connected to an output shaft 15 of the planetary gear 1, the output shaft 15 being operatively connected to an actuator 16 of the robot.
  • the two sun gears 5a, 5b are formed in one piece and are axially adjacent to one another and connected to a drive shaft 9 so as to be drivable.
  • the drive shaft 9 is operatively connected to an actuator 10 arranged coaxially thereto in order to introduce a drive power into the planetary gear 1.
  • the two ring gears 6a, 6b are likewise formed in one piece and are arranged axially adjacent to one another and freely rotatable in the planetary gear 1.
  • the first planetary gear set 2a is shown.
  • the first sun gear 5a has a first toothing 11 with a fourth number of teeth and the first ring gear 6a has a first internal toothing 13 with a sixth number of teeth.
  • the four first planet gears 4 are configured identically with a first external toothing 18 and the same first number of teeth, the first external toothing 18 of the respective first planet gear 4 having both the first internal toothing 13 of the first ring gear 6a and the first Teeth 11 of the first sun gear 5a are in meshing engagement.
  • the first ring gear 6a has a sixth number of teeth of 72
  • the first sun gear 5a has a fourth number of teeth of 24
  • the first planet gears 4 have a first number of teeth of 24.
  • FIG. 3 shows the second planetary gear set 2a, the second sun gear 5b having a second toothing 12 with a fifth number of teeth and the second ring gear 6b having a second internal toothing 14 with a seventh number of teeth.
  • the two second planet gears 7 are identical, namely designed with a second external toothing 19 and the same second number of teeth, the two third planet gears 8 being identical, namely designed with a third external toothing 20 and an identical third number of teeth.
  • Both the second external toothing 19 of the second planet gears 7 and the third external toothing 20 of the third planet gears 8 are in mesh with both the second internal toothing 14 of the second ring gear 6b and the second toothing 12 of the second sun gear 5b.
  • the second ring gear 6b has a seventh number of teeth of 70 and the second sun gear 5b has a fifth number of teeth of 24. Since the second ring gear 6b is internally toothed, the number of teeth can also be specified negatively, namely -70.
  • the two second planet gears 7 have a second number of teeth of 22 and the two third planet gears 8 have a third number of teeth of 24.
  • the third number of teeth of the two third planet gears 8 is therefore greater than the second number of teeth of the two second planet gears 7, the first number of teeth of the first planet gears 4 and the third number of teeth of the third planet gears 8 being the same.
  • the fourth and fifth number of teeth of the two sun gears 5a, 5b according to FIGS. 2 and 3 are the same, the sixth and seventh number of teeth of the ring gears 6a, 6b being different, and the first ring gear 6a having two teeth more than the second ring gear 6b.
  • the sixth and seventh number of teeth of the ring gears 6a, 6b can be the same, as can the fourth and fifth number of teeth of the sun gears 5a, 5b be unequal, in which case the fourth number of teeth of the first sun gear 5a is greater than the fifth number of teeth of the second sun gear 5b.
  • the ring gears 6a, 6b, the sun gears 5a, 5b and the planet gears 4, 7, 8 can also be formed with numbers of teeth other than those present here, with the smallest possible number of teeth difference between the two ring gears 6a , 6b or between the two sun gears 5a, 5b.

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

Abstract

L'invention concerne un engrenage planétaire (1) destiné à robot. Un premier ensemble de satellites (2a) comprend un premier porte-satellites (3a) pourvu d'une pluralité de premiers satellites (4) disposés à rotation sur celui-ci. Les premiers satellites (4) s'engrènent avec une première roue solaire (5a) et une première couronne dentée (6a). Un deuxième ensemble de satellites (2b) comprend un deuxième porte-satellites (3b) pourvu d'une pluralité de deuxièmes et troisième satellites (7, 8) disposés à rotation sur celui-ci. Les deuxièmes satellites (7) ont un nombre de dents qui n'est pas égal au nombre de dents des troisièmes satellites (8). Les deuxièmes et troisièmes satellites (7, 8) s'engrènent avec une deuxième roue solaire (5b) et une deuxième couronne dentée (6b). Les deux roues solaires (5a, 5b) sont reliées l'une à l'autre solidairement en rotation et peuvent être entraînées. La première roue solaire (5a) comporte un quatrième nombre de dents et la deuxième roue solaire (5b) comporte un cinquième nombre de dents. Les deux couronnes dentées (6a, 6b) sont reliées l'une à l'autre solidairement en rotation. La première couronne dentée (6a) comporte un sixième nombre de dents et la deuxième couronne dentée (6b) comporte un septième nombre de dents, et les quatrième et cinquième nombres de dents des roues solaires (5a, 5b) sont différents et les sixième et septième nombre de dents des couronnes dentées (6a, 6b) sont identiques ou les sixième et septième nombre de dents des couronnes dentées (6a, 6b) sont différents et les quatrième et cinquième nombre de dents des roues solaires (5a, 5b) sont identiques. L'invention concerne en outre un robot comprenant un tel engrenage planétaire (1).
PCT/DE2019/100703 2018-10-25 2019-08-01 Engrenage planétaire pour robot WO2020083423A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018126590.5A DE102018126590A1 (de) 2018-10-25 2018-10-25 Planetengetriebe für einen Roboter
DE102018126590.5 2018-10-25

Publications (1)

Publication Number Publication Date
WO2020083423A1 true WO2020083423A1 (fr) 2020-04-30

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ID=67614408

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Application Number Title Priority Date Filing Date
PCT/DE2019/100703 WO2020083423A1 (fr) 2018-10-25 2019-08-01 Engrenage planétaire pour robot

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DE (1) DE102018126590A1 (fr)
WO (1) WO2020083423A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112943867A (zh) * 2021-01-27 2021-06-11 李玉立 一种新型行星齿轮减速机构及减速器
CN113068504A (zh) * 2021-04-20 2021-07-06 东莞沐秦智能科技有限公司 同轴对转滚动切割式割草装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW201326607A (zh) * 2011-12-29 2013-07-01 Univ Nat Formosa 複合式行星齒輪減速機
EP2636924A1 (fr) * 2010-11-01 2013-09-11 Kabushiki Kaisha Yaskawa Denki Mécanisme de trains épicycloïdaux composite
DE102013217522A1 (de) 2013-09-03 2015-03-19 Schaeffler Technologies AG & Co. KG Planetenkoppelgetriebe
EP2982482A1 (fr) * 2014-08-07 2016-02-10 Samsung Electronics Co., Ltd Module d'entraînement et appareil d'assistance au mouvement comprenant le module d'entraînement

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2636924A1 (fr) * 2010-11-01 2013-09-11 Kabushiki Kaisha Yaskawa Denki Mécanisme de trains épicycloïdaux composite
TW201326607A (zh) * 2011-12-29 2013-07-01 Univ Nat Formosa 複合式行星齒輪減速機
DE102013217522A1 (de) 2013-09-03 2015-03-19 Schaeffler Technologies AG & Co. KG Planetenkoppelgetriebe
EP2982482A1 (fr) * 2014-08-07 2016-02-10 Samsung Electronics Co., Ltd Module d'entraînement et appareil d'assistance au mouvement comprenant le module d'entraînement

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112943867A (zh) * 2021-01-27 2021-06-11 李玉立 一种新型行星齿轮减速机构及减速器
CN113068504A (zh) * 2021-04-20 2021-07-06 东莞沐秦智能科技有限公司 同轴对转滚动切割式割草装置

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