WO2020134807A1 - 行星减速器及机器人 - Google Patents

行星减速器及机器人 Download PDF

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Publication number
WO2020134807A1
WO2020134807A1 PCT/CN2019/121179 CN2019121179W WO2020134807A1 WO 2020134807 A1 WO2020134807 A1 WO 2020134807A1 CN 2019121179 W CN2019121179 W CN 2019121179W WO 2020134807 A1 WO2020134807 A1 WO 2020134807A1
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WIPO (PCT)
Prior art keywords
stage
cage
gear
planetary
annular channel
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PCT/CN2019/121179
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English (en)
French (fr)
Inventor
闫巡戈
罗程
崔昊天
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前沿驱动（北京）技术有限公司
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Publication of WO2020134807A1 publication Critical patent/WO2020134807A1/zh

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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
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H57/082—Planet carriers
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02039—Gearboxes for particular applications
    • F16H2057/02069—Gearboxes for particular applications for industrial applications
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02091—Measures for reducing weight of gearbox
    • 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
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H2057/085—Bearings for orbital gears

Definitions

  • the present application relates to the technical field of planetary reducers, in particular to a compact and light-weight planetary reducer and a robot provided with the planetary reducer.
  • the planetary reducer is mainly composed of a cage, a planetary gear, a sun gear, an internal ring gear, and bearings.
  • Planetary reducers are widely used in the transmission systems of servo motors, stepper motors, DC motors, etc. due to their many advantages, such as small size, high transmission efficiency, wide deceleration range, and high precision. In general industrial scenarios, space, weight, and torque requirements can be met.
  • the joint joint needs to use a reducer to control the joint curvature.
  • the planetary reducer is a commonly used robot joint reducer.
  • the joint parts of bionic robots, etc. they have strict requirements on the space and weight of planetary reducers.
  • Traditional design methods are difficult to meet the design requirements of small volumes and light weights of special parts of bionic robots.
  • standard bearings can carry radial loads and a larger axial load, but their height dimensions are larger; standard deep groove ball bearings can carry radial loads and a smaller axial load, but Its height dimension is larger; standard four-point contact ball bearings can carry radial loads and two larger axial loads, but its height dimension is also larger. Therefore, the planetary reducer with standard bearings has a larger overall height and weight, is limited by the inner diameter of the output bearing, and the output torque is also small, which cannot meet the size, weight and torque requirements of the reducer in the robot field.
  • An object of the embodiments of the present application is to provide a planetary reducer, which solves the technical problems of the planetary reducer in the prior art that is large in size and heavy in weight.
  • an embodiment of the present application provides a planetary reducer, including:
  • a first-stage planetary gear device (2) the first-stage planetary gear device (2) includes a first-stage gear assembly (21) and a first cage assembly (22), the first cage assembly (22)
  • a first annular channel (23) is formed inside, and the first annular channel (23) contains a plurality of rolling elements (4), each of the rolling elements (4) and the first annular channel (23) Four-point contact of the inner side of the first gear assembly (21) receives power input; and
  • a second stage planetary gear device (3) the second stage planetary gear device (3) includes a second stage gear assembly (31) and a second cage assembly (32), the second cage assembly (32)
  • a second annular channel (33) is formed inside, and a plurality of rolling elements (4) are contained in the second annular channel (33), each of the rolling elements (4) and the second annular channel (33)
  • the inner side of the four-point contact, the second cage assembly (32) performs power output.
  • first annular channel (23) and the second annular channel (33) are both rhombic.
  • the first-stage gear assembly (21) includes a first-stage sun gear (211), a first-stage planetary gear (212) disposed around the first-stage sun gear (211), and surrounding the first stage A first-stage ring gear (213) provided with a first-stage planetary gear (212), the first-stage planetary gear (212) and the first-stage sun gear (211) and the first-stage ring gear respectively (213) Engage;
  • the first cage assembly (22) includes a first cage body (221) and a first cage rail (222) sleeved on the outside of the first cage body (221), the first holding Both the outer side wall of the frame main body (221) and the inner side wall of the first cage track (222) are provided with grooves, and the first annular channel (23) is formed through the grooves; the first stage The planet gear (212) is fixed to one end of the first cage body (221), and the first cage track (222) is fixedly connected to the first-stage ring gear (213).
  • the second-stage gear assembly (31) includes a second-stage sun gear (311), a second-stage planetary gear (312) disposed around the second-stage sun gear (311), and surrounding the first stage
  • the second-stage planetary gear (312) is provided with a second-stage ring gear (313), and the second-stage planetary gear (312) is respectively connected with the second-stage sun gear (311) and the second-stage ring gear (313) Engage;
  • the second cage assembly (32) includes a second cage body (321) and a second cage rail (322) sleeved outside the second cage body (321), the second holding Both the outer side wall of the frame main body (321) and the inner side wall of the second cage rail (322) are provided with grooves, and the second annular channel (33) is formed through the groove cooperation; the second stage The planet gear (312) is fixed to the second cage body (321), and the second-stage sun gear (311) is fixed to the other end of the first cage body (221).
  • the first cage assembly (22) further includes a first cage rail pressure ring (223), which is close to the first cage rail (222) on the first cage body (221)
  • An L-shaped pressure ring installation groove (24) is opened on one side, the pressure ring is embedded in the pressure ring installation groove (24) and fixedly connected with the first holder body (221); the first The outer side wall of the cage body (221) and the outer side wall of the first cage track pressure ring (223) both have a chamfer, and the inner side wall of the first cage track (222) has a symmetrical to the chamfer
  • a V-shaped groove, the chamfer and the V-shaped groove cooperate to form the first annular channel (23).
  • the planetary reducer further includes a fixing seat (5) for fixing the first-stage sun gear (211), and the fixing seat (5) is fixed with an external power input shaft.
  • the second cage rail (322) includes a stacked upper rail (322a) and a lower rail (322b), the upper rail (322a) and the lower rail (322b) are fixedly connected; the upper rail (322a) ) And the inner wall of the lower rail (322b) have a chamfer, the outer wall of the second cage body (321) has a V-shaped groove symmetrical to the chamfer, the The chamfer and the V-shaped groove cooperate to form the second annular channel (33).
  • the second cage body (321) is a flange, and one end thereof protrudes from the second annular channel (33).
  • the planetary speed reducer further includes a grease spacer (6), which is disposed between the fixed seat (5) and the first-stage internal ring gear (213) Within the circumferential gap.
  • the first-stage ring gear (213), the first cage body (221), the first cage track (222), the second-stage ring gear (313) and all The second cage rail (322) is provided with a plurality of weight reduction holes (7), the weight reduction holes (7) are through holes or blind holes; the first-stage inner ring gear (213), the The first cage rail (222), the second-stage ring gear (313) and the second cage rail (322) are all circular cylinders, all of which have the same outer diameter.
  • the rolling element (4) is a ball or cylindrical roller.
  • an embodiment of the present application provides a robot provided with the planetary speed reducer as described above.
  • the beneficial effect of the embodiment of the present application is that the embodiment of the present application forms an annular channel inside the cage assembly of the planetary reducer, the annular channel houses a plurality of rolling elements, and the rolling element and the inner side of the annular channel are in contact at four points to form
  • the structure of the function of the four-point contact ball bearing is compared with the planetary reducer using standard bearings in the prior art.
  • the outer diameter of the planetary reducer is the same, the height and size of the planetary reducer of the embodiment of the present application are smaller and the weight Lighter, and can withstand two-way axial load and radial load.
  • FIG. 1 is a schematic diagram of the overall structure of a planetary reducer provided by an embodiment of the present application
  • FIG. 2 is a front view of a planetary reducer provided by an embodiment of the present application.
  • FIG. 3 is a top view of a planetary reducer provided by an embodiment of the present application.
  • FIG. 4 is an axial cross-sectional view of a planetary reducer provided by an embodiment of the present application.
  • FIG. 5 is an explosion schematic diagram of a planetary reducer provided by an embodiment of the present application.
  • FIG. 6 is an exploded schematic view of the planetary speed reducer provided by an embodiment of the present application from another angle.
  • the planetary reducer 1 in the embodiment of the present application includes a first-stage planetary gear device 2 and a second-stage planetary gear device 3.
  • the first-stage planetary gear device 2 and the second-stage planetary gear device 3 are stacked, and the first-stage planetary gear device 2 receives the power input and transmits it to the second-stage planetary gear device 3, and the second-stage planetary gear device 3 Output adjusted power.
  • the planetary reducer 1 can be used in robot joints.
  • the first-stage planetary gear device 2 includes a first-stage gear assembly 21 and a first cage assembly 22, a first annular channel 23 is formed inside the first cage assembly 22, and the first annular channel 23 is received There are a plurality of rolling elements 4, and each of the rolling elements 4 contacts the inner side of the first annular channel 23 at four points.
  • the cross section of the first annular channel 23 is rhombic, preferably square.
  • the rolling element 4 is a ball. It can be understood that, in other embodiments, the rolling element may also be an element such as a cylindrical roller that can achieve four-point contact with the first annular channel 23.
  • the first-stage gear assembly 21 receives a power input, which includes a first-stage sun gear 211, a first-stage planetary gear 212 disposed around the first-stage sun gear 211, and a first-stage planetary gear 212
  • the first-stage ring gear 213, the first-stage planetary gear 212 mesh with the first-stage sun gear 211 and the first-stage ring gear 213, respectively.
  • one first-stage sun gear 211 is provided, and three first-stage planet gears 212 are provided.
  • the first-stage planetary gears 212 may also be set to other numbers, such as 4, 5, etc., which is not limited in this application.
  • the first-stage internal ring gear 213 is a circular cylinder.
  • the planetary speed reducer further includes a fixing seat 5 for fixing the first-stage sun gear 211, and the fixing seat 5 is fixed to an external power input shaft for receiving power input.
  • the fixing base 5 is provided with an installation through hole, and the first-stage sun gear 211 is inserted into and fixed in the installation through hole.
  • the fixing seat 5 has a disc-shaped structure, and a power input shaft mounting hole is opened along the axial direction in the circumferential direction for mounting an external power input shaft.
  • the planetary speed reducer further includes a grease-separating gasket 6 disposed in the circumferential gap between the fixed seat 5 and the first-stage internal ring gear 213.
  • the grease spacer 6 is used to prevent grease from entering the planetary reducer.
  • the first cage assembly 22 includes a first cage body 221 and a first cage rail 222 sleeved outside the first cage body 221, the first cage rail 222 is a circular cylinder .
  • the outer side wall of the first holder body 221 and the inner side wall of the first holder rail 222 are each recessed inward and cooperate to form the first annular channel 23.
  • the first-stage planetary gear 212 is fixed to one end of the first holder body 221.
  • one end of the first cage body 221 is provided with a plurality of gear mounting shafts 221a, the first-stage planetary gear 212 is sleeved on the gear mounting shaft 221a, the first-stage planetary gear 212 and the gears A bearing 8 such as a ball bearing is provided between the mounting shafts 221a.
  • the first cage rail 222 is fixedly connected to the first-stage ring gear 213.
  • the first cage rail 222 and the first-stage ring gear 213 are both circular cylinders, and there are several openings along the axial direction of the first cage rail 222 and the first-stage ring gear 213 in the circumferential direction.
  • a mounting hole can be used to fix the first cage rail 222 and the first-stage ring gear 213 through bolts and other connecting members.
  • the first cage assembly 22 further includes a first cage rail pressure ring 223, and an L-shape is opened on the side of the first cage body 221 near the first cage rail 222 Pressure ring mounting groove 24.
  • the first cage body 221 includes a first cage base plate 221b and a first cage support post 221c protrudingly formed along the axial direction of the first cage base plate 221b.
  • the first cage support post 221c Has a diameter smaller than that of the first cage base plate 221b, and the pressure ring mounting groove 24 is formed between the first cage base plate 221b and the first cage support post 221c.
  • the first cage rail pressure ring 223 is embedded in the pressure ring mounting groove 24 and fixedly connected to the first cage body 221, the outer side wall of the first cage body 221, the first Both the outer side wall of the cage rail pressure ring 223 and the inner side wall of the first cage rail 222 are provided with grooves, and the first annular channel 23 is formed through cooperation of the grooves.
  • both the outer side wall of the first cage body 221 and the outer wall of the first cage track pressure ring 223 have a chamfer, and the chamfer is provided on the first cage body 221 and the first cage track pressure ring At the end adjacent to 223, the beveled edge of the chamfer has a larger size, and the inner side wall of the first cage rail 222 has a V-shaped groove symmetrical to the chamfer, and the chamfer is formed in cooperation with the V-shaped groove The first annular channel 23.
  • the first cage base plate 221b and the first cage rail pressure ring 223 are both circular cylinders, along the circumferential direction of the first cage base plate 221b and the first cage rail pressure ring 223 in the circumferential direction Several mounting holes are opened in the axial direction, and the first retainer base plate 221b and the first retainer rail pressure ring 223 can be fixedly connected by connecting members such as bolts.
  • the second-stage planetary gear device 3 includes a second-stage gear assembly 31 and a second cage assembly 32, a second annular channel 33 is formed inside the second cage assembly 32, and the second annular channel 33 is received There are a plurality of rolling elements 4, and each of the rolling elements 4 contacts the inner side of the second annular channel 33 at four points.
  • the cross section of the second annular channel 33 is rhombic, preferably square.
  • the rolling element 4 is a ball. It can be understood that, in other embodiments, the rolling element may also be an element such as a cylindrical roller that can achieve four-point contact with the second annular channel 33.
  • the second-stage gear assembly 31 includes a second-stage sun gear 311, a second-stage planetary gear 312 disposed around the second-stage sun gear 311, and a second-stage planetary gear 312 disposed within the second-stage planetary gear 312
  • the ring gear 313, the second-stage planetary gear 312 mesh with the second-stage sun gear 311 and the second-stage ring gear 313, respectively.
  • one second-stage sun gear 311 is provided, and four second-stage planet gears 312 are provided.
  • the second-stage planetary gears 312 may also be set to other numbers, such as 3 or 5, etc., which is not limited in this application.
  • the second-stage ring gear 313 is a circular cylinder.
  • the second cage assembly 32 includes a second cage body 321 and a second cage rail 322 sleeved on the outside of the second cage body 321.
  • the second cage rail 322 is a circular cylinder. Both the outer side wall of the second holder body 321 and the inner side wall of the second holder rail 322 are provided with grooves, and the second annular channel 33 is formed through cooperation of the grooves.
  • the second-stage planetary gear 312 is fixed on the second cage body 321.
  • one end of the second cage body 321 is provided with a plurality of gear mounting shafts 321a, the second-stage planetary gear 312 is sleeved on the gear mounting shaft 321a, the second-stage planetary gear 312 and the gears A bearing 8 such as a ball bearing is provided between the mounting shafts 321a.
  • the second-stage sun gear 311 is fixed to the other end of the first holder body 221.
  • the second cage assembly 32 performs power output.
  • the second retainer body 321 is a flange, and one end of the second retainer body protrudes from the second annular channel 33.
  • the second cage body 321 serves as an output shaft, which adopts a flange structure. Compared with the shaft output of a conventional planetary reducer, it is not easy to break off under high torque working conditions, and its strong torque output capability is stronger.
  • the second cage rail 322 includes a stacked upper rail 322a and a lower rail 322b.
  • the upper rail 322a and the lower rail 322b are both circular cylinders.
  • the upper rail 322a and the lower rail 322b are fixedly connected; the inner side wall of the upper rail 322a and the inner wall of the lower rail 322b each have a chamfer, and the chamfer is provided at an end of the upper rail 322a and the lower rail 322b adjacent to the
  • the size of the chamfered chamfer is large, and the outer side wall of the second cage body 321 has a V-shaped groove symmetrical to the chamfered corner, and the chamfered corner and the V-shaped groove cooperate to form the second The annular channel 33.
  • the second-stage internal ring gear 313, the upper rail 322a and the lower rail 322b are all circular cylinders, and the second-stage internal ring gear 313, the upper rail 322a and the lower rail 322b are circumferentially provided with a number along the axial direction
  • a mounting hole can be used to fix and connect the second-stage ring gear 313, the upper rail 322a and the lower rail 322b through a connecting member such as a bolt.
  • the first stage ring gear 213, the first cage body 221, the first cage track 222, the second stage ring gear 313 and the second cage track 322 (including the upper rail 322a)
  • a plurality of weight-reducing holes 7 are opened on the lower rail 322b), and the weight-reducing holes 7 are through holes or blind holes.
  • the outer diameters of the first-stage ring gear 213, the first cage track 222, the second-stage ring gear 313, and the second cage track 322 are all the same.
  • the above gears can be made of 20CrMnTi, carburized and hardened, and have the characteristics of small size, light weight, high load capacity, long service life, smooth operation, low noise, large output torque, high speed ratio, high efficiency, safe performance and so on. It has the characteristics of power splitting and multi-tooth meshing.
  • Each component of the planetary reducer may be made of steel.
  • the fixed base 5 receives the power input of the external power input shaft, the fixed base 5 rotates, drives the first-stage sun gear 211 mounted thereon to rotate, and the first-stage sun gear 211 rotates Drive the first-stage planetary gear 212 meshing with it to rotate, thereby driving the first-stage ring gear 213 meshing with the first-stage planetary gear 212 to rotate, the first cage track 222 is fixedly connected to the first-stage ring gear 213, so The first cage track 222 also rotates.
  • the rotation of the first cage track 222 causes the second stage ring gear 313 to rotate, and the second stage internal teeth
  • the rotation of the ring 313 drives the second-stage planetary gear 312 meshed with it to rotate.
  • the second-stage planetary gear 312 is fixed to the second cage body 321, the rotation of the second-stage planetary gear 312 drives the rotation of the second cage body 321.
  • the second cage body 321 serves as a power output member to realize power output.
  • the planetary reducer of the embodiment of the present application adopts a flat structure design, that is, instead of using a single standard bearing as a shaft support, but by forming an annular channel inside the cage assembly of the planetary reducer, the annular channel accommodates multiple rolling elements, The rolling elements and the inner side of the annular channel are in four-point contact to form two sets of four-point contact ball bearing structures, which have the function of four-point contact ball bearings.
  • the planetary reducer of the embodiment of the present application has a small height, compact overall structure, light weight, large output torque, and can withstand bidirectional axial and radial loads, making it easier to achieve robot integration
  • the design can better meet the requirements of the joint parts of the bionic robot on the working space and overall quality of the planetary reducer.
  • the weight of the planetary reducer in the embodiment of the present application is only one-seventh of the weight of the conventional planetary reducer.
  • the existing standard bearing when the outer diameter is the same, if the height of the standard bearing is 12mm, the height of the four-point contact ball bearing structure formed in the embodiment of the present application is only 5mm, and the height is small.
  • An embodiment of the present application further provides a robot, which is provided with the planetary reducer as described in the above embodiment.

Abstract

一种行星减速器及机器人，其中行星减速器包括：第一级行星齿轮装置（2），第一级行星齿轮装置（2）包括第一级齿轮组件（21）和第一保持架组件（22），第一保持架组件（22）内部形成一第一环形通道（23），第一环形通道（23）内容纳有多个滚动元件（4），每个滚动元件（4）和第一环形通道（23）的内侧面四点接触，第一级齿轮组件（21）接收动力输入；以及第二级行星齿轮装置（3），第二级行星齿轮装置（3）包括第二级齿轮组件（31）和第二保持架组件（32），第二保持架组件（32）内部形成一第二环形通道（33），第二环形通道（33）内容纳有多个滚动元件（4），每个滚动元件（4）和第二环形通道（33）的内侧面四点接触，第二保持架组件（32）进行动力输出。该行星减速器的高度尺寸较小，重量较轻。

Description

行星减速器及机器人 技术领域
本申请涉及行星减速器技术领域，特别是涉及一种结构紧凑、重量较轻的行星减速器及设置该行星减速器的机器人。
背景技术
行星减速器主要由保持架、行星轮、太阳轮、内齿圈、轴承等组成。行星减速器以其体积小、传动效率高、减速范围广、精度高等诸多优点，而被广泛应用于伺服电机、步进电机、直流电机等传动系统中。在一般的工业场景可以满足空间、重量、扭矩要求。
在机器人关节执行器中，关节连接处均需要采用减速器实现关节弯曲度的控制，行星减速器是常用的机器人关节减速器。但在机器人领域，特别是仿生机器人等的关节部位，对行星减速器工作的空间、重量要求较为严格，传统的设计方法很难满足仿生机器人特殊部位小体积、轻量化的设计要求。
目前，传统的行星齿轮减速器的设计中，大多要采用标准轴承作为轴的支撑、限位。一般而言，标准角接触球轴承可以承载径向载荷和一个较大的轴向载荷，但其高度尺寸较大；标准深沟球轴承可以承载径向载荷和一个较小的轴向载荷，但其高度尺寸额较大；标准四点接触球轴承可以承载径向载荷和两个较大的轴向载荷，但其高度尺寸也较大。因此，采用标准轴承的行星减速器，其整体装配高度尺寸较大、重量重，受输出端轴承内径限制，输出扭矩也较小，无法满足机器人领域对减速器的尺寸、重量和扭矩要求。
发明内容
本申请实施例的一个目的旨在提供一种行星减速器，其解决现有技术中的行星减速器尺寸大、重量重的技术问题。
为解决上述技术问题，本申请实施例提供以下技术方案：
第一方面，本申请实施例提供一种行星减速器，包括：
第一级行星齿轮装置(2)，所述第一级行星齿轮装置(2)包括第一级齿轮组件(21)和第一保持架组件(22)，所述第一保持架组件(22)内部形成一第一环形通道(23)，所述第一环形通道(23)内容纳有多个滚动元件(4)，每个 所述滚动元件(4)和所述第一环形通道(23)的内侧面四点接触，所述第一级齿轮组件(21)接收动力输入；以及
第二级行星齿轮装置(3)，所述第二级行星齿轮装置(3)包括第二级齿轮组件(31)和第二保持架组件(32)，所述第二保持架组件(32)内部形成一第二环形通道(33)，所述第二环形通道(33)内容纳有多个滚动元件(4)，每个所述滚动元件(4)和所述第二环形通道(33)的内侧面四点接触，所述第二保持架组件(32)进行动力输出。
进一步地，所述第一环形通道(23)和所述第二环形通道(33)的横截面均为菱形。
进一步地，所述第一级齿轮组件(21)包括第一级太阳齿轮(211)、围绕所述第一级太阳齿轮(211)设置的第一级行星齿轮(212)，以及围绕所述第一级行星齿轮(212)设置的第一级内齿圈(213)，所述第一级行星齿轮(212)分别与所述第一级太阳齿轮(211)和所述第一级内齿圈(213)啮合；
所述第一保持架组件(22)包括第一保持架主体(221)、以及套设于所述第一保持架主体(221)外侧的第一保持架轨道(222)，所述第一保持架主体(221)的外侧壁和所述第一保持架轨道(222)的内侧壁均开设有凹槽，通过所述凹槽配合形成所述第一环形通道(23)；所述第一级行星齿轮(212)固定于所述第一保持架主体(221)的一端，所述第一保持架轨道(222)与所述第一级内齿圈(213)固定连接。
进一步地，所述第二级齿轮组件(31)包括第二级太阳齿轮(311)、围绕所述第二级太阳齿轮(311)设置的第二级行星齿轮(312)，以及围绕所述第二级行星齿轮(312)设置的第二级内齿圈(313)，所述第二级行星齿轮(312)分别与所述第二级太阳齿轮(311)和所述第二级内齿圈(313)啮合；
所述第二保持架组件(32)包括第二保持架主体(321)、以及套设于所述第二保持架主体(321)外侧的第二保持架轨道(322)，所述第二保持架主体(321)的外侧壁和所述第二保持架轨道(322)的内侧壁均开设有凹槽，通过所述凹槽配合形成所述第二环形通道(33)；所述第二级行星齿轮(312)固定于所述第二保持架主体(321)上，所述第二级太阳齿轮(311)固定于所述第一保持架主体(221)的另一端。
进一步地，所述第一保持架组件(22)还包括第一保持架轨道压环(223)， 在所述第一保持架主体(221)上靠近所述第一保持架轨道(222)的一侧开设有L型压环安装槽(24)，所述压环嵌设于所述压环安装槽(24)内并与所述第一保持架主体(221)固定连接；所述第一保持架主体(221)的外侧壁和第一保持架轨道压环(223)的外侧壁均具有一倒角，第一保持架轨道(222)的内侧壁具有一与所述倒角相对称的V型槽，所述倒角和所述V型槽配合形成所述第一环形通道(23)。
进一步地，所述行星减速器还包括用于固定所述第一级太阳齿轮(211)的固定座(5)，所述固定座(5)与外部的动力输入轴固定。
进一步地，所述第二保持架轨道(322)包括堆叠设置的上轨道(322a)和下轨道(322b)，所述上轨道(322a)和所述下轨道(322b)固定连接；所述上轨道(322a)的内侧壁和所述下轨道(322b)的内侧壁均具有一倒角，所述第二保持架主体(321)的外侧壁具有一与所述倒角相对称的V型槽，所述倒角和所述V型槽配合形成所述第二环形通道(33)。
进一步地，所述第二保持架主体(321)为法兰盘，且其一端凸出于所述第二环形通道(33)。
进一步地，所述行星减速器还包括隔脂垫片(6)，所述隔脂垫片(6)设置于所述固定座(5)和所述第一级内齿圈(213)之间的周向间隙内。
进一步地，所述第一级内齿圈(213)、所述第一保持架主体(221)、所述第一保持架轨道(222)、所述第二级内齿圈(313)和所述第二保持架轨道(322)上开设有多个减重孔(7)，所述减重孔(7)为通孔或者盲孔；所述第一级内齿圈(213)、所述第一保持架轨道(222)、所述第二级内齿圈(313)和所述第二保持架轨道(322)均为圆环柱体，其外径均相同。
进一步地，所述滚动元件(4)为滚珠或圆柱滚子。
第二方面，本申请实施例提供一种机器人，所述机器人上设置有如上所述的行星减速器。
本申请实施例的有益效果在于：本申请实施例通过在行星减速器的保持架组件内部形成环形通道，环形通道内容纳多个滚动元件，滚动元件和环形通道的内侧面四点接触，形成具有四点接触球轴承功能的结构，与现有技术中采用标准轴承的行星减速器相比，当行星减速器的外径大小一致时，本申请实施例的行星减速器的高度尺寸较小，重量较轻，且可以承受双向轴向载荷和径向载 荷。
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图1是本申请实施例提供的行星减速器的整体结构示意图；
图2是本申请实施例提供的行星减速器的主视图；
图3是本申请实施例提供的行星减速器的俯视图；
图4是本申请实施例提供的行星减速器的轴向剖视图；
图5是本申请实施例提供的行星减速器的爆炸示意图；
图6是本申请实施例提供的行星减速器的另一角度的爆炸示意图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
请一并参阅图1至图5，本申请实施例中的行星减速器1，其包括第一级行星齿轮装置2和第二级行星齿轮装置3。所述第一级行星齿轮装置2与第二级行星齿轮装置3堆叠设置，第一级行星齿轮装置2接收动力输入，并传输给第二级行星齿轮装置3，由第二级行星齿轮装置3输出调整后的动力。所述行星减速器1可以用于机器人关节中。
所述第一级行星齿轮装置2包括第一级齿轮组件21和第一保持架组件22，所述第一保持架组件22内部形成一第一环形通道23，所述第一环形通道23内容纳有多个滚动元件4，每个所述滚动元件4和所述第一环形通道23的内侧面四点接触。本实施例中，所述第一环形通道23的横截面为菱形，优选为正方形。本实施例中滚动元件4为滚珠。可以理解的是，在其他实施例中，该滚动元件还可以是圆柱滚子等可以和第一环形通道23实现四点接触的元件。
所述第一级齿轮组件21接收动力输入，其包括第一级太阳齿轮211、围绕所述第一级太阳齿轮211设置的第一级行星齿轮212，以及围绕所述第一级行星齿轮212设置的第一级内齿圈213，所述第一级行星齿轮212分别与所述第一级 太阳齿轮211和所述第一级内齿圈213啮合。本实施例中，第一级太阳齿轮211设置有1个，第一级行星齿轮212设置有3个。可以理解的是，在其他实施例中，第一级行星齿轮212还可以设置为其他数量，例如4个、5个等，本申请不做限定。第一级内齿圈213为圆环柱体。
所述行星减速器还包括用于固定所述第一级太阳齿轮211的固定座5，所述固定座5与外部的动力输入轴固定，用于接收动力输入。所述固定座5上开设有安装通孔，所述第一级太阳齿轮211穿装固定于该安装通孔内。固定座5的具有一圆盘状结构，其圆周方向上沿轴向开设有动力输入轴安装孔，用于安装外部的动力输入轴。
所述行星减速器还包括隔脂垫片6，所述隔脂垫片6设置于所述固定座5和所述第一级内齿圈213之间的周向间隙内。所述隔脂垫片6用于防止油脂进入行星减速器内部。
所述第一保持架组件22包括第一保持架主体221、以及套设于所述第一保持架主体221外侧的第一保持架轨道222，所述第一保持架轨道222为圆环柱体。所述第一保持架主体221的外侧壁和所述第一保持架轨道222的内侧壁各自朝内凹陷并配合形成所述第一环形通道23。
所述第一级行星齿轮212固定于所述第一保持架主体221的一端。本实施例中，所述第一保持架主体221的一端设置有多个齿轮安装轴221a，所述第一级行星齿轮212套设于所述齿轮安装轴221a，第一级行星齿轮212和齿轮安装轴221a之间设置有轴承8，例如滚珠轴承。
所述第一保持架轨道222与所述第一级内齿圈213固定连接。本实施例中，第一保持架轨道222与第一级内齿圈213均为圆环柱体，在第一保持架轨道222与第一级内齿圈213圆周方向上沿其轴向开设有数个安装孔，可通过螺栓等连接件将第一保持架轨道222与第一级内齿圈213固定连接。
本实施例中，所述第一保持架组件22还包括第一保持架轨道压环223，在所述第一保持架主体221上靠近所述第一保持架轨道222的一侧开设有L型压环安装槽24。具体地，第一保持架主体221包括一第一保持架基盘221b和沿所述第一保持架基盘221b轴向凸出形成的第一保持架支撑柱221c，第一保持架支撑柱221c的直径小于所述第一保持架基盘221b，所述第一保持架基盘221b和第一保持架支撑柱221c之间形成所述压环安装槽24。所述第一保持架轨道压环 223嵌设于所述压环安装槽24内并与所述第一保持架主体221固定连接，所述第一保持架主体221的外侧壁、所述第一保持架轨道压环223的外侧壁和所述第一保持架轨道222的内侧壁均开设有凹槽，通过所述凹槽配合形成所述第一环形通道23。具体地，所述第一保持架主体221的外侧壁和第一保持架轨道压环223的外侧壁均具有一倒角，倒角设置在第一保持架主体221和第一保持架轨道压环223邻接的一端，该倒角的斜边尺寸较大，第一保持架轨道222的内侧壁具有一与所述倒角相对称的V型槽，所述倒角和所述V型槽配合形成所述第一环形通道23。
本实施例中，第一保持架基盘221b与第一保持架轨道压环223均为圆环柱体，在第一保持架基盘221b与第一保持架轨道压环223圆周方向上沿其轴向开设有数个安装孔，可通过螺栓等连接件将第一保持架基盘221b与第一保持架轨道压环223固定连接。
第一保持架主体221的外侧壁和第一保持架轨道压环223的相邻接的一端均具有一斜边尺寸较大的倒角，第一保持架轨道222的内侧壁具有一与所述倒角相对称的V型槽，所述倒角和V型槽配合形成所述第一环形通道23。
所述第二级行星齿轮装置3包括第二级齿轮组件31和第二保持架组件32，所述第二保持架组件32内部形成一第二环形通道33，所述第二环形通道33内容纳有多个滚动元件4，每个所述滚动元件4和所述第二环形通道33的内侧面四点接触。本实施例中，所述第二环形通道33的横截面为菱形，优选为正方形。本实施例中滚动元件4为滚珠。可以理解的是，在其他实施例中，该滚动元件还可以是圆柱滚子等可以和第二环形通道33实现四点接触的元件。
所述第二级齿轮组件31包括第二级太阳齿轮311、围绕所述第二级太阳齿轮311设置的第二级行星齿轮312，以及围绕所述第二级行星齿轮312设置的第二级内齿圈313，所述第二级行星齿轮312分别与所述第二级太阳齿轮311和所述第二级内齿圈313啮合。本实施例中，第二级太阳齿轮311设置有1个，第二级行星齿轮312设置有4个。可以理解的是，在其他实施例中，第二级行星齿轮312还可以设置为其他数量，例如3个、5个等，本申请不做限定。第二级内齿圈313为圆环柱体。
所述第二保持架组件32包括第二保持架主体321、以及套设于所述第二保持架主体321外侧的第二保持架轨道322，第二保持架轨道322为圆环柱体。所 述第二保持架主体321的外侧壁和所述第二保持架轨道322的内侧壁均开设有凹槽，通过所述凹槽配合形成所述第二环形通道33。
所述第二级行星齿轮312固定于所述第二保持架主体321上。本实施例中，所述第二保持架主体321的一端设置有多个齿轮安装轴321a，所述第二级行星齿轮312套设于所述齿轮安装轴321a，第二级行星齿轮312和齿轮安装轴321a之间设置有轴承8，例如滚珠轴承。
所述第二级太阳齿轮311固定于所述第一保持架主体221的另一端。所述第二保持架组件32进行动力输出。
所述第二保持架主体321为法兰盘，且其一端凸出于所述第二环形通道33。第二保持架主体321作为输出轴，其采用法兰盘的结构，相比传统行星减速器的轴输出，在大力矩的工作条件下不易发生折断脱落，其大力矩输出能力更强。
本实施例中，所述第二保持架轨道322包括堆叠设置的上轨道322a和下轨道322b，上轨道322a和下轨道322b均为圆环柱体。所述上轨道322a和所述下轨道322b固定连接；所述上轨道322a的内侧壁和所述下轨道322b的内侧壁均具有一倒角，倒角设置在上轨道322a和下轨道322b邻接的一端，该倒角的斜边尺寸较大，所述第二保持架主体321的外侧壁具有一与所述倒角相对称的V型槽，所述倒角和所述V型槽配合形成所述第二环形通道33。
本实施例中，第二级内齿圈313、上轨道322a和下轨道322b均为圆环柱体，在第二级内齿圈313、上轨道322a和下轨道322b圆周方向上沿其轴向开设有数个安装孔，可通过螺栓等连接件将第二级内齿圈313、上轨道322a和下轨道322b固定连接。
所述第一级内齿圈213、所述第一保持架主体221、所述第一保持架轨道222、所述第二级内齿圈313和所述第二保持架轨道322(包括上轨道322a和下轨道322b)上开设有多个减重孔7，所述减重孔7为通孔或者盲孔。
所述第一级内齿圈213、所述第一保持架轨道222、所述第二级内齿圈313和所述第二保持架轨道322的外径均相同。
上述齿轮可采用20CrMnTi，渗碳淬火和磨齿，具有体积小、重量轻、承载能力高、使用寿命长、运转平稳、噪声低、输出扭矩大、速比大、效率高、性能安全等特点。兼具功率分流、多齿啮合独用的特性。所述行星减速器的各部件可以均由钢材制成。
本申请实施例的行星减速器的工作原理：固定座5接收外部的动力输入轴的动力输入，固定座5转动，带动其上安装的第一级太阳齿轮211转动，第一级太阳齿轮211转动带动与其啮合的第一级行星齿轮212转动，从而带动与第一级行星齿轮212啮合的第一级内齿圈213转动，第一保持架轨道222与第一级内齿圈213固定连接，因此第一保持架轨道222也转动，由于第一保持架轨道222与第二级内齿圈313固定连接，因此第一保持架轨道222转动带动第二级内齿圈313转动，第二级内齿圈313转动带动与其啮合的第二级行星齿轮312转动，由于第二级行星齿轮312固定于第二保持架主体321上，因此第二级行星齿轮312转动带动第二保持架主体321转动，第二保持架主体321作为动力输出部件，实现动力输出。
本申请实施例的行星减速器采用扁平结构设计，即不采用单独的标准轴承作为轴的支撑，而是通过在行星减速器的保持架组件内部形成环形通道，环形通道内容纳多个滚动元件，滚动元件和环形通道的内侧面四点接触，形成两组四点接触球轴承结构，其具有四点接触球轴承功能，与现有技术中采用标准轴承的行星减速器相比，当行星减速器的外径大小一致时，本申请实施例的行星减速器的高度尺寸较小，整体结构紧凑，重量较轻，输出扭矩大，且可以承受双向轴向载荷和径向载荷，更容易实现机器人集成化设计，更能满足仿生类机器人关节部位对行星减速器工作空间和整体质量的要求。
本申请实施例的行星减速器重量只有传统行星减速器重量的七分之一。与现有的标准轴承对比：当外径大小一致时，如果标准轴承高度为12mm，本申请实施例形成的四点接触球轴承结构的高度只有5mm，高度尺寸小。
本申请实施例还提供了一种机器人，该机器人上设置有如上实施例所述的行星减速器。

Claims (12)

  1. 一种行星减速器，其特征在于，包括：
    第一级行星齿轮装置(2)，所述第一级行星齿轮装置(2)包括第一级齿轮组件(21)和第一保持架组件(22)，所述第一保持架组件(22)内部形成一第一环形通道(23)，所述第一环形通道(23)内容纳有多个滚动元件(4)，每个所述滚动元件(4)和所述第一环形通道(23)的内侧面四点接触，所述第一级齿轮组件(21)接收动力输入；以及
    第二级行星齿轮装置(3)，所述第二级行星齿轮装置(3)包括第二级齿轮组件(31)和第二保持架组件(32)，所述第二保持架组件(32)内部形成一第二环形通道(33)，所述第二环形通道(33)内容纳有多个滚动元件(4)，每个所述滚动元件(4)和所述第二环形通道(33)的内侧面四点接触，所述第二保持架组件(32)进行动力输出。
  2. 如权利要求1所述的行星减速器，其特征在于，所述第一环形通道(23)和所述第二环形通道(33)的横截面均为菱形。
  3. 如权利要求1所述的行星减速器，其特征在于，所述第一级齿轮组件(21)包括第一级太阳齿轮(211)、围绕所述第一级太阳齿轮(211)设置的第一级行星齿轮(212)，以及围绕所述第一级行星齿轮(212)设置的第一级内齿圈(213)，所述第一级行星齿轮(212)分别与所述第一级太阳齿轮(211)和所述第一级内齿圈(213)啮合；
    所述第一保持架组件(22)包括第一保持架主体(221)、以及套设于所述第一保持架主体(221)外侧的第一保持架轨道(222)，所述第一保持架主体(221)的外侧壁和所述第一保持架轨道(222)的内侧壁均开设有凹槽，通过所述凹槽配合形成所述第一环形通道(23)；所述第一级行星齿轮(212)固定于所述第一保持架主体(221)的一端，所述第一保持架轨道(222)与所述第一级内齿圈(213)固定连接。
  4. 如权利要求3所述的行星减速器，其特征在于，所述第二级齿轮组件(31)包括第二级太阳齿轮(311)、围绕所述第二级太阳齿轮(311)设置的第二级行星齿轮(312)，以及围绕所述第二级行星齿轮(312)设置的第二级内齿圈(313)，所述第二级行星齿轮(312)分别与所述第二级太阳齿轮(311)和所述第二级 内齿圈(313)啮合；
    所述第二保持架组件(32)包括第二保持架主体(321)、以及套设于所述第二保持架主体(321)外侧的第二保持架轨道(322)，所述第二保持架主体(321)的外侧壁和所述第二保持架轨道(322)的内侧壁均开设有凹槽，通过所述凹槽配合形成所述第二环形通道(33)；所述第二级行星齿轮(312)固定于所述第二保持架主体(321)上，所述第二级太阳齿轮(311)固定于所述第一保持架主体(221)的另一端。
  5. 如权利要求3所述的行星减速器，其特征在于，所述第一保持架组件(22)还包括第一保持架轨道压环(223)，在所述第一保持架主体(221)上靠近所述第一保持架轨道(222)的一侧开设有L型压环安装槽(24)，所述第一保持架轨道压环(223)嵌设于所述压环安装槽(24)内并与所述第一保持架主体(221)固定连接；所述第一保持架主体(221)的外侧壁和第一保持架轨道压环(223)的外侧壁均具有一倒角，第一保持架轨道(222)的内侧壁具有一与所述倒角相对称的V型槽，所述倒角和所述V型槽配合形成所述第一环形通道(23)。
  6. 如权利要求3所述的行星减速器，其特征在于，所述行星减速器还包括用于固定所述第一级太阳齿轮(211)的固定座(5)，所述固定座(5)与外部的动力输入轴固定。
  7. 如权利要求4所述的行星减速器，其特征在于，所述第二保持架轨道(322)包括堆叠设置的上轨道(322a)和下轨道(322b)，所述上轨道(322a)和所述下轨道(322b)固定连接；所述上轨道(322a)的内侧壁和所述下轨道(322b)的内侧壁均具有一倒角，所述第二保持架主体(321)的外侧壁具有一与所述倒角相对称的V型槽，所述倒角和所述V型槽配合形成所述第二环形通道(33)。
  8. 如权利要求4或7所述的行星减速器，其特征在于，所述第二保持架主体(321)为法兰盘，且其一端凸出于所述第二环形通道(33)。
  9. 如权利要求6所述的行星减速器，其特征在于，所述行星减速器还包括隔脂垫片(6)，所述隔脂垫片(6)设置于所述固定座(5)和所述第一级内齿圈(213)之间的周向间隙内。
  10. 如权利要求4所述的行星减速器，其特征在于，所述第一级内齿圈(213)、所述第一保持架主体(221)、所述第一保持架轨道(222)、所述第二级内齿圈(313)和所述第二保持架轨道(322)上开设有多个减重孔(7)，所述减重孔 (7)为通孔或者盲孔；所述第一级内齿圈(213)、所述第一保持架轨道(222)、所述第二级内齿圈(313)和所述第二保持架轨道(322)均为圆环柱体，其外径均相同。
  11. 如权利要求1所述的行星减速器，其特征在于，所述滚动元件(4)为滚珠或圆柱滚子。
  12. 一种机器人，其特征在于，所述机器人上设置有根据权利要求1至11任意一项所述的行星减速器。
PCT/CN2019/121179 2018-12-26 2019-11-27 行星减速器及机器人 WO2020134807A1 (zh)

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