WO2023065072A1 - 变位行星架系统及其行星传动装置 - Google Patents

变位行星架系统及其行星传动装置 Download PDF

Info

Publication number
WO2023065072A1
WO2023065072A1 PCT/CN2021/124464 CN2021124464W WO2023065072A1 WO 2023065072 A1 WO2023065072 A1 WO 2023065072A1 CN 2021124464 W CN2021124464 W CN 2021124464W WO 2023065072 A1 WO2023065072 A1 WO 2023065072A1
Authority
WO
WIPO (PCT)
Prior art keywords
planetary
elastic
gear
rigid
carrier
Prior art date
Application number
PCT/CN2021/124464
Other languages
English (en)
French (fr)
Inventor
凌子龙
Original Assignee
爱磁科技（深圳）有限公司
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 爱磁科技（深圳）有限公司 filed Critical 爱磁科技（深圳）有限公司
Priority to CA3231901A priority Critical patent/CA3231901A1/en
Priority to EP21960833.8A priority patent/EP4421349A1/en
Priority to PCT/CN2021/124464 priority patent/WO2023065072A1/zh
Priority to KR1020247008282A priority patent/KR20240042096A/ko
Priority to JP2024518259A priority patent/JP2024536649A/ja
Priority to MX2024004699A priority patent/MX2024004699A/es
Priority to AU2021469729A priority patent/AU2021469729B2/en
Publication of WO2023065072A1 publication Critical patent/WO2023065072A1/zh
Priority to US18/626,968 priority patent/US12092190B2/en

Links

Images

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
    • F16H1/32—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
    • 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
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/2809—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet-wheels
    • F16H1/2836—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet-wheels by allowing limited movement of the planets relative to the planet carrier or by using free floating planets
    • 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
    • F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central 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
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere

Definitions

  • the invention relates to a planetary transmission device, in particular to a displacement planetary frame system and a planetary transmission device containing the displacement planetary frame system.
  • a planetary gear mechanism generally includes a planetary carrier, a sun gear, an internal ring gear, and planetary gears, the planetary gears mesh with the sun gear and the internal ring gear, and the rotation shafts of the planetary gears are supported by the planetary carrier.
  • the 3K planetary transmission includes three types: I type, II type, and III type, including single planetary gear type and double planetary gear type.
  • the planetary frame is usually a space frame structure composed of two annular side plates 1 and 2 (or double walls) connected by evenly distributed struts (also known as connecting plates). .
  • the number of struts is equal to the number of planetary gears, and the lateral size of the struts is determined by the size of the planetary gears.
  • Planetary gear bearings are generally installed in planetary gears, and some have small diameters of planetary gears due to small transmission ratios. In order to ensure a certain service life of planetary gear bearings, the bearings are forced to be arranged in side plates.
  • the present invention provides a displacement planetary carrier system and a planetary transmission device containing a displacement planetary carrier system.
  • the planetary transmission device can make the planetary gear lean against the inner ring gear through the expansion of the planetary
  • the backlash between the gear and the ring gear provides a certain preload at the same time, which helps to improve the transmission accuracy and load balancing performance, and the displacement planet carrier system can continue to displace as the tooth surface wears out due to the use of the gear.
  • Increase the service life of the transmission especially in applications such as robots with high backlash requirements, which significantly improves the service life of the transmission.
  • a grinding effect is formed between the planetary gears and the ring gear, which will gradually reduce the vibration during the transmission process with the wear and tear of use.
  • the first aspect of the present invention relates to a displacement planet carrier system, which is composed of an elastic planet carrier, a rigid taper sleeve and an axial adjustment mechanism for the rigid taper sleeve;
  • the elastic planetary carrier is a planetary carrier in which part of the inner surface of the side wall is processed into a tapered surface, the elastic planetary carrier includes a first space for accommodating planetary gears, and the axial direction of each space is At least one end is provided with a shaft or a shaft hole for installing a planetary gear, and staggered notches are processed on the side wall of the elastic planet carrier avoiding the first space, and the notches are used to elastically elongate the elastic body when stressed.
  • the rigid tapered sleeve is set in the elastic planetary carrier, and at least part of the outer wall of the rigid tapered sleeve is processed with a tapered surface adapted to the tapered surface of the inner surface of the side wall of the elastic planetary carrier, so that the rigid tapered sleeve
  • the outer surface processed with a tapered surface is closely matched with the inner surface of the side wall processed with a tapered surface of the elastic planet carrier;
  • the axial adjustment mechanism of the rigid tapered sleeve is an adjusting bolt/nut or an elastic element axially installed on the end of the elastic planetary carrier and/or the rigid tapered sleeve, which is used to apply a force pointing to the small diameter direction of the rigid tapered sleeve to the rigid tapered sleeve.
  • Axial force using the axial adjustment mechanism to axially push the rigid tapered sleeve to expand the elastic planetary carrier to make the planetary gears in the elastic planetary carrier expand outwards and press against the ring gear meshing with it , which is used to increase the revolution radius of the planetary gear to eliminate backlash or apply a preload on the tooth surface between the planetary gear and the ring gear.
  • At least one pair of staggered notches along the axial/radial direction of the elastic planet carrier are processed on the side wall of the elastic planet carrier provided with a tapered surface, and the two staggered notches face opposite, and each pair of staggered notches The depth and the wall thickness before the processing notch greater than the notch position of the elastic planet carrier.
  • a second space adapted to the first space is provided on the side wall of the rigid tapered sleeve for accommodating the planetary gear and/or the sun gear.
  • the axial adjustment mechanism of the rigid tapered sleeve is an elastic reed
  • the outer edge of the elastic reed is fixed on the end surface of the elastic planet carrier with screws
  • the inner edge of the elastic reed is connected to the rigid tapered sleeve.
  • the large-diameter end surface of the elastic reed is in contact with the rigid tapered sleeve to generate pressure toward its small-diameter direction.
  • a limiting mechanism is also provided for limiting the relative circumferential rotation of the rigid taper sleeve and the elastic planet carrier.
  • the large-diameter end surface of the rigid tapered sleeve is provided with at least one protrusion or groove as a limit mechanism, and the corresponding position of the elastic reed is provided with a groove or a protrusion corresponding to the limit mechanism, Interlocking with the protrusion or the groove of the rigid taper sleeve restricts the relative circumferential rotation of the rigid taper sleeve and the elastic planet carrier.
  • the taper angle of the rigid taper sleeve is less than 16°, preferably 6-12°, so as to achieve the self-locking effect.
  • the axial adjustment mechanism is an adjusting nut; the small-diameter end of the rigid tapered sleeve is processed with an external thread adapted to the adjusting nut, and the adjusting nut is screwed into the external thread of the rigid tapered sleeve , so as to compress the end face of the elastic planetary carrier, and use the tension of the adjusting nut to generate a tension toward the small diameter of the rigid tapered sleeve.
  • the elastic planet carrier includes a symmetrically arranged annular support top plate and an annular support bottom plate, the upper surface of the support bottom plate is provided with a plurality of planet carrier struts, and the top of the planet carrier struts is provided with the annular support top plate; the inner surfaces of the struts, the annular support top plate and the annular support bottom plate are respectively processed with the tapered surface; the elastic planetary carrier is processed with a radial direction of the elastic planetary carrier at each of the strut positions Pair of staggered notches.
  • the second aspect of the present invention discloses a planetary transmission device containing the displacement planet carrier system, the planetary transmission device is a 3K planetary transmission device, and the axial adjustment mechanism is used to axially push the rigid
  • the taper sleeve expands the elastic planetary carrier to expand the planetary gear of the planetary transmission to the ring gear of the planetary transmission, which is used to increase the revolution radius of the planetary gear so as to eliminate backlash or A tooth flank preload is applied between the planetary gear and the ring gear.
  • the third aspect of the present invention discloses a planetary transmission device containing the displacement planetary carrier system, the planetary transmission device is a 3K planetary transmission device without the sun gear, the variable planetary transmission device
  • the planetary carrier system is used as the input end; the axial adjustment mechanism is used to axially push the rigid tapered sleeve to expand the elastic planetary carrier so that the planetary gears of the planetary transmission device expand outwards and press against the planetary transmission device
  • the ring gear is used to increase the orbital radius of the planetary gear to eliminate backlash or to apply a preload on the tooth surface between the planetary gear and the ring gear.
  • the fourth aspect of the present invention discloses a planetary transmission device containing the displacement planetary carrier system.
  • the planetary transmission device is based on the 3K planetary transmission device without the sun gear, and is also provided with an additional sun gear and At least two additional third planetary gears, the additional sun gear and the third planetary gears are meshed to drive the third planetary gears to rotate, and each of the third planetary gears is coaxial with a planetary gear of the planetary transmission
  • the installation is relatively fixed, and the additional sun gear of the planetary transmission is used as the input end, and the axial adjustment mechanism is used to axially push the rigid taper sleeve to expand the elastic planet carrier to make the planetary gears of the planetary transmission outward Expanding to press against the ring gear of the planetary transmission device, it is used to increase the orbital radius of the planetary gear to eliminate backlash or to apply a preload on the tooth surface between the planetary gear and the ring gear.
  • the fifth aspect of the present invention discloses a planetary transmission device containing the displacement planetary carrier system
  • the planetary transmission device is a 2K-H planetary transmission device containing an inner ring gear
  • the mechanism axially pushes the rigid tapered sleeve to expand the elastic planetary carrier to expand the planetary gears of the planetary transmission outwards and press against the ring gear of the planetary transmission to increase the revolution of the planetary gears Radius to eliminate backlash or to apply tooth flank preload between planetary gear and ring gear.
  • the displacement planetary carrier system of the present invention and the planetary transmission device containing the displacement planetary carrier system can make the planetary gear lean against the inner ring gear through the expansion of the planetary carrier, and compress the backlash between the planetary gear and the inner ring gear at the same time Provide a certain pre-pressure, which helps to improve the transmission accuracy, load balancing performance, and with the wear of the tooth surface caused by the use of the gear, the displacement planet carrier system can continue to displace and increase the service life of the transmission device, especially in robots, etc.
  • Fig. 1 is a front view of the displacement planet carrier system described in Embodiment 1 of the present invention
  • Fig. 2 is a rear view of the displacement planetary carrier system described in Embodiment 1 of the present invention.
  • Fig. 3 is a perspective view of the displacement planetary carrier system described in Embodiment 1 of the present invention.
  • Fig. 4 is an exploded view of the displacement planet carrier system described in Embodiment 1 of the present invention.
  • Fig. 5 is an exploded view of the shifting planetary carrier system with a key structure according to Embodiment 1 of the present invention
  • Fig. 6 is a schematic structural view of the displacement planetary carrier system assembled on the planetary gear according to Embodiment 1 of the present invention.
  • Fig. 7 is a schematic structural diagram of the planetary transmission described in Embodiment 2 of the present invention.
  • Fig. 8 is a schematic structural diagram of the planetary transmission described in Embodiment 3 of the present invention.
  • Fig. 9 is a schematic diagram of the structure and principle of the planetary transmission described in Embodiment 4 of the present invention.
  • Fig. 10 is a schematic diagram of the structure and principle of the planetary transmission according to Embodiment 5 of the present invention.
  • Elastic planet carrier 2 Rigid tapered sleeve
  • Second ring gear 8 Displacement planet carrier system
  • the first planetary gear 10 The second planetary gear
  • Notch 104 Planetary carrier strut
  • the displacement planetary carrier system 8 is a displacement planetary carrier system in a planetary reducer used in robots or precision automation equipment, used to enhance transmission accuracy, It is composed of an elastic planetary carrier 1, a rigid tapered sleeve 2 and an axial adjustment mechanism 3; the displacement planetary carrier system is a type that can be expanded and enlarged under the axial movement of the rigid tapered sleeve to the direction of the small diameter.
  • the radius of revolution of the planetary gear in the frame or the system that can maintain the radial force of outward expansion on the planetary gear under the axial force of the rigid taper sleeve in the direction of the small diameter, so that the planetary gear can be pressed against the internal tooth meshing with it ring, reduce the backlash between the planetary gear and the outer ring gear, and improve the transmission accuracy.
  • the annular frame planetary carrier described in this embodiment is a double-sided plate frame structure, and a single-sided plate structure can also be selected to save space.
  • the displacement planetary carrier system cannot cause any interference with the planetary gear or the sun gear.
  • the elastic planet carrier is an annular structure
  • the inner wall is an annular wall, including a symmetrically arranged annular support top plate 105 and an annular support bottom plate 102
  • the upper surface of the support bottom plate 102 is provided with three planet carrier struts 104
  • the planet carrier The top of the support column 104 is provided with the annular support top plate 105, and the inner surfaces of the support column 104, the annular support top plate 105 and the annular support bottom plate 102 are respectively processed with the said tapered surface, between two planet carrier support columns 104
  • the supporting bottom plate 102 is provided with three planetary shaft holes 101 for setting planetary gears, and the planetary carrier is respectively processed with a pair of staggered notches 103 along the axial direction of the elastic planetary carrier at the positions of the supporting pillars 104, And the two staggered notches face opposite, and the depth of each pair of staggered notches and the axial wall thickness before the processing notch at the notch position of the elastic planet carrier 1 are larger;
  • the purpose of setting the gap is to make the elastic planetary carrier 1 undergo a slight elastic deformation, and elastically elongate the circumference of the side wall of the elastic planetary carrier, that is, to increase the radius of the position where the planetary gear is installed on the planetary carrier.
  • the notch 103 may also be processed in the radial direction.
  • the elastic planetary carrier 1 undergo slight elastic deformation and the above are only illustrative examples, but the essence is the elongated annular circumference, so the annular ring on the planetary carrier must not be a complete normal For a circle, the circumference must be elongated by processing various types of notches.
  • the distribution of the notches that can be elongated is preferably staggered with the distribution of the planetary gears, which is conducive to the uniform elongation of the distance between the planetary gears.
  • the planetary gears are better to move along the radial direction without changing the distribution phase of the planetary gears.
  • the upper surface of the support top plate 105 is provided with three planet shaft holes 101 corresponding to the positions of the planet shaft holes on the support bottom plate, and a plurality of threaded holes 106 for installing the axial adjustment mechanism.
  • a first space 107 is formed between two planet carrier struts 104 of the elastic planet carrier for accommodating planetary gears.
  • the rigid tapered sleeve 2 is a ring structure, which is sleeved in the elastic planet carrier 1.
  • the rigid tapered sleeve 2 has an upper end and a lower end with different outer diameters, and the outer diameter of the upper end is larger than the lower end.
  • the outer diameter of the rigid taper sleeve 2 is inserted into the elastic planetary carrier 1 , and the upper end faces the axial adjustment mechanism 3 .
  • At least part of the outer wall of the rigid tapered sleeve 2 is processed with a tapered surface adapted to the tapered surface of the side wall inner surface of the elastic planetary carrier, so that the outer surface of the rigid tapered sleeve processed with a tapered surface and the elastic planetary carrier There is a close fit between the inner surfaces of the tapered side walls.
  • the upper surface of the upper end is provided with a protrusion or a concave point as a limit mechanism, and the limit mechanism is limited by the corresponding limit mechanism on the axial adjustment mechanism 3, thereby limiting the rigid taper sleeve 2
  • the relative circumferential rotation occurs with the elastic planet carrier 1 .
  • the upper surface of the upper end is provided with spaced protrusions whose size is adapted to the shape of the lower surface of the inner edge 302 of the axial adjustment mechanism 3, so that the axial adjustment
  • the mechanism 3 and the rigid drogue 2 are interlocked to limit the relative circumferential rotation of the rigid drogue 2 and the elastic planet carrier 1 .
  • the contact surface between the elastic planetary carrier 1 and the rigid tapered sleeve 2 is provided with a simple clamping structure to limit the relative circumferential rotation to prevent the rigid tapered sleeve from interfering with the planetary gear due to rotation, such as using a key to fix it.
  • the inner wall of the elastic planet carrier 1 is provided with a second key 121, and the outer wall of the rigid tapered sleeve is provided with an adapted keyway 122, and the relative rotation of the two is restricted by adding a key, and at the same time this Keying also enhances the torsional stiffness of the elastic planet carrier.
  • three first key grooves 12 are additionally processed on the bottom surface of the support base plate of the elastic planet carrier 1 for torque transmission.
  • the frame is provided with end face radial key grooves and other similar structures to transmit circumferential torque even when the planet carrier is displaced.
  • the outer wall of the rigid tapered sleeve 2 is processed with a second space 201 adapted to the first space 107 of the elastic planet carrier 1 for accommodating planetary gears and/or sun gears.
  • the second space 201 is based on actual needs It can be a groove or a hollow structure; when it is suitable for a reducer with a sun gear, the second space 201 is processed as a hollow structure; when it is suitable for a reducer without a sun gear, the second air 201 can be processed as Grooves or hollow structures.
  • the outer wall of the rigid drogue 2 except the second space 201 is processed with a tapered surface adapted to the inner wall of the elastic planetary carrier 1, so that the outer surface of the rigid drogue 2 is compatible with the elastic planetary carrier 1 Tight fit between the inner surfaces of the side walls.
  • the taper angle of the rigid taper sleeve 2 is less than 16°, preferably 6-12° to achieve a good self-locking effect, avoiding the spring shaft for shrinking and pushing back of the planetary carrier when the planetary gear is subjected to a large radial component force The phenomenon of callback to the adjusted taper sleeve.
  • the rigid tapered sleeve axial adjustment mechanism 3 is an adjusting bolt/nut or an elastic element axially installed on the end of the elastic planetary carrier 1 and/or the rigid tapered sleeve 2, and is used to apply a direction to the rigid tapered sleeve to the rigid tapered sleeve.
  • the axial force in the direction of the small diameter uses the axial adjustment mechanism to axially push the rigid tapered sleeve 2 to expand the elastic planetary carrier so that the planetary gears set in the elastic planetary carrier expand outwards and press to mesh with it
  • the ring gear is used to increase the orbital radius of the planetary gear to eliminate backlash or to apply a preload on the tooth surface between the planetary gear and the ring gear.
  • the axial adjustment mechanism 3 is an elastic reed
  • the elastic reed includes an inner edge 302 and an outer edge 303, and the outer edge 303 is provided with screw holes spaced apart from the screw holes.
  • 106 is adapted for the screw 301 to pass through the screw hole and the threaded hole 106 so as to fix the rigid tapered sleeve axial adjustment mechanism 3 and the elastic planet carrier 1; the inner edge 302 of the elastic reed is connected to the The large-diameter end surface of the rigid taper 2 is in contact, and the elastic force of the elastic spring is used to generate pressure toward the small-diameter direction of the rigid taper 2 .
  • install the elastic reed after the planetary gear and the ring gear are installed.
  • the rigid tapered sleeve axial adjustment mechanism 3 can also choose a threaded structure, such as an adjusting nut (different from the accompanying drawings of this embodiment), and the small diameter end of the rigid tapered sleeve 2 is processed with a The external thread adapted to the adjusting nut, the adjusting nut is screwed into the preset external thread of the rigid tapered sleeve 2, so that the adjusting nut presses the end face of the elastic planetary carrier 1, and the tension of the adjusting nut is used to A pulling force is generated on the rigid tapered sleeve in the direction of its small diameter.
  • a threaded structure such as an adjusting nut (different from the accompanying drawings of this embodiment)
  • the adjusting nut is screwed into the preset external thread of the rigid tapered sleeve 2, so that the adjusting nut presses the end face of the elastic planetary carrier 1, and the tension of the adjusting nut is used to A pulling force is generated on the rigid tapered slee
  • the specific use is to tighten the adjusting screw after the planetary gear and the inner ring gear are installed, so as to prevent the prematurely expanded planetary carrier planetary gear from being unable to fit into the inner ring gear.
  • the axial adjustment stroke of the rigid tapered sleeve 2 relative to the elastic planet carrier is very small, because the expansion stroke of the planet carrier is very small, and the required radius expansion is usually not more than half of the gear thickness of the planetary gear, so the tapered sleeve Whether the adjustment is to use screws or springs, there is no need to design a large adjustment stroke.
  • the precision of each part of the planetary transmission is high, it can even be designed as a micro-displacement planetary carrier system. At this time, only the planetary carrier is required. It is enough to process the notch 103 that can meet the small elastic deformation.
  • Fig. 6 shows a schematic structural view of the displacement planetary carrier system equipped with planetary gears according to Embodiment 1 of the present invention.
  • the present invention also discloses a planetary transmission device containing the displacement planetary carrier system
  • the planetary transmission device containing the displacement planetary carrier system is a 3K type planetary transmission device, including the first The inner ring gear 6, the second inner ring gear 7, the double planetary gears 9, 10, the sun gear 5 and the displacement planetary carrier system 8, wherein the displacement planetary carrier system 8 consists of The elastic planet carrier 1, the rigid tapered sleeve 2 and the rigid tapered sleeve axial adjustment mechanism 3 are composed, and the double planetary gear includes a first planetary gear 9 and a second planetary gear 10.
  • the first ring gear 6 meshes with the first planetary gear 9
  • the second ring gear 7 meshes with the second planetary gear 10 .
  • the planetary transmission device may also be a 3K-II planetary transmission device, in which case the double planetary gears have the same parameters and can be processed into one gear.
  • the present invention replaces the planetary carrier of the traditional 3K planetary transmission with the above-mentioned displacement planetary carrier system 8, and after the planetary gears 9 and 10 are installed, As the planetary carrier 1 expands and presses against the two ring gears 6 and 7, this method of increasing the revolution radius of the planetary gear can effectively eliminate the backlash, and at the same time impose a certain tooth surface gap between the planetary gear and the ring gear. Preload, when the planetary gears 9, 10 or ring gear 6, 7 tooth surfaces are worn, the expansion planet carrier can be further adjusted to keep the tooth surface contact and the tooth surface preload.
  • the output ring gear 7 is connected to the output shaft 16; the high-speed end of the transmission is the sun gear 5, so
  • the input shaft 15 drives the sun gear 5 to drive the planetary gears 6 and 7 to roll and mesh, thereby driving the displacement planet carrier system 8 to rotate, and driving the output ring gear 7 to drive the output shaft 16 to rotate.
  • the present invention also discloses a planetary transmission device containing the displacement planetary carrier system
  • the planetary transmission device is a 3K planetary transmission device that omits the sun gear, and includes the first inner tooth ring 6, second ring gear 7, double planetary gears 9, 10 and displacement planetary carrier system 8, wherein the displacement planetary carrier system 8 consists of elastic planetary carrier 1 as shown in Figure 4-5, rigid Consisting of taper sleeve 2 and rigid taper sleeve axial adjustment mechanism 3, the double planetary gear includes a first planetary gear 9 and a second planetary gear 10; the first ring gear 6 meshes with the first planetary gear 9 , the second ring gear 7 meshes with the second planetary gear 10 .
  • the planetary transmission omits the sun gear 5 , and the present invention replaces the planet carrier of the traditional 3K planetary transmission with the above-mentioned displacement planet carrier system 8 .
  • the structure of the displacement planetary carrier system 8 is the same as that of Embodiment 1, and will not be repeated here.
  • the double planetary gears in the planetary transmission device can be processed into one gear because the parameters of the double planetary gears are completely the same.
  • the high-speed end with the displacement planetary carrier system 8 as the transmission that is, the input shaft 15 is connected to the displacement planetary carrier system 8 for directly driving the displacement planetary carrier system 8, and the torque is input from the displacement planetary carrier system 8
  • the gear 10 is a synchronously rotating dual gear mounted on the shifting planet carrier system 8 , so the second planetary gear 10 drives the output ring gear 7 to drive the output shaft 16 to rotate.
  • the sun gear is removed, so that the transmission backlash and the vibration caused by the engagement between the sun gear 5 and the planetary gears 9, 10 can be avoided.
  • the elastic planetary carrier 1 is provided with an end face keyway on the outer wall for torque transmission with the input shaft 15. Since the displacement planetary carrier system 8 can deform and expand, the elastic planetary carrier 1 is provided with an end face diameter Structures such as keyways are used to transmit axial torque even when the planetary carrier is displaced.
  • a planetary transmission device containing a displacement planetary carrier system the structure of the planetary transmission device is similar to that of Embodiment 3, and it is also based on a 3K planetary transmission device that omits the sun gear, including The first ring gear 6 , the second ring gear 7 , the first planetary gear 9 , the second planetary gear 10 and the displacement planet carrier system 8 .
  • the same structure as that of Embodiment 3 will not be repeated here, and only the distinguishing features will be described below.
  • the planetary transmission is also provided with an additional third planetary gear 14 and an additional sun gear 55, the additional sun gear 55 and the third planetary gear 14 are meshed for transmission, and the third planetary gear 14 and its first
  • the planetary gear 9 is coaxially installed and relatively fixed; and the additional sun gear of the planetary transmission is used as an input end.
  • the additional sun gear 55 is used as a high-speed input end, and the input shaft 15 drives the additional sun gear 55, and the additional sun gear 55 is used as a high-speed input end.
  • the wheel 55 meshes with the third planetary gear 14 to drive the third planetary gear 14 to rotate. Since the third planetary gear 14 is coaxial with the first planetary gear 9 and fixed in the circumferential direction, it drives the first planetary gear 9 to rotate.
  • the gear 9 rotates by itself, and at the same time drives the displacement planet carrier system 8 to revolve, and then drives the ring gear 7 to drive the output shaft 16 to rotate, so that the reducer realizes a transmission path similar to that of the traditional 3K planetary transmission.
  • the planetary gear meshes with both the ring gear and the sun gear, so that the parameters of each gear are highly correlated with each other, and the gear design and matching are difficult.
  • the present embodiment proposes to remove the sun gear of the traditional 3K planetary transmission and change the planetary gear to provide an additional planetary gear meshing with the additional sun gear 55, which can reduce the requirements for gear parameter design and facilitate the maximum Optimize the torque load, reduction ratio, vibration and backlash performance of the transmission device.
  • not all planetary gears have additional planetary gears, for example, three or two of the six planetary gears are sufficient, and in order to better eliminate backlash and improve smoothness, relative and internal gears can be used
  • the ring gear meshes with a smaller module design of the planet gears with additional sun gears and additional planet gears.
  • a planetary transmission device containing a displacement planet carrier system the planetary transmission device is a 2K-H planetary transmission device containing an inner ring gear, including an inner ring gear 11, a planetary gear 4, a sun The wheel 5 and the displacement planetary carrier system 8, wherein the displacement planetary carrier system 8 is composed of an elastic planetary carrier 1, a rigid tapered sleeve 2 and a rigid tapered sleeve axial adjustment mechanism 3 as shown in Fig. 4-5.
  • the structure of the displacement planetary carrier system 8 is the same as that of Embodiment 1, and will not be repeated here.
  • the planetary gear 4 meshes with the sun gear 5 and the ring gear 11 , and the planetary gear 4 is mounted on the displacement planet carrier system 8 .
  • the ring gear 11 is fixed, and the input shaft 15 drives the sun gear 5 to drive the planetary gear 4
  • the inner ring gear 11 rolls and engages, thereby driving the displacement planetary carrier system 8 to rotate, and the displacement planetary carrier system 8 and the output shaft 16 fix the output torque in the circumferential direction.
  • the planetary gear 4 and the displacement planetary carrier system 8 can be installed into the inner ring gear 11 first, and the rigid tapered sleeve axial adjustment mechanism 3 of the displacement planetary carrier system 8 is adjusted, and finally the sun gear is installed.
  • the planetary transmission device described in the present invention can also be used as an accelerator, and its structure is the same as that of a speed reducer, which will not be repeated here.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)
  • Gears, Cams (AREA)

Abstract

一种变位行星架系统，由弹性行星架（1）、刚性锥套（2）和刚性锥套轴向调节机构（3）组成；其中弹性行星架（1）为一种侧壁的部分内表面加工为锥面的行星架，侧壁上加工有交错缺口（103），用于使弹性行星架（1）发生弹性变形；刚性锥套（2）套设在弹性行星架（1）内，部分外侧壁加工有与弹性行星架（1）的侧壁内表面的锥面适配的锥面，刚性锥套轴向调节机构（3）为轴向安装在弹性行星架（1）和/或刚性锥套（2）端部的调节螺栓/螺母或弹性元件，利用轴向调节机构（3）胀大弹性行星架（1）使行星齿轮向外胀从而压向与其啮合的内齿圈，用于加大行星齿轮公转半径从而消除侧隙或为行星齿轮和内齿圈之间施加齿面预压力。还涉及包含变位行星架系统的行星传动装置。

Description

变位行星架系统及其行星传动装置 技术领域
本发明涉及一种行星传动装置，具体涉及一种变位行星架系统及含有变位行星架系统的行星传动装置。
背景技术
行星齿轮机构通常包括行星架、太阳轮、内齿圈以及行星齿轮，所述行星齿轮与太阳轮和内齿圈啮合，行星齿轮的自转轴由行星架支撑。在许多行星齿轮机构中，包括一种3K型行星传动装置。所述3K型行星传动装置包括I型、II型、III型三种，其中包括单行星齿轮型和双联行星齿轮型，关于3K行星传动装置的结构、齿轮参数设置和传动比计算等已经有很多文章做过介绍，是行星齿轮传动领域的一般技术常识，尤其是近50年国内外研究学者在诸多文章中对3K行星传动装置的各种结构和齿廓等技术参数给出了详述。在行星齿轮数目大于2的传动中，行星架通常是由两块环形侧板1和2(或称双壁)其间用均布的撑柱(亦称连接板)联接起来而组成的空间框架结构。撑柱的数目等于行星齿轮数目，撑柱的横向尺寸由行星齿轮尺寸来决定。行星齿轮轴承一般均安装在行星齿轮内，也有的由于传动比小，则行星齿轮直径小，为保证行星齿轮轴承有一定使用寿命，就迫使将轴承布置在侧板中。
而且，由于传统的行星传动装置由于齿轮的加工误差和装配误差，会导致传动精度低、侧隙大、均载性能不高等问题，而且随着齿轮的使用对齿面的磨损，侧隙问题会越来越严重。
为此需要一种解决齿面磨损或加工工差而导致的侧隙问题，从而延长行星传动装置的使用寿命和传动精度的传动装置。
发明内容
为了克服上述缺陷，本发明提供了一种变位行星架系统及含有变位行星架系统的行星传动装置，所述行星传动装置能够通过行星架的胀大使行星齿轮靠向内齿圈，压缩行星齿轮和内齿圈之间的侧隙的同时提供一定的预压力，有助于提高传动精度、均载性能、并且随着齿轮的使用造成的齿面磨损，变位行星架系统可以持续变位增加传动装置的使用寿命，尤其在机器人等侧隙要求高的应用领域，更是显著的提升了传动装置的使用寿命。另外随着齿轮的长时间磨损和持续的变位调节，行星齿轮和内齿圈之间形成研合效果，会随着使用的磨损逐渐减少传动过程中的震动。
本发明的目的是通过以下技术方案实现的：
本发明的第一个方面涉及一种变位行星架系统，由弹性行星架、刚性锥套和刚性锥套轴向调节机构组成；
其中所述弹性行星架为一种侧壁的部分内表面加工为锥面的行星架，所述弹性行星架包括用于容纳行星齿轮的第一空间，所述每个每一空间的轴向的至少一端设有安装行星齿轮的轴或轴孔，在避开所述第一空间的所述弹性行星架侧壁上加工有交错缺口，所述缺口用于在受力时弹性拉长所述弹性行星架的侧壁周长，使所述弹性行星架发生弹性变形；
所述刚性锥套套设在所述弹性行星架内，所述刚性锥套的至少部分外侧壁加工有与弹性行星架的侧壁内表面的锥面适配的锥面，使所述刚性锥套加工有锥面的外表面与所述弹性行星架加工有锥面的侧壁内表面之间紧密配合；
所述刚性锥套轴向调节机构为轴向安装在弹性行星架和/或刚性锥套端部的调节螺栓/螺母或弹性元件，用于对所述刚性锥套施加指向刚性锥套小径方向的轴向力，利用所述轴向调节机构轴向推动所述刚性锥套胀大所述弹性行星架使设置在所述弹性行星架中的行星齿轮向外胀从而压向与其啮合的内齿圈，用于加大所述行星齿轮公转半径从而消除侧隙或为行星齿轮和内齿圈之间施加齿面预压力。
进一步的，设置有锥面的所述弹性行星架的侧壁上加工有沿所述弹性行星架轴向/径向的至少一对交错缺口，且两个交错缺口朝向相反，且每对交错缺口的深度和大于所述弹性行星架缺口位置的加工缺口之前的壁厚。
进一步的，所述刚性锥套的侧壁上还设置有与第一空间适配的第二空间用于容纳行星齿轮和/或太阳轮。
进一步的，所述刚性锥套轴向调节机构为弹性簧片，所述弹性簧片的外沿用螺钉固定在所述弹性行星架的端面，所述弹性簧片的内沿与所述刚性锥套的大径端面接触，利用所述弹性簧片的弹力对所述刚性锥套产生朝向其小径方向的压力。
进一步的，还设置有一限位机构用于限制所述刚性锥套和所述弹性行星架发生相对周向转动。
进一步的，所述刚性锥套的大径端面设置有至少一个凸起或者凹槽作为限位机构，所述弹性簧片的相应位置设置有与所述限位机构对应的凹槽或凸起，与刚性锥套的凸起或者凹槽相互卡住，限制所述刚性锥套和所述弹性行星架发生相对周向转动。
进一步的，所述刚性锥套的锥角小于16°，优选6-12°，以实现自锁效果。
进一步的，所述轴向调节机构为调节螺母；所述刚性锥套的小径端部加工有与所述调节螺母适配的外螺纹，所述调节螺母旋入所述刚性锥套的外螺纹中，从而压紧所述弹性行星架的端面，利用所述调节螺母的拉力对所述刚性锥套产生朝向其小径方向的拉力。
进一步的，所述弹性行星架包括对称设置的环形支撑顶板和环形支撑底板，所述支撑底板的上表面设置有多个行星架撑柱，所述行星架撑柱的顶部设置有所述环形支撑顶板；所述撑柱、环形支撑顶板和环形支撑底板的内表面分别加工有所述锥面；所述弹性行星架在各所述撑柱位置上加工有沿所述弹性行星架径向的一对交错缺口。
本发明的第二个方面公开了一种含有所述变位行星架系统的行星传动装置，所述行星传动装置为一种3K行星传动装置，利用所述轴向调节机构轴向推动所述刚性锥套胀大所述弹性行星架使所述行星传动装置的行星齿轮向外胀从而压向所述行星传动装置的内齿圈，用于加大所述行星齿轮公转半径从而消除侧隙或为行星齿轮和内齿圈之间施加齿面预压力。
本发明的第三个方面公开了一种含有所述变位行星架系统的行星传动装置，所述行星传动装置为一种省去了太阳轮的3K行星传动装置，所述行星传动装置的变位行星架系统作为输入端；利用所述轴向调节机构轴向推动所述刚性锥套胀大所述弹性行星架使所述行星传动装置的行星齿轮向外胀从而压向所述行星传动装置的内齿圈，用于加大所述行星齿轮公转半径从而消除侧隙或为行星齿轮和内齿圈之间施加齿面预压力。
本发明的第四个方面公开了一种含有所述变位行星架系统的行星传动装置，所述行星传动装置以省去了太阳轮的3K行星传动装置为基础，还设有附加太阳轮和至少两个附加的第三行星齿轮，所述附加太阳轮和所述第三行星齿轮啮合传动带动第三行星齿轮自转，各所述第三行星齿轮和所述行星传动装置的一个行星齿轮同轴安装相对固定，所述行星传动装置的附加太阳轮作为输入端，利用所述轴向调节机构轴向推动所述刚性锥套胀大所述弹性行星架使所述行星传动装置的行星齿轮向外胀从而压向所述行星传动装置的内齿圈，用于加大所述行星齿轮公转半径从而消除侧隙或为行星齿轮和内齿圈之间施加齿面预压力。
本发明的第五个方面公开了一种含有所述变位行星架系统的行星传动装置，所述行星传动装置为一种含有内齿圈的2K-H行星传动装置，利用所述轴向调节机构轴向推动所述刚性锥套胀大所述弹性行星架使所述行星传动装置的行星齿轮向外胀从而压向所述行星传动装置的内齿圈，用于加大所述行星齿轮公转半径从而消除侧隙或为行星齿轮和内齿圈之间施加齿面预压力。
与现有技术相比，本发明的技术方案所带来的有益效果是：
本发明所述的变位行星架系统及含有变位行星架系统的行星传动装置能够通过行星架的胀大使行星齿轮靠向内齿圈，压缩行星齿轮和内齿圈之间的侧隙的同时提供一定的预压力，有助于提高传动精度、均载性能、并且随着齿轮的使用造成的齿面磨损，变位行星架系统可以持续变位增加传动装置的使用寿命，尤其是在机器人等侧隙要求高的应用领域，更是显著 的提升了传动装置的使用寿命；另外随着齿轮的长时间磨损和持续的变位调节，行星齿轮和内齿圈之间形成了研和效果，会随着使用的磨损逐渐减少传动过程中的震动。
附图说明
图1是本发明实施例1所述的变位行星架系统的主视图；
图2是本发明实施例1所述的变位行星架系统的后视图；
图3是本发明实施例1所述的变位行星架系统的立体图；
图4是本发明实施例1所述的变位行星架系统的爆炸图；
图5是本发明实施例1所述的变位行星架系统配有键结构的爆炸图；
图6是本发明实施例1所述的变位行星架系统装配在行星齿轮上的结构示意图；
图7是本发明实施例2所述的行星传动装置的结构原理简图；
图8是本发明实施例3所述的行星传动装置的结构原理简图；
图9是本发明实施例4所述的行星传动装置的结构原理简图；
图10是本发明实施例5所述的行星传动装置的结构原理简图。
其中，
1：弹性行星架                      2：刚性锥套
3：轴向调节机构                    4：行星轮
5：太阳轮                          6：第一内齿圈
7：第二内齿圈                      8：变位行星架系统
9：第一行星齿轮                    10：第二行星齿轮
11:内齿圈                          12：第一键槽
101：行星轴孔                      102：支撑底板
103：缺口                          104：行星架撑柱
105：支撑顶板                      106：螺纹孔
107：第一空间                      201：第二空间
301：螺钉                          302：内沿
303：外沿                          14：第三行星齿轮
15：输入轴                         16：输出轴
55：附加太阳轮                     121：第二键
122：第二键槽
具体实施方式
为使本发明实施例的目的、技术方案、有益效果及显著进步更加清楚，下面，将结合本发明实例中所提供的附图，对本发明实施例中的技术方案进行清楚、完整的描述，显然，所有描述的这些实施例仅是本发明的部分实施例，而不是全部的实施例；基于本发明中的实施例做出的示范，本领域普通技术人员在没有做出创造性劳动前提下根据现有的行星架形状和现有的3K行星传动装置以及现有的含有内齿圈的2K-H型行星传动装置所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，本发明的说明书和权利要求书中的术语“第一”、“第二”，“第三”等，仅是用于区别不同的对象，而非用于描述特定的顺序。
还需要说明的是，以下的具体实施例可以相互结合，对于其中相同或相似的概念或过程可能在某些实施例中不再赘述。
实施例1
如图1-3所示，一种变位行星架系统，所述变位行星架系统8是机器人或精密自动化设备中使用的行星减速器中的变位行星架系统，用于增强传动精度，由弹性行星架1、刚性锥套2和轴向调节机构3组成；所述变位行星架系统是一种可以在刚性锥套向小径方向的轴向移动下膨胀加大设置在所述弹性行星架中的行星齿轮的公转半径或者可以在刚性锥套轴向受向小径方向的力下保持对行星齿轮施加向外胀的径向力的系统，这样行星齿轮就可以压向与其啮合的内齿圈，减少行星齿轮和外齿圈之间的侧隙，提高传动精度。本实施例所述环形框架行星架为双侧板框架结构，也可以选用单侧板结构以节省空间，变位行星架系统不能带来任何与行星齿轮或者太阳轮的干涉。
其中所述弹性行星架为环形结构，内壁为环形壁，包括对称设置的环形支撑顶板105和环形支撑底板102，所述支撑底板102的上表面设置有三个行星架撑柱104，所述行星架撑柱104的顶部设置有所述环形支撑顶板105，所述撑柱104、环形支撑顶板105和环形支撑底板102的内表面分别加工有所述锥面，在两两行星架撑柱104之间的所述支撑底板102上设置有3个行星轴孔101用于设置行星齿轮，行星架在各所述撑柱104位置上分别加工有沿所述弹性行星架轴向的一对交错缺口103，且两个交错缺口朝向相反，且每对交错缺口的深度和大于所述弹性行星架1缺口位置的加工缺口之前轴向壁厚；所述缺口103采用凹槽形式。设置所述缺口的目的用于使所述弹性行星架1发生微量弹性变形，弹性拉长所述弹性行星架的侧壁的周长，即增大行星架上安装行星齿轮的位置半径，除上述说明外，也可采用沿径向方向加工缺口103。使所述弹性行星架1发生微量弹性变形的结构多种多样，以上仅是示例性的举出示例，但是本质就是可以拉长的环形周长，所以行星架上的环形必须不能是完整的 正圆，必须通过加工各种样式的缺口使其周长可以被拉长，另外可以被拉长的缺口的分布最好与行星齿轮分布交错，这样有利于行星齿轮之间的距离被均匀拉长，在行星架胀大过程中，行星齿轮更好的延半径方向移动，而不改变行星齿轮的分布相位。
所述支撑顶板105的上表面设置有与所述支撑底板上的行星轴孔位置对应的3个行星轴孔101，以及用于安装轴向调节机构的多个螺纹孔106。所述弹性行星架的两两行星架撑柱104之间形成第一空间107用于容纳行星齿轮。
所述刚性锥套2为环形结构，套设在所述弹性行星架1内，所述刚性锥套2具有外径不同的上端部和下端部，所述上端部的外径大于所述下端部的外径，所述刚性锥套2的下端部插入所述弹性行星架1，所述上端部朝向所述轴向调节机构3。所述刚性锥套2的至少部分外侧壁加工有与弹性行星架的侧壁内表面的锥面适配的锥面，使所述刚性锥套加工有锥面的外表面与所述弹性行星架加工有锥面的侧壁内表面之间紧密配合。所述上端部的上表面设置有一个凸起或者凹点作为限位机构，所述限位机构受所述轴向调节机构3上的对应限位机构的限制，从而限制所述刚性锥套2和所述弹性行星架1发生相对周向转动。如图4-5所示，所述上端部的上表面设置有间隔的凸起，其凸起尺寸与所述轴向调节机构3内沿302的下表面形状适配，使所述轴向调节机构3与刚性锥套2相互卡住，限制所述刚性锥套2和所述弹性行星架1发生相对周向转动。可选的，所述弹性行星架1和刚性锥套2的接触面设有简单卡位结构限制相对周向转动避免刚性锥套因转动和行星齿轮发生干涉，比如采用键固定。如图5所示，所述弹性行星架1的内壁设有第二键121，所述刚性锥套的外壁上设有适配的键槽122，通过加入键来限制二者相对转动，同时这种键固定也能增强弹性行星架的抗扭矩刚度。
如图2所示，可选的，所述弹性行星架1的所述支撑底板的底面上额外加工有3个第一键槽12，用于传递扭矩，由于行星架可以变形胀大，采用在行星架上设有端面径向键槽等类似结构用于在行星架变位情况下仍然传递周向扭矩。
所述刚性锥套2的外侧壁加工有和所述弹性行星架1的第一空间107适配的第二空间201用于容纳行星齿轮和/或太阳轮，所述第二空间201根据实际需要可以是凹槽或镂空结构；当适用于有太阳轮的减速器时，所述第二空间201加工为镂空结构，在适用于没有太阳轮的减速器时，所述第二空气201可以加工为凹槽或镂空结构。除第二空间201外的所述刚性锥套2的外侧壁上加工有弹性行星架1内壁的锥面适配的锥面，使所述刚性锥套2的外表面与所述弹性行星架1的侧壁内表面之间紧密配合。所述刚性锥套2的锥角小于16°，优选6-12°以实现良好的自锁的效果，避免因为行星齿轮受到较大承载的径向分量力时出现行星架缩小倒推用弹簧轴向调节的锥套回调的现象。
所述刚性锥套轴向调节机构3为轴向安装在弹性行星架1和/或刚性锥套2端部的调节螺栓/螺母或弹性元件，用于对所述刚性锥套施加指向刚性锥套小径方向的轴向力，利用所述轴向调节机构轴向推动所述刚性锥套2胀大所述弹性行星架使设置在所述弹性行星架中的行星齿轮向外胀从而压向与其啮合的内齿圈，用于加大所述行星齿轮公转半径从而消除侧隙或为行星齿轮和内齿圈之间施加齿面预压力。如图4所示，所述轴向调节机构3为弹性簧片，所述弹性簧片包括内沿302和外沿303，所述外沿303上间隔的设置有螺孔其与所述螺纹孔106适配，用于所述螺钉301穿过螺孔和螺纹孔106从而固定所述刚性锥套轴向调节机构3与所述弹性行星架1；所述弹性簧片的内沿302与所述刚性锥套2的大径端面接触，利用所述弹性簧片的弹力对所述刚性锥套2产生朝向其小径方向的压力。具体使用时将行星齿轮和内齿圈装好后再装上弹性簧片。
可选的，所述刚性锥套轴向调节机构3也可另外选择螺纹结构形式，如调节螺母(与本实施例的附图不同)，所述刚性锥套2的小径端部加工有与所述调节螺母适配的外螺纹，所述调节螺母旋入所述刚性锥套2预设的外螺纹，从而所述调节螺母压紧所述弹性行星架1的端面，利用所述调节螺母的拉力对所述刚性锥套产生朝向其小径方向的拉力。具体使用时是将行星齿轮和内齿圈装好之后再旋紧调节螺丝，这样避免提前胀大的行星架行星齿轮无法装入内齿圈。实际应用时刚性锥套2相对弹性行星架的轴向调节行程很小，因为行星架胀大的行程很小，通常所需的半径胀大不超过行星齿轮的齿轮厚的一半，所以锥套的调节无论是使用螺钉还是弹簧都不需要设计很大调节行程，在行星传动装置的各零件精度等级都较高的情况下甚至可以设计成微变位行星架系统，这时仅需要在行星架上加工出可以满足微小弹性变形量的缺口103即可。
图6示出本发明实施例1所述的变位行星架系统装配有行星齿轮的结构示意图。
实施例2
如图7所示，本发明还公开了一种含有所述变位行星架系统的行星传动装置，所述含有变位行星架系统的行星传动装置为一种3K型行星传动装置，包括第一内齿圈6、第二内齿圈7、双联行星齿轮9,10、太阳轮5和变位行星架系统8，其中所述的变位行星架系统8由如图4-5所示的弹性行星架1、刚性锥套2和刚性锥套轴向调节机构3组成，所述双联行星齿轮包括第一行星齿轮9、第二行星齿轮10。所述第一内齿圈6与所述第一行星齿轮9啮合，所述第二内齿圈7与所述第二行星齿轮10啮合。所述变位行星架系统8的结构与实施例1相同，在此不再赘述。可选的，所述行星传动装置也可以是3K-II型行星传动装置，此时双联行星齿轮参数完全相同，可以加工成一个齿轮。
传统的3K型行星传动装置大多采用双侧板的框架式行星架，本发明将传统3K型行星传动装置的行星架替换为上述变位行星架系统8，将行星齿轮9，10在装好后随着行星架1的胀大压向两个内齿圈6，7，这种加大行星齿轮公转半径的方法可以有效消除侧隙，同时为行星齿轮和内齿圈之间施加一定的齿面预压力，当行星齿轮9，10或内齿圈6，7齿面磨损时也能够进一步调节胀大行星架保持齿面接触和齿面预压力。由于两个内齿圈共用一组行星齿轮和行星架，使用本发明所述的变位行星架系统8向外将行星齿轮压向内齿圈产生的消除侧隙和减少震动的效果更明显，由于3K行星传动装置的行星架和内齿圈之间具有较高的传动比，所以太阳轮5和行星齿轮9间的侧隙在本发明所述的行星传动装置作为减速器时造成的输出侧隙影响较小。
在将本发明所述的行星传动装置作为机器人或精密自动化设备中使用的行星减速器的应用中，所述输出内齿圈7与输出轴16连接；以太阳轮5为传动的高速端，所述输入轴15驱动所述太阳轮5带动行星齿轮在内齿圈6，7上滚动啮合，从而带动变位行星架系统8转动，带动所述输出内齿圈7驱动输出轴16转动。实际装配时先将所述行星齿轮9，10和所述变位行星架系统8装入所述内齿圈6、7后，根据实际需要调节所述刚性锥套轴向调节机构3使行星齿轮向外胀后再装入太阳轮5，这样就可以选取和行星齿轮配合更好的太阳轮5，有助于减少太阳轮5和行星齿轮9之间的侧隙。优选的还可以将太阳轮5和输入轴等零件预组装甚至加工一体之后再装入所述行星传动装置。在现有的3K行星减速器上将行星架替换为本发明提出的所述变位行星架系统，都能够显著提高传动精度等性能，包括但不限于现有技术中的3K-I型、3K-II型和3K-III型。
实施例3
如图8所示，本发明还公开了一种含有所述变位行星架系统的行星传动装置，所述行星传动装置为一种省去了太阳轮的3K行星传动装置，包含第一内齿圈6、第二内齿圈7、双联行星齿轮9,10和变位行星架系统8，其中所述的变位行星架系统8由如图4-5所示的弹性行星架1、刚性锥套2和刚性锥套轴向调节机构3组成，所述双联行星齿轮包括第一行星齿轮9、第二行星齿轮10；所述第一内齿圈6与所述第一行星齿轮9啮合，所述第二内齿圈7与所述第二行星齿轮10啮合。
所述行星传动装置相比于传统的3K行星传动装置省去了太阳轮5，本发明将传统3K型行星传动装置的行星架替换为上述变位行星架系统8。所述变位行星架系统8的结构与实施例1相同，在此不再赘述。可选的，所述行星传动装置中的所述双联行星齿轮由于双联行星齿轮参数完全相同，可以加工成一个齿轮。
在将本实施例所述的行星传动装置作为机器人或精密自动化设备中使用的行星减速器的应用中，将行星齿轮9，10在装好后随着所述变位行星架系统8的胀大压向两个内齿圈6，7，这种加大行星齿轮公转半径的方法可以有效消除侧隙，同时为行星齿轮和内齿圈之间施加一定的齿面预压力，当行星齿轮9，10或内齿圈6，7齿面磨损时也能够进一步调节胀大行星架保持齿面接触和齿面预压力。以变位行星架系统8为传动的高速端，即输入轴15连接所述变位行星架系统8用于直接驱动所述变位行星架系统8，从所述变位行星架系统8输入扭矩带动变位行星架系统8转动，带动行星齿轮9，10在内齿圈6，7上滚动啮合，所述输出内齿圈7与输出轴连接；由于所述第一行星齿轮9、第二行星齿轮10是安装在变位行星架系统8上的同步转动的双联齿轮，因此所述第二行星齿轮10带动所述输出内齿圈7驱动输出轴16转动。
本实施例将太阳轮去掉，可以避免因太阳轮5和行星齿轮9，10之间啮合的传动侧隙和引发的震动。所述的弹性行星架1在外壁上设有端面键槽用于和输入轴15传递扭矩，由于所述变位行星架系统8能够变形胀大，采用在所述弹性行星架1上设有端面径向键槽等结构用于在行星架变位情况下仍然传递轴向扭矩。
实施例4
如图9所示，一种含有变位行星架系统的行星传动装置，所述行星传动装置与实施例3的结构近似，也是一种以省去了太阳轮的3K行星传动装置为基础，包含第一内齿圈6、第二内齿圈7、第一行星齿轮9、第二行星齿轮10和变位行星架系统8。与实施例3相同的结构在此不再赘述，以下只描述区别特征。所述行星传动装置还设有附加的第三行星齿轮14和附加太阳轮55，所述附加太阳轮55和所述第三行星齿轮14啮合传动，所述第三行星齿轮14和其所在第一行星齿轮9同轴安装相对固定；且所述行星传动装置的附加太阳轮作为输入端。
在将本发明所述的行星传动装置作为机器人或精密自动化设备中使用的行星减速器的应用中，附加太阳轮55作为高速输入端，所述输入轴15驱动所述附加太阳轮55，附加太阳轮55与所述第三行星齿轮14啮合传动带动第三行星齿轮14自转，由于所述第三行星齿轮14与所述第一行星齿轮9同轴且周向固定，因此带动所述第一行星齿轮9自转，同时带动所述变位行星架系统8公转，进而驱动内齿圈7带动输出轴16转动，从而所述减速器实现和传统3K型行星传动相似的传动路径。传统的3K行星传动结构中，行星齿轮既与内齿圈啮合又与太阳轮啮合从而使各齿轮的参数相互高度关联，齿轮设计难度大，匹配难度高。而本实施例提出的通过去掉传统3K行星传动装置的太阳轮，改为在行星齿轮上设置附加行星齿轮和附加太阳轮55啮合的结构，能够降低对齿轮参数设计的要求，有利于最大化的优化设计 传动装置的扭矩负载、减速比、震动和侧隙等性能。可选的，不是所有行星齿轮上都带有附加行星齿轮，比如6个行星齿轮中有三个或者两个有就可以了，而且为了更好的消除侧隙和提高平顺性可以使用相对于和内齿圈啮合的行星齿轮更小的模数设计附加太阳轮和附加行星齿轮。
实施例5
如图10所示，一种含有变位行星架系统的行星传动装置，所述行星传动装置为一种含有内齿圈的2K-H行星传动装置，包括内齿圈11、行星轮4、太阳轮5和变位行星架系统8，其中所述的变位行星架系统8由如图4-5所示的弹性行星架1、刚性锥套2和刚性锥套轴向调节机构3组成。所述变位行星架系统8的结构与实施例1相同，在此不再赘述。所述行星轮4和太阳轮5及内齿圈11啮合，所述行星轮4安装在所述变位行星架系统8上。在上述2K-H型行星传动装置中选用实施例1所述的变位行星架系统产生的技术效果虽然没有3K型中那么明显，但是也毕竟为减少了行星轮和内齿圈的侧隙并且为行星轮和内齿圈之间提供一定的预压力，提高传动精度和平顺性。
在将本发明所述的行星传动装置作为机器人或精密自动化设备中使用的行星减速器的应用中，所述内齿圈11固定，所述输入轴15驱动所述太阳轮5带动行星轮4在内齿圈11上滚动啮合，从而带动变位行星架系统8转动，所述变位行星架系统8和输出轴16周向固定输出扭矩。实际装配时可以先将行星轮4和变位行星架系统8装入内齿圈11后，并调整好变位行星架系统8的刚性锥套轴向调节机构3，最后再装入太阳轮，这样就可以选用在行星轮向外胀后和行星轮配合的更好的太阳轮，有助于减少太阳轮和行星轮之间的侧隙，更进一步还可以将太阳轮和输入轴等零件预组装甚至加工一体之后再装入减速器。
本发明所述的行星传动装置还可作为加速器应用，其结构与减速器相同，在此不再赘述。
以上实施例仅用以说明本发明的技术方案，而非是对其的限制，尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换，而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围，本领域技术人员根据本说明书内容所做出的非本质改进和调整或者替换，均属本发明所要求保护的范围。

Claims (13)

  1. 一种变位行星架系统，其特征在于，由弹性行星架、刚性锥套和刚性锥套轴向调节机构组成；
    其中所述弹性行星架为一种侧壁的部分内表面加工为锥面的行星架，所述弹性行星架包括用于容纳行星齿轮的第一空间，所述每个第一空间的轴向的至少一端设有安装行星齿轮的轴或轴孔，在避开所述第一空间的所述弹性行星架侧壁上加工有交错缺口，所述缺口用于在受力时弹性拉长所述弹性行星架的侧壁周长，使所述弹性行星架发生弹性变形；
    所述刚性锥套套设在所述弹性行星架内，所述刚性锥套的至少部分外侧壁加工有与弹性行星架的侧壁内表面的锥面适配的锥面，使所述刚性锥套加工有锥面的外表面与所述弹性行星架加工有锥面的侧壁内表面之间紧密配合；
    所述刚性锥套轴向调节机构为轴向安装在弹性行星架和/或刚性锥套端部的调节螺栓/螺母或弹性元件，用于对所述刚性锥套施加指向刚性锥套小径方向的轴向力，利用所述轴向调节机构轴向推动所述刚性锥套胀大所述弹性行星架使设置在所述弹性行星架中的行星齿轮向外胀从而压向与其啮合的内齿圈，用于加大所述行星齿轮公转半径从而消除侧隙或为行星齿轮和内齿圈之间施加齿面预压力。
  2. 根据权利要求1所述的变位行星架系统，其特征在于设置有锥面的所述弹性行星架的侧壁上加工有沿所述弹性行星架轴向/径向的至少一对交错缺口，且两个交错缺口朝向相反，且每对交错缺口的深度和大于所述弹性行星架缺口位置加工缺口之前的壁厚。
  3. 根据权利要求1所述的变位行星架系统，其特征在于所述刚性锥套的侧壁上还设置有与第一空间适配的第二空间用于容纳行星齿轮和/或太阳轮。
  4. 根据权利要求1所述的变位行星架系统，其特征在于所述轴向调节机构为弹性簧片，所述弹性簧片的外沿用螺钉固定在所述弹性行星架的端面，所述弹性簧片的内沿与所述刚性锥套的大径端面接触，利用所述弹性簧片的弹力对所述刚性锥套产生朝向其小径方向的压力。
  5. 根据权利要求1所述的变位行星架系统，其特征在于，还设置有一限位机构用于限制所述刚性锥套和所述弹性行星架发生相对周向转动。
  6. 根据权利要求4所述的变位行星架系统，其特征在于，所述刚性锥套的大径端面设置有至少一个凸起或者凹槽作为限位机构，所述弹性簧片的相应位置设置有与所述限位机构对应的凹槽或凸起，与刚性锥套的凸起或者凹槽相互卡住，限制所述刚性锥套和所述弹性行星架发生相对周向转动。
  7. 根据权利要求4所述的变位行星架系统，其特征在于，所述刚性锥套的锥角为6-12°，以实现自锁效果。
  8. 根据权利要求1所述的变位行星架系统，其特征在于，所述轴向调节机构为调节螺母；所述刚性锥套的小径端部加工有与所述调节螺母适配的外螺纹，所述调节螺母旋入所述刚性锥套的外螺纹中，从而压紧所述弹性行星架的端面，利用所述调节螺母的拉力对所述刚性锥套产生朝向其小径方向的拉力。
  9. 根据权利要求1所述的变位行星架系统，其特征在于，所述弹性行星架包括对称设置的环形支撑顶板和环形支撑底板，所述支撑底板的上表面设置有多个行星架撑柱，所述行星架撑柱的顶部设置有所述环形支撑顶板；所述撑柱、环形支撑顶板和环形支撑底板的内表面分别加工有所述锥面；行星架在各所述撑柱位置上加工有沿所述弹性行星架径向的一对交错缺口。
  10. 一种行星传动装置，其特征在于，所述行星传动装置中的行星架为如权利要求1-9任一项所述的变位行星架系统，所述行星传动装置为一种3K行星传动装置，利用所述轴向调节机构轴向推动所述刚性锥套胀大所述弹性行星架使所述行星传动装置的行星齿轮向外胀从而压向所述行星传动装置的内齿圈，用于加大所述行星齿轮公转半径从而消除侧隙或为行星齿轮和内齿圈之间施加齿面预压力。
  11. 一种行星传动装置，其特征在于，所述行星传动装置中的行星架为如权利要求1-9任一项所述的变位行星架系统，所述行星传动装置为一种省去了太阳轮的3K行星传动装 置，所述行星传动装置的变位行星架系统作为输入端；利用所述轴向调节机构轴向推动所述刚性锥套胀大所述弹性行星架使所述行星传动装置的行星齿轮向外胀从而压向所述行星传动装置的内齿圈，用于加大所述行星齿轮公转半径从而消除侧隙或为行星齿轮和内齿圈之间施加齿面预压力。
  12. 一种行星传动装置，其特征在于，所述行星传动装置中的行星架为如权利要求1-9任一项所述的变位行星架系统，所述行星传动装置以省去了太阳轮的3K行星传动装置为基础，还设有附加太阳轮和至少两个附加的第三行星齿轮，所述附加太阳轮和所述第三行星齿轮啮合传动带动第三行星齿轮自转，各所述第三行星齿轮和所述行星传动装置的一个行星齿轮同轴安装相对固定，所述行星传动装置的附加太阳轮作为输入端，利用所述轴向调节机构轴向推动所述刚性锥套胀大所述弹性行星架使所述行星传动装置的行星齿轮向外胀从而压向所述行星传动装置的内齿圈，用于加大所述行星齿轮公转半径从而消除侧隙或为行星齿轮和内齿圈之间施加齿面预压力。
  13. 一种行星传动装置，其特征在于，所述行星传动装置中的行星架为如权利要求1-9任一项所述的变位行星架系统，所述行星传动装置为一种含有内齿圈的2K-H型行星传动装置，利用所述轴向调节机构轴向推动所述刚性锥套胀大所述弹性行星架使所述行星传动装置的行星齿轮向外胀从而压向所述行星传动装置的内齿圈，用于加大所述行星齿轮公转半径从而消除侧隙或为行星齿轮和内齿圈之间施加齿面预压力。
PCT/CN2021/124464 2021-10-18 2021-10-18 变位行星架系统及其行星传动装置 WO2023065072A1 (zh)

Priority Applications (8)

Application Number Priority Date Filing Date Title
CA3231901A CA3231901A1 (en) 2021-10-18 2021-10-18 Displacement planetary carrier system and planetary transmission device thereof
EP21960833.8A EP4421349A1 (en) 2021-10-18 2021-10-18 Displacement planetary carrier system and planetary transmission device thereof
PCT/CN2021/124464 WO2023065072A1 (zh) 2021-10-18 2021-10-18 变位行星架系统及其行星传动装置
KR1020247008282A KR20240042096A (ko) 2021-10-18 2021-10-18 가변 유성 캐리어 시스템 및 이의 유성 전동 장치
JP2024518259A JP2024536649A (ja) 2021-10-18 2021-10-18 可変遊星キャリアシステム及びそれを備えた遊星式伝動装置
MX2024004699A MX2024004699A (es) 2021-10-18 2021-10-18 Sistema portador planetario de desplazamiento y dispositivo de transmision planetaria del mismo.
AU2021469729A AU2021469729B2 (en) 2021-10-18 2021-10-18 Displacement planetary carrier system and planetary transmission device thereof
US18/626,968 US12092190B2 (en) 2021-10-18 2024-04-04 Displacement planetary carrier system and planetary transmission device thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/124464 WO2023065072A1 (zh) 2021-10-18 2021-10-18 变位行星架系统及其行星传动装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/626,968 Continuation US12092190B2 (en) 2021-10-18 2024-04-04 Displacement planetary carrier system and planetary transmission device thereof

Publications (1)

Publication Number Publication Date
WO2023065072A1 true WO2023065072A1 (zh) 2023-04-27

Family

ID=86057829

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/124464 WO2023065072A1 (zh) 2021-10-18 2021-10-18 变位行星架系统及其行星传动装置

Country Status (8)

Country Link
US (1) US12092190B2 (zh)
EP (1) EP4421349A1 (zh)
JP (1) JP2024536649A (zh)
KR (1) KR20240042096A (zh)
AU (1) AU2021469729B2 (zh)
CA (1) CA3231901A1 (zh)
MX (1) MX2024004699A (zh)
WO (1) WO2023065072A1 (zh)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02283939A (ja) * 1989-04-25 1990-11-21 Harmonic Drive Syst Ind Co Ltd バックラッシ調整機構付遊星歯車装置
DE102012210465A1 (de) * 2012-06-21 2013-12-24 Zf Friedrichshafen Ag Planetengetriebevorrichtung mit wenigstens einem Sonnenrad
CN105156594A (zh) * 2015-08-24 2015-12-16 吴瑜华 具有高传动精度的行星减速机
JP2017009044A (ja) * 2015-06-23 2017-01-12 株式会社アイカムス・ラボ 遊星歯車機構のバックラッシレス機構
WO2017032260A1 (zh) * 2015-08-21 2017-03-02 吴瑜华 具有高传动精度的行星减速机
CN109505965A (zh) * 2018-11-26 2019-03-22 安徽大学 一种行星齿轮齿侧间隙调整机构
CN109882585A (zh) * 2019-03-29 2019-06-14 浙江凡左科技有限公司 一种可调行星齿轮支架
CN209743560U (zh) * 2019-03-29 2019-12-06 浙江凡左科技有限公司 一种可调行星齿轮支架
CN112709788A (zh) * 2021-01-08 2021-04-27 中国科学院宁波材料技术与工程研究所 基于柔性机构的行星轮系消隙装置、减速器及机器人关节
CN112955676A (zh) * 2018-12-10 2021-06-11 舍弗勒技术股份两合公司 用于机器人齿轮系装置的行星齿轮系

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101076585B1 (ko) * 2007-08-16 2011-10-24 주식회사 만도 백래쉬 저감장치가 구비된 유성 기어 장치 및 이를 구비한능동 전륜 조향장치
JP2015503071A (ja) * 2011-12-07 2015-01-29 ファウルハーバー ミニモーター エスエー バックラッシュのない遊星歯車アセンブリ
KR20140145340A (ko) * 2013-06-13 2014-12-23 주식회사 만도 유성 기어 장치
CN110475987A (zh) * 2017-02-22 2019-11-19 无轨道驾驶公司 多速无轨传动装置
CN116292857B (zh) * 2023-02-14 2023-10-17 爱磁精密(深圳)有限公司 新型变位行星架系统及其行星传动装置

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02283939A (ja) * 1989-04-25 1990-11-21 Harmonic Drive Syst Ind Co Ltd バックラッシ調整機構付遊星歯車装置
DE102012210465A1 (de) * 2012-06-21 2013-12-24 Zf Friedrichshafen Ag Planetengetriebevorrichtung mit wenigstens einem Sonnenrad
JP2017009044A (ja) * 2015-06-23 2017-01-12 株式会社アイカムス・ラボ 遊星歯車機構のバックラッシレス機構
WO2017032260A1 (zh) * 2015-08-21 2017-03-02 吴瑜华 具有高传动精度的行星减速机
CN105156594A (zh) * 2015-08-24 2015-12-16 吴瑜华 具有高传动精度的行星减速机
CN109505965A (zh) * 2018-11-26 2019-03-22 安徽大学 一种行星齿轮齿侧间隙调整机构
CN112955676A (zh) * 2018-12-10 2021-06-11 舍弗勒技术股份两合公司 用于机器人齿轮系装置的行星齿轮系
CN109882585A (zh) * 2019-03-29 2019-06-14 浙江凡左科技有限公司 一种可调行星齿轮支架
CN209743560U (zh) * 2019-03-29 2019-12-06 浙江凡左科技有限公司 一种可调行星齿轮支架
CN112709788A (zh) * 2021-01-08 2021-04-27 中国科学院宁波材料技术与工程研究所 基于柔性机构的行星轮系消隙装置、减速器及机器人关节

Also Published As

Publication number Publication date
AU2021469729B2 (en) 2024-05-02
US12092190B2 (en) 2024-09-17
CA3231901A1 (en) 2023-04-27
KR20240042096A (ko) 2024-04-01
AU2021469729A1 (en) 2024-03-28
EP4421349A1 (en) 2024-08-28
US20240247704A1 (en) 2024-07-25
MX2024004699A (es) 2024-05-09
JP2024536649A (ja) 2024-10-07

Similar Documents

Publication Publication Date Title
US9482323B2 (en) Friction roller reducer and drive unit for electric automobile
CN113757349B (zh) 变位行星架系统及其行星传动装置
CN116292857B (zh) 新型变位行星架系统及其行星传动装置
CA2535318A1 (en) Gear transmission unit with planetary gears
CN115539619B (zh) 一种含有变位行星架系统的行星传动装置
US4459876A (en) Floating planet gear system
US11933385B2 (en) Nutation reducer
CN109877606A (zh) 一种用于轴系镗孔的中间支撑工装及同轴调整方法
WO2023065072A1 (zh) 变位行星架系统及其行星传动装置
CN111637198B (zh) 一种分体式人字齿轮及其行星传动装置
CN100408883C (zh) 一种在谐波传动中使柔轮与刚轮紧密接触的方法及浮动式波发生器
EP0594549B1 (en) A coupling arrangement
CN102338202A (zh) 一种舵形滚轴轮弧面包络轮啮合传动结构
CN112984065B (zh) 一种基于摩擦传动的双排行星减速器
WO2018168763A1 (ja) 差動減速機
CN112222195B (zh) 一种高速三辊冷轧机组
CN111765215A (zh) 精密控制用内啮合rv减速器
CN112503142B (zh) 一种nw型行星齿轮减速装置及传动系统
CN216078152U (zh) 一种中间行星架带轴承支撑的行星减速机
WO2023070670A1 (zh) 径向动压平面轴承和齿轮箱
JP2009174580A (ja) 遊星ローラ式動力伝達装置
JPH0137623B2 (zh)
CN117108718A (zh) 一种铝合金非线性刚度齿轮力学超结构
CN114754112A (zh) 一种高扭矩摆线减速机
CN115076334A (zh) 挠性啮合齿轮

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21960833

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2021469729

Country of ref document: AU

Ref document number: AU2021469729

Country of ref document: AU

WWE Wipo information: entry into national phase

Ref document number: 3231901

Country of ref document: CA

ENP Entry into the national phase

Ref document number: 2024518259

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 202427024601

Country of ref document: IN

ENP Entry into the national phase

Ref document number: 2021469729

Country of ref document: AU

Date of ref document: 20211018

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: MX/A/2024/004699

Country of ref document: MX

WWE Wipo information: entry into national phase

Ref document number: 11202402150U

Country of ref document: SG

WWE Wipo information: entry into national phase

Ref document number: 2021960833

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2021960833

Country of ref document: EP

Effective date: 20240521