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WO2019200899A1 - 新型行星减速器 - Google Patents

新型行星减速器 Download PDF

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Publication number
WO2019200899A1
WO2019200899A1 PCT/CN2018/114850 CN2018114850W WO2019200899A1 WO 2019200899 A1 WO2019200899 A1 WO 2019200899A1 CN 2018114850 W CN2018114850 W CN 2018114850W WO 2019200899 A1 WO2019200899 A1 WO 2019200899A1
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Prior art keywords
gear
wheel
planet
disposed
carrier
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PCT/CN2018/114850
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English (en)
French (fr)
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吴永德
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吴永德
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Publication of WO2019200899A1 publication Critical patent/WO2019200899A1/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
    • 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

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

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

Abstract

本发明公开了新型行星减速器，其包括静止轮、转动设置在所述静止轮内的行星架、设置在所述行星架上的至少一个行星轮机构、及转动设置在所述行星架上的输出轮，所述行星轮机构包括设置在行星架上的行星轴、及转动设置在所述行星轴上的行星轮，所述行星架具有动力输入部，所述静止轮、行星架和输出轮同轴设置，所述行星轮的轴线与所述行星架的轴线相平行，所述行星轮与所述静止轮、输出轮均啮合，所述静止轮与所述输出轮具有齿数差。本发明提供的新型行星减速器，可替代谐波减速器，其结构简单，加工方便、寿命长、成本低。

Description

新型行星减速器 技术领域
本发明涉及减速机技术领域，特别涉及一种新型行星减速器。
背景技术
精密减速器是一种机械动力传递机构，目的是降低转速、增大转矩。近年来，随着工业机器人的发展，机器人的核心部件之一，精密减速器的发展缓慢，已经成为机器人发展的老大难。
用于机器人中的三大减速器中的谐波减速器是利用行星齿轮传动原理发展起来的一种减速器。主要由波发生器、柔性齿轮、柔性轴承、刚性齿轮四个基本构件组成，谐波传动减速器，是一种靠波发生器装配上柔性轴承使柔性齿轮产生可控弹性变形，并与刚性齿轮相啮合来传递运动和动力的齿轮传动。谐波减速器虽然精度最高，但精度保持能力差，由于柔轮承受较大的交变载荷，因而对柔轮材料的抗疲劳强度、热处理要求较高、工艺复杂、加工难度大、寿命较短。
精密减速器机器人传动中最关键的部件，设计出一种结构简单、加工方便、速比范围宽、转矩范围大、体积小、重量轻、高寿命、高可靠性、低成本、通用化、模块化、接地气的精密减速器是机械技术人员的当务之急。本发明因此而来。
发明内容
本发明目的是提供一种新型行星减速器，结构简单，寿命长。
基于上述问题，本发明提供的技术方案是：
新型行星减速器，其包括静止轮、转动设置在所述静止轮内的行星架、设置在所述行星架上的至少一个行星轮机构、及转动设置在所述行星架上的输出轮，所述行星轮机构包括设置在行星架上的行星轴、及转动设置在所述行星轴上的行星轮，所述行星架具有动力输入部，所述静止轮、行星架和输出轮同轴设置，所述行星轮的轴线与所述行星架的轴线相平行，所述行星轮与所述静止轮、输出轮均啮合，所述静止轮与所述输出轮具有齿数差。
在其中的一些实施方式中，还包括设置在所述输出轮外端的端盖，所述端盖固定在所述静止轮上，所述输出轮转动设置在所述端盖中部。
在其中的一些实施方式中，所述行星架与所述静止轮之间设有第一轴承，所述行星轮与所述行星轴之间设有第二轴承，所述输出轮与所述行星架之间设有第三轴承，所述端盖与所述输出轮之间设有第四轴承。
在其中的一些实施方式中，齿轮啮合为内外齿啮合、锥型齿啮合或平面齿啮合中的一种。
在其中的一些实施方式中，齿轮的齿廓为渐开线、圆弧线、双曲线、摆线或S线。
在其中的一些实施方式中，齿轮的齿型为直齿、斜齿或螺旋齿。
与现有技术相比，本发明的优点是：
采用本发明的技术方案，将行星架作为输入部件，行星架带动行星轮绕静止轮和输出轮转动，同时行星轮绕自身转轴转动，行星轮与静止轮、输出轮啮合，由于输出轮与静止轮之间存在齿数差，当行星架转动一周，输出轮相对静止轮转动了n个齿数差的角度，随着外部电机的转矩连续输入，输出轮不断将放大了n倍的转矩和减少了n倍的转速输出，实现减速器的功能；该减速器结构简单，相当于在一级行星齿轮减速器的空间内实现了谐波减速器或摆线减速器相同的大减速比，结构紧凑，体积小；由于采用刚性齿轮，相比于谐波减速器采用柔性齿轮，寿命长；可布置多个行星轮，由于啮合的齿数多，因此输出转矩大；对齿形进行高精度磨削后，具有极高的传递精度，低的噪声，低的震动；取消了谐波减速器中的柔性齿轮和柔性轴承，因此具有材料要求低、成本低、加工制造简单等显著特点，可广泛应用于工业机器人等要求小体积、大转矩、高精度、大减速比的场合。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明新型行星减速器设置一个行星轮机构的工作原理图；
图2为本发明实施例设置多个行星轮机构的工作原理图；
图3为本发明新型行星减速器实施例的结构示意图；
图4为本发明另一种实施方式的结构示意图
其中：100、行星架；200、行星轮；300、输出轮；400、静止轮；1、行星架；2、行星轮；3、行星轴；4、第一轴承；5、第二轴承；6、静止轮；7、输出轮；8、第三轴承；9、第四轴承；10、端盖。
具体实施方式
以下结合具体实施例对上述方案做进一步说明。应理解，这些实施例是用于说明本发明而不限于限制本发明的范围。实施例中采用的实施条件可以根据具体厂家的条件做进一步调整，未注明的实施条件通常为常规实验中的条件。
参见图3，为本发明实施例的结构示意图，提供一种新型行星减速器，包括静止轮6、转动设置在静止轮6内的行星架1、设置在行星架1上的至少一个行星轮机构、及转动设置在行星架1上的输出轮7，行星轮机构包括设置在行星架1上的行星轴3、及转动设置在行星轴3上的行星轮2，行星架1具有动力输入部用以供外部电机向行星架1输入动力以带动行星架1转动，静止轮6、行星轮2和输出轮7同轴设置，行星轮2的轴线与行星架1的轴线相平行，行星轮2与静止轮6、输出轮7相啮合，静止轮6与输出轮7具有齿数差n，n为1、2、3…。
由于其行星轮2要与不同齿数的静止轮6和输出轮7同时保持啮合，因此必须有一种以上的齿轮需要作变位处理，也可以全部采用变位齿形，齿轮变位为现有技术。
实施中，如图1所示，可设置一个行星机构，如图2所示，优选的可设置多个行星机构，增加行星轮200的数量，从而增加行星轮200与静止轮400、输出轮300同时啮合的齿数，从而增大传递扭矩，减小齿轮间隙，提高传递精度，还就可以克服单个行星轮的不对称造成的振动和噪声。
在其它一些实施方式中，在输出轮7的外端还设有端盖10，该端盖10固定在静止轮6上，输出轮7转动设置在端盖10的中部。
本例中，在行星架与静止轮6之间设有第一轴承4，在行星轮2与行星 轴3之间设有第二轴承5，在输出轮7与行星架之间设有第三轴承8，端盖10和输出轮7之间设有第四轴承9。
实施中，齿轮啮合可以为内外齿啮合、锥型齿啮合或平面齿啮合中的一种；齿轮的齿廓为渐开线、圆弧线、双曲线、摆线或S线；轮的齿型为直齿、斜齿或螺旋齿。减速器可采用法兰输入、输出或轴输入、输出，使用中可根据需要设置，本发明不做限制。
本发明的工作原理为：外部电机的输入转矩通过行星架输入减速器，行星架1带动行星轮2绕静止轮6、输出轮7转动，行星轮2与静止轮6、输出轮7啮合，同时行星轮2绕自身轴线转动，这种行星运动使与静止轮6存在齿数差的输出轮7强制转动，当行星架1转动一周，输出轮7相对静止轮6转动了n个齿数差的角度，随着外部电机的连续输入，输出轮7不断的将放大了n倍的转矩和减少了n倍的转速输出。
上述实例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人员能够了解本发明的内容并据以实施，并不能以此限制本发明的保护范围。凡根据本发明精神实质所做的等效变换或修饰，都应涵盖在本发明的保护范围之内。

Claims (6)

  1. 新型行星减速器，其特征在于：包括静止轮(6)、转动设置在所述静止轮(6)内的行星架(1)、设置在所述行星架(1)上的至少一个行星轮机构、及转动设置在所述行星架(1)上的输出轮(7)，所述行星轮机构包括设置在行星架(1)上的行星轴(3)、及转动设置在所述行星轴(3)上的行星轮(2)，所述行星架(1)具有动力输入部，所述静止轮(6)、行星架(1)和输出轮(7)同轴设置，所述行星轮(2)的轴线与所述行星架(1)的轴线相平行，所述行星轮(2)与所述静止轮(6)、输出轮(7)均啮合，所述静止轮(6)与所述输出轮(7)具有齿数差。
  2. 根据权利要求1所述的新型行星减速器，其特征在于：还包括设置在所述输出轮(7)外端的端盖(10)，所述端盖(10)固定在所述静止轮(6)上，所述输出轮(7)转动设置在所述端盖(10)中部。
  3. 根据权利要求2所述的新型行星减速器，其特征在于：所述行星架(1)与所述静止轮(6)之间设有第一轴承(4)，所述行星轮(2)与所述行星轴(3)之间设有第二轴承(5)，所述输出轮(7)与所述行星架(1)之间设有第三轴承(8)，所述端盖(10)与所述输出轮(7)之间设有第四轴承(9)。
  4. 根据权利要求1至3任意一项所述的新型行星减速器，其特征在于：齿轮啮合为内外齿啮合、锥型齿啮合或平面齿啮合中的一种。
  5. 根据权利要求4所述的新型行星减速器，其特征在于：齿轮的齿廓为渐开线、圆弧线、双曲线、摆线或S线。
  6. 根据权利要求5所述的新型行星减速器，其特征在于：齿轮的齿型为直齿、斜齿或螺旋齿。
PCT/CN2018/114850 2018-04-20 2018-11-09 新型行星减速器 WO2019200899A1 (zh)

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CN108458059A (zh) * 2018-04-20 2018-08-28 吴永德 新型行星减速器
CN111536207A (zh) * 2020-06-04 2020-08-14 三门台力电机有限公司 一种轴向调整精密3z行星减速机

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