CN210034297U - Single-stage large reduction ratio gear reducer - Google Patents
Single-stage large reduction ratio gear reducer Download PDFInfo
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- CN210034297U CN210034297U CN201920310242.9U CN201920310242U CN210034297U CN 210034297 U CN210034297 U CN 210034297U CN 201920310242 U CN201920310242 U CN 201920310242U CN 210034297 U CN210034297 U CN 210034297U
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Abstract
The embodiment of the utility model discloses single-stage large reduction ratio gear reducer, include: the planetary gear mechanism, the input mechanism, the output mechanism and the shell mechanism; the planet wheel mechanism includes: at least one planetary gear; the input mechanism includes: a sun gear; the output mechanism includes: an output gear; the housing mechanism includes: fixing a gear; the central gear is an external gear, and the output gear and the fixed gear are internal gears; the sun gear, the output gear and the fixed gear are coaxially arranged and are respectively and simultaneously meshed with at least one planetary gear; the central gear is driven to rotate by external torque, and the output gear is used for outputting the output torque of the single-stage large-reduction-ratio gear reducer. The gear reducer of the utility model can provide the same reduction ratio as RV and harmonic reducer in smaller volume; the output gear has good support rigidity and high rotation precision; the gapless transmission can be realized, and the high transmission precision can be achieved; the part type and quantity are few, and the reliability is high.
Description
Technical Field
The utility model relates to a gear drive technical field especially relates to a large reduction ratio gear reducer of single-stage.
Background
The reducer is an indispensable key component of a robot and a servo system and is used for converting a smaller moment and a higher rotating speed of a motor into a larger moment and a lower rotating speed to drive the joint to move. At present, RV reducers and harmonic reducers are mostly adopted as reducers of robots and servo systems. Both of these reducers have their own problems: the RV reducer has high part processing difficulty, wherein the molding grinding processing precision requirement of the cycloid wheel is extremely high, and the RV reducer has a complex structure and large volume and weight; the harmonic reducer has the advantages that the gear modulus is small, the machining process is complex, the efficiency is low, the requirement on a cutter is high, the flexible part is easy to generate fatigue damage in the use process, the service life is limited, the harmonic transmission can only bear pure torque load generally, the composite load capacity is poor, and when the harmonic reducer bears the composite load of torque, bending moment, axial force and the like, the load capacity is obviously reduced, even normal transmission cannot be realized. These problems result in high cost for the robot and servo system and high cost for use and maintenance. Therefore, a new type of speed reducer is required.
SUMMERY OF THE UTILITY MODEL
In view of this, the present invention provides a single-stage large reduction ratio gear reducer.
According to an aspect of the utility model, a large reduction ratio gear reducer of single-stage is provided, include: the planetary gear mechanism, the input mechanism, the output mechanism and the shell mechanism; the planet wheel mechanism includes: at least one planetary gear; the input mechanism includes: a sun gear; the output mechanism includes: an output gear; the housing mechanism includes: fixing a gear; the central gear is an external gear, and the output gear and the fixed gear are internal gears; the sun gear, the output gear and the fixed gear are coaxially arranged and respectively and simultaneously engaged with the at least one planetary gear; the central gear is driven to rotate by external torque, and the output gear is used for outputting the output torque of the single-stage large reduction ratio gear reducer.
Optionally, the structure of the fixed gear is a housing structure provided with a first cavity, and an inner tooth for meshing with the at least one planetary gear is arranged on an inner wall of the first cavity.
Optionally, the output gear is in a shell structure provided with a second cavity, and inner teeth for meshing with the at least one planetary gear are arranged on the inner wall of the second cavity; the output mechanism includes: a front housing provided with a third cavity; the output gear is arranged in the third cavity, and the outer wall of the output gear is rotationally connected with the inner wall of the third cavity.
Optionally, the front housing is used for pressing the output gear and the fixed gear, and the front housing is fixedly connected with the fixed gear; the first cavity and the second cavity enclose a reducer cavity, and the sun gear and the at least one planetary gear are arranged in the reducer cavity.
Optionally, the output mechanism comprises: an output flange; the front shell is provided with a flange mounting through hole, the output flange is arranged in the flange mounting through hole and is connected with the output gear, and the output flange is used for outputting the output torque of the single-stage large reduction ratio gear reducer.
Optionally, one end of the output gear is provided with a first mounting through hole communicated with the second cavity, the output flange is provided with a second mounting through hole, and one end of the fixed gear is provided with a third mounting through hole communicated with the first cavity; the sun gear includes: the input shaft, the connecting shaft and the gear body; the gear body is positioned between the input shaft and the connecting shaft; the connecting shaft penetrates through the first mounting through hole to be rotatably connected with the second mounting through hole, and the input shaft is rotatably connected with the third mounting through hole; wherein the input shaft is used for inputting the external torque.
Optionally, comprising: at least one planet carrier set; each planet carrier group is arranged corresponding to one planet gear; the planet carrier set includes: the front bracket, the rear bracket and the planet wheel shaft; the planet wheel shaft is rotationally connected with a central hole of the planet gear, and the front support and the rear support are respectively connected with two ends of the planet wheel shaft; one end of the front support and one end of the rear support are respectively in rotating connection with the input shaft and the connecting shaft.
Optionally, the outer wall of the output gear is rotationally connected with the inner wall of the third cavity through an angular contact ball bearing; the input shaft is rotatably connected with the third mounting through hole through a bearing, and the connecting shaft is rotatably connected with the second mounting through hole through a bearing; one end of the front support and one end of the rear support are respectively in rotating connection with the input shaft and the connecting shaft through bearings.
Optionally, the input shaft, the connecting shaft and the gear body are integrally formed.
Optionally, the number of the planet gears is multiple, and the plurality of the planet gears are uniformly distributed along the circumferential direction of the sun gear; the reduction ratio of the single-stage large reduction ratio gear reducer is 50-30.
The single-stage large reduction ratio gear reducer of the utility model can provide the reduction ratio same as that of the RV reducer and the harmonic reducer under the same or even smaller volume; the output gear has good support rigidity and high rotation precision; the gapless transmission can be realized, and the high transmission precision can be achieved; the cost is low, and the processing and the detection are easy; the part type and quantity are few, and the reliability is high, the life-span is high, and convenient to detach maintains, has important practical value.
Drawings
In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise:
fig. 1 and 2 are overall schematic views of an embodiment of a single-stage large reduction ratio gear reducer according to the present invention;
FIG. 3 is a schematic cross-sectional view of one embodiment of a single stage high reduction ratio gear reducer according to the present invention;
fig. 4 is a schematic layout of planetary gears according to an embodiment of the single-stage large reduction gear reducer of the present invention.
Detailed Description
The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. The technical solution of the present invention is described in many aspects with reference to the drawings and the embodiments.
Hereinafter, "first", "second", etc. are descriptively distinct and have no other special meaning.
As shown in fig. 1 to 4, the present invention provides a single-stage large reduction ratio gear reducer, comprising: the planetary gear mechanism, the input mechanism, the output mechanism and the shell mechanism can have various mechanisms. For example, the planetary gear mechanism includes: at least one planet gear. Planetary gears are gears that can rotate around their own axis of rotation, as well as around their own axis of rotation, as in a fixed axis gear, and rotation around their own axis is called "rotation", and rotation around the axis of another gear is called "revolution". The number of planet gears may be 1, 2, 3, 4, etc., in a single row if there are a plurality of planet gears.
The input mechanism includes: a sun gear; the output mechanism includes: an output gear; the housing mechanism includes: fixing a gear; the sun gear is an external gear, and the output gear and the fixed gear are internal gears. The sun gear, the output gear and the fixed gear are coaxially arranged and are respectively and simultaneously meshed with at least one planetary gear. The central gear is driven to rotate by external torque, and the output gear is used for outputting the output torque of the single-stage large-reduction-ratio gear reducer. The external torque can be torque provided by a motor and the like, and the output gear can realize rotation relative to the fixed gear under the driving of at least one planetary gear and the sun gear and output the output torque of the single-stage large reduction ratio gear reducer.
The utility model discloses a single-stage big reduction ratio gear reducer's drive ratio scope is 50-300, and transmission efficiency can reach 0.70-0.85, can provide bigger drive ratio and more selection ranges in limited space, under same motor torque input condition, compares with RV reduction gear, harmonic reduction gear, can export unanimous or bigger moment.
In one embodiment, the fixed gear may take a variety of configurations. For example, the structure of the fixed gear 11 is a housing structure provided with a first cavity, which is a main housing structural member. An internal toothing 13 for meshing with at least one planet gear 34 is provided on the inner wall of the first cavity. The output gear may take a variety of configurations. For example, the output gear 41 is structured as a housing provided with a second cavity, and internal teeth 44 for meshing with at least one planetary gear are provided on an inner wall of the second cavity. The output mechanism includes: a front housing 43 provided with a third cavity; the output gear 41 is arranged in the third cavity, the outer wall of the output gear 41 is rotatably connected with the inner wall of the third cavity, and the outer wall of the output gear 41 can be rotatably connected with the inner wall of the third cavity through the back-to-back angular contact ball bearing 14.
The front housing 43 is used for pressing the output gear 41 and the fixed gear 11, and the front housing 43 and the fixed gear 11 are fixedly connected by a connection method such as screw connection, snap connection, welding, etc. For example, the fixed gear 11 has a mounting flange 12 for threaded connection with the front housing 43, and may be connected to other mechanical devices via the mounting flange 12. The first cavity of the fixed gear 11 and the second cavity of the output gear 41 enclose a reducer cavity, in which the sun gear and the at least one planet gear are arranged. The output mechanism includes: an output flange 42; the front housing 43 is provided with a flange mounting through-hole in which an output flange 42 is provided and connected with the output gear 41, the output flange 42 serving to output an output torque of the single-stage large reduction ratio gear reducer.
One end of the output gear 41 is provided with a first mounting through hole communicating with the second cavity of the output gear 41, and the output flange 42 is provided with a second mounting through hole. One end of the fixed gear 11 is provided with a third mounting through hole communicated with the first cavity of the fixed gear 11. The sun gear may have a variety of configurations, for example, the sun gear includes: input shaft 25, connecting shaft 21 and gear body 22, gear body 22 is located between input shaft 25 and connecting shaft 21.
The input shaft 25, the connecting shaft 21 and the gear body 22 are connected, and the input shaft 25, the connecting shaft 21 and the gear body 22 can be integrally formed. The connecting shaft 21 passes through the first mounting through hole to be rotatably connected with the second mounting through hole, and the input shaft 25 is rotatably connected with the third mounting through hole. For example, the connecting shaft 21 passes through the third mounting through hole and is rotatably connected to the second mounting through hole by the front bearing 23, and the input shaft 25 is rotatably connected to the third mounting through hole by the rear bearing 24. The input shaft 25 is used to input external torque. For example, the input shaft 25 is provided with a key groove for connection with a motor, the input shaft 25 rotates relative to the fixed gear 11 by an external force, and the output gear 41 outputs a low-speed rotation motion to realize a deceleration action.
The single-stage large reduction ratio gear reducer of the utility model has fewer part types and numbers, and most of parts such as the fixed gear 11, the output gear 41, the front shell 43 and the like are of thin-wall hollow structures, so that the light weight can be realized on the premise of the same volume and performance; the module of single-stage big reduction ratio gear reducer's planetary gear is 2 to 3 times of the harmonic gear of same reduction ratio and overall dimension, and the module is 0.1-5, and great module is favorable to improving the vice transmission rigidity and the bearing capacity of transmission, and the utility model discloses an do not have the flexible component in the harmonic gear transmission among the single-stage big reduction ratio gear reducer, life is longer, the maintenance cost is lower.
The planetary gear of the single-stage large reduction ratio gear reducer has a larger module than that of the harmonic gear, so that the machining manufacturability can be improved, and a special small-module machining tool is not needed. At least one planetary gear is evenly distributed along the circumferential direction of the sun gear. As shown in FIG. 4, three planetary gears can be arranged, and the planetary gears 34, 38 and 39 can realize the simultaneous meshing of three pairs of gear pairs, thereby reducing the transmission clearance and improving the transmission precision.
In one embodiment, at least one planet carrier set is provided, each planet carrier set being provided corresponding to one planet gear. The planet carrier group includes: a front bracket 31, a rear bracket 32 and a planetary gear shaft 35; the planetary gear shaft 35 is rotatably connected with a central hole of the planetary gear, and the front support 31 and the rear support 32 are respectively connected with two ends of the planetary gear shaft 35. One end of the front bracket 31 and one end of the rear bracket 32 are rotatably connected to the input shaft 25 and the connecting shaft 21, respectively. The planet carrier group includes: a support bearing 33, a wheel shaft sleeve 36 and a planet wheel gasket 37, wherein one end of the front bracket 31 and one end of the rear bracket 32 are respectively connected with the input shaft 25 and the connecting shaft 21 in a rotating way through the support bearing 33, the wheel shaft sleeve 36 and the planet wheel gasket 37.
In one embodiment, the number of teeth of the sun gear, the fixed gear, and the output gear, etc. may be designed according to parameters such as gear ratio. The single-stage large reduction ratio gear reducer is a single-stage large reduction ratio gear reducer with a reduction ratio of 50 to 300. The central gear, the output gear, the fixed gear and the at least one planet gear form a gear transmission pair, the central gear, the output gear, the fixed gear and the at least one planet gear can all be modified gears, and modification is adopted to ensure that the central distances of the gear pairs are matched.
The method of machining a gear by changing the relative position of a tool and the gear to be machined is called a displacement correction method, and the gear machined by the displacement correction method is called a displacement gear and includes displacements such as tangential displacement and radial displacement. For example, the sun gear, the output gear and the fixed gear, and at least one of the planet gears have a module of 0.1 to 5 and a shift coefficient of 0.01 to 3. The surfaces of the sun gear, the output gear and the fixed gear, and the at least one planet gear may be coated with an aviation grease, such as a wide temperature aviation grease or the like.
In one embodiment, the planetary gears 34 and the like can rotate around the planetary gear bearings 35, the connecting shaft 21 and the input shaft 25 are fixedly connected with the gear body 22 of the sun gear, and the sun gear rotates under the action of external force input through the input shaft 25 to drive the planetary gears 34 and the like meshed with the gear body 22 of the sun gear to rotate. The planetary gears 34 and the like are simultaneously meshed with the internal teeth 13 of the fixed gear 11 and the internal teeth 44 of the output gear 41, the internal teeth 44 of the output gear 41 have a larger number of teeth than the internal teeth 13 of the fixed gear 11, and the number of the planetary gears 34 and the like is the difference in the number of teeth between the internal teeth 44 of the output gear 41 and the internal teeth 13 of the fixed gear 11.
Due to the difference between the numbers of the internal teeth 44 of the output gear 41 and the internal teeth 13 of the fixed gear 11, when the planetary gear 34 rotates in mesh with the fixed gear 11, the fixed gear 11 is fixed because the output gear 41 and the fixed gear 11 have a small difference in rotation speed, and the output gear 41 rotates along with the input shaft 25, the planetary gear 34 and the like, and the rotation speed is much smaller than that of the input shaft 25. In order for the planetary gear 34 to simultaneously mesh with the output gear 41 and the fixed gear 11 having different numbers of teeth, the planetary gear 34 and the like, and the output gear 41 and the fixed gear 11 simultaneously adopt a shift design, and the center distance between the planetary gear 34 and the output gear 41 is equal to the center distance between the planetary gear 34 and the fixed gear 11.
The outer wall of the output gear 41 may be rotatably connected to the inner wall of the third cavity of the front housing 43 through the back-to-back angular contact ball bearing 14, so that the output gear 41 may bear axial and radial forces, thereby expanding the application range of the speed reducer. When the device is used, the output shaft of the motor is connected with the input shaft 25, the output flange 42 is connected with the driven device, the motor outputs rotation action to drive the input shaft 25 to rotate, and the driven device is driven to rotate through the output flange 42 after the speed of the motor is reduced by the speed reducer.
The single-stage large reduction gear reducer provided in the above embodiment can provide a single-stage large reduction ratio and a wide reduction ratio range, and can provide the same reduction ratio as that of the RV reducer and the harmonic reducer with the same or even smaller volume; the input shaft can be of a hollow structure, so that the motor shaft is convenient to mount, and the input shaft and the connecting shaft are respectively supported on the output flange, the front support, the rear support and the front housing through bearings, so that the axial positioning and the radial supporting of the input shaft are realized; the output gear realizes axial positioning and radial support through an angular contact bearing, and the shafting support scheme has good support rigidity and high rotation precision; by accurately matching the deflection parameters of each gear pair, the meshing center distances of the planetary gear and the output gear, the planetary gear and the fixed gear and the planetary gear and the central gear can be equal, so that gapless transmission is realized, and high transmission precision can be achieved.
Compared with the existing RV speed reducer and harmonic speed reducer, the single-stage large-reduction-ratio gear speed reducer provided by the embodiment has the characteristics of simple structure and easiness in processing and manufacturing, does not need to manufacture high-precision forming grinding of the RV speed reducer, does not adopt a low-efficiency special cutter for processing a small-module gear of the harmonic speed reducer, only needs to ensure the processing precision of a common modified gear, has low cost and is easy to process and detect; the part type and quantity are few, the reliability is high, the service life is long, it is easy to dismantle and maintain; by adopting a sealing design, the sealing ring is arranged on the side of the output flange, and the dustproof sealing bearing is used, so that redundant objects in the external environment can be prevented from entering the interior of the speed reducer, and the environmental adaptability of the speed reducer is greatly improved; has important practical value, longer service life and lower maintenance cost.
Any technical solution disclosed in the present invention is, unless otherwise stated, disclosed a numerical range if it is disclosed, and the disclosed numerical range is a preferred numerical range, and any person skilled in the art should understand that: the preferred ranges are merely those values which are obvious or representative of the technical effect which can be achieved. Because numerical value is more, can't be exhaustive, so the utility model discloses just disclose some numerical values with the illustration the technical scheme of the utility model to, the numerical value that the aforesaid was enumerated should not constitute right the utility model discloses create the restriction of protection scope.
Also, above-mentioned the utility model discloses if disclose or related to mutually fixed connection's spare part or structure, then, except that other the note, fixed connection can understand: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connections (e.g. riveting, welding), but of course, fixed connections to each other may also be replaced by one-piece structures (e.g. manufactured integrally using a casting process) (unless it is obviously impossible to use an integral forming process).
In addition, the terms used in any aspect of the present disclosure as described above to indicate positional relationships or shapes include similar, analogous, or approximate states or shapes unless otherwise stated. The utility model provides an arbitrary part both can be assembled by a plurality of solitary component parts and form, also can be the solitary part that the integrated into one piece technology was made.
The above embodiments are only used to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that: the invention can be modified or equivalent substituted for some technical features; without departing from the spirit of the present invention, it should be understood that the scope of the claims is intended to cover all such modifications and variations.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (10)
1. A single stage large reduction ratio gear reducer comprising:
the planetary gear mechanism, the input mechanism, the output mechanism and the shell mechanism; the planet wheel mechanism includes: at least one planetary gear; the input mechanism includes: a sun gear; the output mechanism includes: an output gear; the housing mechanism includes: fixing a gear; the central gear is an external gear, and the output gear and the fixed gear are internal gears; the sun gear, the output gear and the fixed gear are coaxially arranged and respectively and simultaneously engaged with the at least one planetary gear; the central gear is driven to rotate by external torque, and the output gear is used for outputting the output torque of the single-stage large reduction ratio gear reducer.
2. The single-stage large reduction ratio gear reducer of claim 1,
the fixed gear is of a shell structure provided with a first cavity, and inner teeth used for being meshed with the at least one planetary gear are arranged on the inner wall of the first cavity.
3. The single-stage large reduction ratio gear reducer of claim 2,
the output gear is of a shell structure provided with a second cavity, and inner teeth meshed with the at least one planetary gear are arranged on the inner wall of the second cavity;
the output mechanism includes: a front housing provided with a third cavity; the output gear is arranged in the third cavity, and the outer wall of the output gear is rotationally connected with the inner wall of the third cavity.
4. The single-stage high reduction ratio gear reducer of claim 3,
the front housing is used for pressing the output gear and the fixed gear, and the front housing is fixedly connected with the fixed gear; the first cavity and the second cavity enclose a reducer cavity, and the sun gear and the at least one planetary gear are arranged in the reducer cavity.
5. The single-stage high reduction ratio gear reducer of claim 4,
the output mechanism includes: an output flange; the front shell is provided with a flange mounting through hole, the output flange is arranged in the flange mounting through hole and is connected with the output gear, and the output flange is used for outputting the output torque of the single-stage large reduction ratio gear reducer.
6. The single-stage high reduction ratio gear reducer of claim 5,
a first mounting through hole communicated with the second cavity is formed in one end of the output gear, a second mounting through hole is formed in the output flange, and a third mounting through hole communicated with the first cavity is formed in one end of the fixed gear;
the sun gear includes: the input shaft, the connecting shaft and the gear body; the gear body is positioned between the input shaft and the connecting shaft; the connecting shaft penetrates through the first mounting through hole to be rotatably connected with the second mounting through hole, and the input shaft is rotatably connected with the third mounting through hole; wherein the input shaft is used for inputting the external torque.
7. The single stage high reduction ratio gear reducer of claim 6 including:
at least one planet carrier set; each planet carrier group is arranged corresponding to one planet gear; the planet carrier set includes: the front bracket, the rear bracket and the planet wheel shaft; the planet wheel shaft is rotationally connected with a central hole of the planet gear, and the front support and the rear support are respectively connected with two ends of the planet wheel shaft; one end of the front support and one end of the rear support are respectively in rotating connection with the input shaft and the connecting shaft.
8. The single-stage high reduction ratio gear reducer of claim 7,
the outer wall of the output gear is rotationally connected with the inner wall of the third cavity through an angular contact ball bearing;
the input shaft is rotatably connected with the third mounting through hole through a bearing, and the connecting shaft is rotatably connected with the second mounting through hole through a bearing;
one end of the front support and one end of the rear support are respectively in rotating connection with the input shaft and the connecting shaft through bearings.
9. The single-stage high reduction ratio gear reducer of claim 6,
the input shaft, the connecting shaft and the gear body are integrally formed.
10. The single-stage large reduction ratio gear reducer according to any one of claims 1 to 9,
the number of the planetary gears is multiple, and the plurality of the planetary gears are uniformly distributed along the circumferential direction of the sun gear;
the reduction ratio of the single-stage large reduction ratio gear reducer is 50-300.
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| CN201920310242.9U CN210034297U (en) | 2019-03-12 | 2019-03-12 | Single-stage large reduction ratio gear reducer |
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| CN201920310242.9U CN210034297U (en) | 2019-03-12 | 2019-03-12 | Single-stage large reduction ratio gear reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109882551A (en) * | 2019-03-12 | 2019-06-14 | 北京大信高科智能科技有限公司 | A kind of single-stage big retarding compares gear reduction unit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109882551A (en) * | 2019-03-12 | 2019-06-14 | 北京大信高科智能科技有限公司 | A kind of single-stage big retarding compares gear reduction unit |
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