CN210218568U - Speed reducer - Google Patents

Abstract

The utility model discloses a speed reducer, include: the first face gear is used for being in driving connection with the power input part; a second face gear coaxial with the first face gear and having a different number of teeth, a tooth surface of the second face gear being opposite to a tooth surface of the first face gear, the second face gear rotating relative to the first face gear when the first face gear rotates; a cylindrical planetary gear engaged with the first face gear and the second face gear; and the planet carrier is matched with the cylindrical planetary gear and is used for rotating around the axis of the first face gear under the driving of the cylindrical planetary gear so as to output power. The utility model discloses a reduction gear compact structure, simple, the simple to operate of design.

Description

Speed reducer

Technical Field

The utility model relates to a power transmission, in particular to reduction gear.

Background

Speed reducers are widely used in mechanical devices as a means of transmitting rotational speed and torque. For example, a large-gear-ratio precision reducer is often used in an industrial robot, and the performance of the reducer has an important influence on the performance of a robot body and is one of key functional components of the robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a speed reducer, this speed reducer compact structure, simple in design, simple to operate.

The utility model discloses a speed reducer, include:

the first face gear is used for being in driving connection with the power input part;

a second face gear coaxial with the first face gear and having a different number of teeth, a tooth surface of the second face gear being opposite to a tooth surface of the first face gear, the second face gear rotating relative to the first face gear when the first face gear rotates;

a cylindrical planetary gear engaged with the first face gear and the second face gear;

and the planet carrier is matched with the cylindrical planetary gear and is used for rotating around the axis of the first face gear under the driving of the cylindrical planetary gear so as to output power.

In some embodiments, the second face gear is for driving connection with the power input.

In some embodiments, the decelerator comprises:

the input shaft is fixedly connected with the first face gear and is used for being in driving connection with the power input part;

and the intermediate transmission mechanism is connected between the input shaft and the second face gear, and the second face gear is in driving connection with the power input part through the intermediate transmission mechanism.

In some embodiments, the intermediate transmission mechanism includes a constant speed reversing mechanism that reverses the rotational speed of the second face gear to be the same magnitude as the rotational speed of the first face gear.

In some embodiments, the constant speed reversing mechanism comprises:

a fixed mount;

the first gear is coaxial with the input shaft and is relatively and fixedly connected with the input shaft;

the rotating shaft of the second gear is arranged on the fixed frame, and the second gear is externally meshed with the first gear;

a rotating shaft of the third gear is arranged on the fixed frame, and the third gear is externally meshed with the second gear;

a fourth gear coaxial with and relatively fixed to the third gear;

and the fifth gear is externally meshed with the fourth gear, is coaxial with the second face gear and is relatively fixed.

In some embodiments, the speed reducer comprises a plurality of said cylindrical planet gears, and the planet carrier is engaged with the plurality of cylindrical planet gears.

In some embodiments, the planet carrier comprises a housing carrier connected to the gear shafts of the cylindrical planet gears, the housing carrier being coaxial with and rotating relative to the first face gear and the second face gear; the shell frame is provided with a connecting part for power output; the shell frame is coaxial and can rotate relatively relative to the input shaft and the intermediate transmission mechanism; the housing frame, the input shaft and the fixed frame of the intermediate transmission mechanism form a sealed cavity, and the first face gear, the cylindrical planetary gear and the second face gear are located in the sealed cavity.

In some embodiments, the decelerator further includes:

the first slewing bearing is arranged between the axial end face of the first face gear and the inner wall of the shell frame along the axial direction of the first face gear; and/or

And the second slewing bearing is arranged between the axial end face of the second face gear and the inner wall of the shell frame along the axial direction of the first face gear.

In some embodiments, the speed reducer further comprises a support bearing having an inner race disposed around the input shaft, and the gear shaft of the cylindrical planetary gear is coupled to the outer race of the support bearing at an end near the input shaft.

In some embodiments, the first face gear and the second face gear are cycloid gears.

In some embodiments, the second face gear has 1 less tooth than the first face gear.

Based on the utility model provides a reduction gear is provided with the tooth difference and has the first face gear and the second face gear of relative rotational speed difference and cylinder planetary gear cooperation to transmit power, and the speed difference of difference and difference of different teeth through designing first face gear and second face gear can conveniently realize the speed reduction under the different drive ratios and increase the turn round. In addition, power is transmitted through the matching of the cylindrical planetary gear and the face gear, and compared with the traditional bevel gear transmission, the influence of the movement error of the axis direction of the planetary gear on the transmission can be reduced, and the design and the installation are more convenient and simpler.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:

fig. 1 is a schematic structural diagram of a speed reducer according to an embodiment of the present invention;

FIG. 2 is a schematic view of a portion of the reducer of the embodiment of FIG. 1;

fig. 3 is a schematic diagram of the transmission principle of the speed reducer of the embodiment shown in fig. 1 when the speed reducer is matched with a power input part.

Detailed Description

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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The speed reducer of the embodiment shown in fig. 1 includes a first face gear 1, a second face gear 2, cylindrical planetary gears 3, and a carrier 4. The first face gear 1 is used for being in driving connection with the power input part 9; the second face gear 2 is coaxial with the first face gear 1 and has different tooth numbers, the tooth surface of the second face gear 2 is opposite to the tooth surface of the first face gear 1, and the second face gear 2 rotates relative to the first face gear 1 when the first face gear 1 rotates; the cylindrical planet gear 3 is meshed with the first face gear 1 and the second face gear 2; the planet carrier 4 is matched with the cylindrical planetary gear 3 and is used for rotating around the axis of the first face gear 1 under the driving of the cylindrical planetary gear 3 so as to output the rotating speed and the torque after speed reduction and torque increase to the next-stage mechanism.

When the reducer is in operation, the first face gear 1 is driven to rotate by the power input member 9, and may have the same rotation speed w1 as the power input member 9. The rotation speed of the second face gear 2 is w2, the second face gear 2 can be in driving connection with the power input member 9 through the intermediate transmission mechanism 5 as shown in fig. 1 and 3, and the second face gear 2 obtains the rotation speed different from that of the first face gear 1 through the intermediate transmission mechanism 5 under the driving of the power input member 9 when the speed reducer works.

In some embodiments, not shown in the figures, the second face gear 2 may also be held stationary, not driven by the power input 9, for example the second face gear 2 may be held stationary relative to the reducer housing, so that the rotational speed w2 of the second face gear 2 is 0, different from the rotational speed of the first face gear 1, when the reducer is in operation.

When the reducer works, the first face gear 1 and the second face gear 2 are installed face to face, namely the end surface with gear teeth of the first face gear 1 is opposite to the end surface with gear teeth of the second face gear 2; the first face gear 1 and the second face gear 2 have a difference in the number of teeth. The cylindrical planet gears 3 are clamped between the first face gear 1 and the second face gear 2 and are respectively meshed with the first face gear 1 and the second face gear 2, the number of the cylindrical planet gears 3 can be 1 or more, and the planet carrier 4 can be in various shapes such as a crankshaft shape and a shell shape. The carrier 4 shown in fig. 1 is a case-like member, and the gear shafts 31 of the plurality of cylindrical planetary gears 3 are provided in the mounting holes 41 of the carrier 4. When the reducer works, the cylindrical planetary gear 3 rotates and revolves under the action of the first face gear 1 and the second face gear 2 with the rotation speed difference and the tooth number difference, the planet carrier 4 is driven to rotate through revolution, and the torque and the rotation speed are output outwards through the planet carrier 4.

If the rotation speed of the carrier 4 during the operation of the speed reducer is wx, the characteristic equation of the speed reducer of this embodiment is:

w1-(1+a)wx+aw2＝0…..(1)

a＝z2/z1＝(z1-k)/z1(k≠0)…..(2)

the transmission ratio is as follows: (3) w1/wx …

Wherein z1 is the number of teeth of the first face gear 1, z2 is the number of teeth of the second face gear 2, a is the gear ratio of the second face gear 2 to the first face gear 1, and k is the difference in the number of teeth of the first face gear 1 and the second face gear 2.

According to the equations (1), (2) and (3), different gear ratios i can be obtained by providing different numbers of teeth z1, z2 of the first face gear 1 and the second face gear 2, and by providing different intermediate transmission mechanisms 5 so that the first face gear 1 and the second face gear 2 have different rotational speeds w1 and w 2.

When the intermediate transmission mechanism 5 is a constant-speed reversing mechanism, the constant-speed reversing mechanism enables the rotating speed of the first face gear 1 to be the same as the rotating speed of the first face gear 1, and the rotating speed are opposite in direction. That is, the second face gear 2 is connected to the power input member 9 via the equal rotation speed reversing mechanism, and the second face gear 2 obtains the rotation speed w 2-w 1 under the driving of the power input member 9 via the equal rotation speed reversing mechanism.

According to equations (1), (2) and (3), the gear ratio of the reducer at this time:

i＝(1+a)/(1-a)＝2/(1-a)-1

that is, in this case, i is 2z1/k-1 …. (4)

According to equation (4), when the second face gear 2 and the first face gear 1 are of a small tooth difference characteristic, i.e., k >0, and k is small, the reduction gear can obtain a large gear ratio. When the second face gear 2 has 1 less tooth than the first face gear 1, i.e., k is 1, the transmission ratio i of the speed reducer is 2z 1-1. Compare in traditional few poor planetary mechanism of tooth and obtain bigger drive ratio more easily, also under the requirement of same drive ratio, the reduction gear of this embodiment can realize that the size is littleer, and the structure is compacter.

The face gear transmission is a non-parallel shaft gear transmission mode different from bevel gear transmission, and the face gear transmission is gear transmission by meshing a cylindrical gear and a face gear. The speed reducer of the embodiment can conveniently realize speed reduction and torque increase under different transmission ratios by designing different tooth differences and different rotation speed differences of the first face gear 1 and the second face gear 2. By reasonably designing the tooth number difference and the rotating speed difference of the first face gear 1 and the second face gear 2, the speed reducer can have a larger transmission ratio so as to meet the occasions needing the large transmission ratio. In addition, when the cylindrical planetary gear 3 of the speed reducer of the embodiment is installed or works in the axial direction to generate a movement error, the cylindrical planetary gear 3 is matched with the first face gear 1 and the second face gear 2 to transmit power, and the requirement of cone top coincidence of the traditional bevel gear transmission is avoided, so that the influence on transmission when the movement error is generated in the axial direction of the planetary gear can be reduced, and the design and installation are more convenient and simpler. In addition, the reducer of the embodiment adopts face gear transmission, so that the contact ratio is large, and the transmission ratio fluctuation is small. When the cylindrical planetary gear 3 is a spur gear, no axial force acts on the cylindrical planetary gear 3, so that the support can be simplified, and the structure of the speed reducer is simpler and more compact. In addition, the speed reducer of the embodiment adopts a face-to-face approximately symmetrical installation arrangement form of two face gears, so that mutual error compensation in the power transmission process can be realized during working, for example, the first face gear 1 and the second face gear 2 both have meshing gaps during transmission, and due to the face-to-face approximately symmetrical arrangement of the two face gears, the influence of the meshing gaps on the transmission precision can be coupled and compensated to a certain extent, so that the transmission precision of the speed reducer is improved.

In some embodiments, the second face gear 2 is adapted for driving connection with the power input 9. I.e. the reducer of the present embodiment, the second face gear 2 rotates when in operation.

In some embodiments, the reducer includes an input shaft 6 and an intermediate transmission 5. The input shaft 6 is fixedly connected with the first face gear 1 and is used for being in driving connection with the power input part 9, and the intermediate transmission mechanism 5 is connected between the input shaft 6 and the second face gear 2 so as to enable the second face gear 2 to be in driving connection with the power input part 9. In this embodiment, the first face gear 1 is indirectly drive-connected to the power input member 9 through the input shaft 6, so that the drive connection between the first face gear 1 and the power input member 9 is more convenient. In addition, by providing the intermediate transmission mechanism 5 between the input shaft 6 and the second face gear 2, the provision of the intermediate transmission mechanism 5 can be made more convenient. The fixed connection between the input shaft 6 and the first face gear 1 may be, as shown in fig. 2, by providing a hub 7 fixedly connected to the first face gear 1, and then fixedly connecting the hub 7 to the input shaft 6 through the key slot 71.

In some embodiments, as shown in fig. 1 and 3, the equal-speed reversing mechanism includes a fixed frame 50, a first gear 51, a second gear 52, a third gear 53, a fourth gear 54, and a fifth gear 55. The fixed frame 50 may be a housing, and the first gear 51, the second gear 52, the third gear 53, the fourth gear 54, and the fifth gear 55 may be all provided in the housing. The first gear 51 is coaxial with the input shaft 6 and is relatively fixedly connected with the input shaft; the rotating shaft of the second gear 52 is arranged on the fixed frame 50 and is externally meshed with the first gear 51; the rotating shaft of the third gear 53 is arranged on the fixed frame 50 and is externally meshed with the second gear 52; the fourth gear 54 is coaxial with and relatively fixed to the third gear 53; the fifth gear 55 is externally meshed with the fourth gear 54, and is coaxial with and relatively fixed to the second face gear 2. The input shaft 6 of the first face gear 1 is fixedly connected to the power input member 9, and the fixing bracket 50 may be fixed to the housing of the power input member 9 through the fixing hole 500. By arranging the first gear 51 and the third gear 53 with the same number of teeth, the first gear 51, the second gear 52 and the third gear 53 with the same module, the fourth gear 54 and the fifth gear 55 with the same module and the same center distance between the first gear 51 and the third gear 53, the rotating speed of the second face gear 2 and the rotating speed of the first face gear 1 can be equal in size and opposite in direction when the face gear works.

In some embodiments, in the structure shown in fig. 3, the magnitude relation between the rotation speed w2 of the second face gear 2 and the rotation speed w1 of the first face gear 1 can be changed by changing the number of teeth of the first gear 51, the second gear 52, the third gear 53, the fourth gear 54 and the fifth gear 55, for example, the magnitude of w2 is larger than w 1. In some embodiments, in the structure shown in fig. 3, the rotation speed direction of the second face gear 2 can be adjusted by adding an idle gear between the first gear 51 and the third gear 53, i.e. the intermediate transmission mechanism can be designed in various forms.

In some embodiments, as shown in fig. 1, the reducer comprises a plurality of cylindrical planet gears 3, a planet carrier 4 is engaged with the plurality of cylindrical planet gears 3, the planet carrier 4 comprises a housing carrier connected with the gear shafts of the plurality of cylindrical planet gears 3, the housing carrier is a housing-like planet carrier 4, and the housing carrier is coaxial with and rotates relative to the first face gear 1; the shell frame is used for rotating coaxially and relatively in a sealing way with the input shaft 6; the shell frame is coaxial and can rotate relatively relative to the input shaft 6 and the intermediate transmission mechanism 5; the housing carrier, the input shaft 6 and the fixed mount of the intermediate transmission 5 form a sealed chamber in which the first face gear 1, the cylindrical planetary gear 3 and the second face gear 2 are located. As shown in fig. 1, the housing frame can form a sealed cavity by rotating in a sealed manner relative to the housing of the intermediate transmission mechanism 5, and the housing of the intermediate transmission mechanism 5 rotates in a sealed manner relative to the input shaft 6, so that the reducer can have good sealing performance, and the working precision of the reducer can be maintained. The end part of the shell frame is provided with a connecting part which can be conveniently connected with a next transmission mechanism, so that the power output of the speed reducer after speed reduction and torque increase is convenient.

In some embodiments, the reducer further comprises a slew bearing 42, the slew bearing 42 comprising a first slew bearing and/or a second slew bearing. The first rotary bearing is arranged between the axial end face of the first face gear 1 and the inner wall of the shell frame along the axial direction of the first face gear 1; the second rotary bearing is arranged between the axial end face of the second face gear 2 and the inner wall of the shell frame along the axial direction of the first face gear 1. In this embodiment, the rotary bearing 42 is provided to help ensure the stability and reliability of the rotation of the first face gear 1 and/or the second face gear 2 during operation. The slew bearing 42 may be a slide bearing disposed between the housing frame inner wall and the first face gear 1 and/or the second face gear 2.

In some embodiments, as shown in fig. 1 and 2, the speed reducer further includes a support bearing 8 having an inner race disposed around the input shaft 6, and one end of the gear shaft of the cylindrical planetary gear 3 near the input shaft 6 is coupled to the outer race of the support bearing 8. The inner ring of the support bearing 8 may be arranged on the hub 7 as shown. In the present embodiment, by providing the support bearing 8, the stability and reliability of the rotation and revolution of the cylindrical planetary gear 3 can be improved. The support bearing 8 may be a roller bearing, for example a cylindrical roller bearing, the inner ring of which is mounted on the hub 7 and the outer ring of which cooperates with the gear shafts of the cylindrical planet gears 3.

In some embodiments, the first face gear 1 and the second face gear 2 are cycloid gears. By designing the first face gear 1 and the second face gear 2 as cycloid gears, the cylindrical planetary gear 3 is a planetary gear in conjugate fit with both. Compare the transmission of traditional involute face gear, help making the transmission of first face gear 1 and second face gear 2 reduce contact stress, improve the homogeneity of wearing and tearing, improve the contact ratio of flank profile, be favorable to the improvement of bending strength, reduce the undercut phenomenon, help improving transmission efficiency.

In some embodiments, the second face gear 2 has 1 less tooth than the first face gear 1.

Finally, it should be noted that: 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.

Claims (11)

1. A speed reducer, comprising:

the first face gear (1) is in driving connection with the power input part (9);

a second face gear (2) which is coaxial with the first face gear (1) and has different teeth, wherein the tooth surface of the second face gear (2) is opposite to the tooth surface of the first face gear (1), and the second face gear (2) rotates relative to the first face gear (1) when the first face gear (1) rotates;

a cylindrical planetary gear (3) meshed with the first face gear (1) and the second face gear (2);

and the planet carrier (4) is matched with the cylindrical planetary gear (3) and is used for rotating around the axis of the first face gear (1) under the driving of the cylindrical planetary gear (3) to output power.

2. A reducer according to claim 1, in which the second face gear (2) is adapted to be in driving connection with the power input (9).

3. A decelerator according to claim 2, wherein the decelerator comprises:

the input shaft (6) is fixedly connected with the first face gear (1) and is used for being in driving connection with the power input part (9);

the intermediate transmission mechanism (5) is connected between the input shaft (6) and the second face gear (2), and the second face gear (2) is in driving connection with the power input part (9) through the intermediate transmission mechanism (5).

4. A reducer according to claim 3, in which the intermediate transmission (5) comprises a constant speed reversing mechanism which causes the second face gear (2) to rotate at the same speed and in the opposite direction to the first face gear (1).

5. The speed reducer of claim 4, wherein the constant speed reversing mechanism comprises:

a fixed frame (50);

a first gear (51) which is coaxial with the input shaft (6) and is relatively fixedly connected with the input shaft;

the rotating shaft of the second gear (52) is arranged on the fixed frame (50), and the second gear (52) is externally meshed with the first gear (51);

a third gear (53), wherein a rotating shaft of the third gear (53) is arranged on the fixed frame (50), and the third gear (53) is externally meshed with the second gear (52);

a fourth gear (54) which is coaxial with and fixed relative to the third gear (53);

a fifth gear (55) externally meshed with the fourth gear (54) and coaxial with and relatively fixed to the second face gear (2).

6. Reducer according to claim 1, characterised in that it comprises a plurality of said cylindrical planet gears (3), said planet carrier (4) being engaged with said plurality of cylindrical planet gears (3).

7. A reducer according to claim 3, in which the planet carrier (4) comprises a housing carrier connected to the gear shafts of the cylindrical planet gears (3), said housing carrier being coaxial and rotating with respect to the first face gear (1) and the second face gear (2); the shell frame is provided with a connecting part for power output; the housing frame is coaxial and relatively rotatable with respect to the input shaft (6) and the intermediate transmission mechanism (5); the housing frame, the input shaft (6) and a fixing frame (50) of the intermediate transmission mechanism (5) form a sealed cavity, and the first face gear (1), the cylindrical planetary gear (3) and the second face gear (2) are located in the sealed cavity.

8. The reducer of claim 7, further comprising:

the first rotary bearing is arranged between the axial end face of the first face gear (1) and the inner wall of the shell frame along the axial direction of the first face gear (1); and/or

And the second rotary bearing (42) is arranged between the axial end face of the second face gear (2) and the inner wall of the shell frame along the axial direction of the first face gear (1).

9. A reducer according to claim 3, further comprising a support bearing (8) having an inner race disposed around the input shaft (6), wherein the gear shafts of the cylindrical planetary gears (3) are connected to the outer race of the support bearing (8) at an end near the input shaft (6).

10. A reducer according to any one of claims 1 to 9, in which the first face gear (1) and the second face gear (2) are cycloidal gears.

11. A reducer according to any one of claims 1 to 9, in which the second face gear (2) has 1 less tooth than the first face gear (1).

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