WO2021008060A1 - 行星减速器 - Google Patents

行星减速器 Download PDF

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Publication number
WO2021008060A1
WO2021008060A1 PCT/CN2019/121390 CN2019121390W WO2021008060A1 WO 2021008060 A1 WO2021008060 A1 WO 2021008060A1 CN 2019121390 W CN2019121390 W CN 2019121390W WO 2021008060 A1 WO2021008060 A1 WO 2021008060A1
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WO
WIPO (PCT)
Prior art keywords
gear
ring
planetary reducer
elastic element
planetary
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PCT/CN2019/121390
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English (en)
French (fr)
Inventor
蒋剑
李学志
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苏州小工匠机器人有限公司
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Publication of WO2021008060A1 publication Critical patent/WO2021008060A1/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
    • 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
    • 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
    • F16H2057/126—Self-adjusting during operation, e.g. by a spring
    • F16H2057/127—Self-adjusting during operation, e.g. by a spring using springs

Definitions

  • the invention relates to the field of reducer equipment, in particular to a planetary reducer.
  • planetary reducers are widely used in servo motors, stepping motors and other transmission systems due to their small size, high transmission efficiency, wide reduction range, and high precision.
  • the main transmission structure of the planetary gear reducer is: planetary gear, sun gear, ring gear and planet carrier.
  • the main reason that affects the accuracy of the planetary reducer is the backlash caused by the gear manufacturing accuracy.
  • Backlash is the return gap: when the output end is fixed, the input end rotates clockwise and counterclockwise to make the input end produce rated torque +/-2% torque, there is a slight angular displacement at the input end of the reducer, this angular displacement is
  • the unit of return gap is: arc minutes, which is one sixtieth of a degree. The lower the value of this return clearance, the better, and the corresponding planetary reducer is also more expensive. The current planetary reducer with higher precision is very expensive.
  • the object of the present invention is to provide a planetary reducer.
  • an embodiment of the present invention provides a planetary reducer, including a sun gear, at least two planet gears meshingly connected with the sun gear, and a planet carrier connected with each of the planet gears, An inner gear ring meshingly connected with each of the planet gears, and a gear ring fixing seat sleeved on the outer circumference of the inner gear ring; the center of the sun gear is also provided with an input shaft, and the center of the planet carrier is provided There is an output shaft coaxial with the input shaft; an elastic element is also provided between the inner gear ring and the gear ring fixing seat to provide the inner gear ring with elastic force in the radial direction.
  • the planetary reducer is provided with a plurality of the elastic elements, and the plurality of elastic elements are arranged on the outer circumference of the inner gear at intervals along the circumferential direction of the inner gear.
  • the elastic element is annular, and the elastic element is arranged around the outer circumference of the inner gear ring.
  • the material of the elastic element is polyurethane elastomer.
  • the surface of the elastic element facing the inner gear ring is provided with a groove, and the outer circumference of the inner gear ring is clamped in the groove.
  • the width of the groove is smaller than the size of the inner gear ring in the axial direction.
  • the surface of the ring gear holder facing the elastic element is provided with a plurality of protrusions; the protrusions are pressed against the elastic element.
  • the planet carrier includes a carrier body and at least two connecting parts extending from the carrier body, each of the connecting parts is respectively connected to the planetary wheel; each of the connecting parts is connected to A relief groove is provided at the position where the frame body is combined, and the relief groove is a through groove that penetrates the planet carrier in the axial direction.
  • the relief groove is an arc-shaped through groove extending along the circumferential direction of the frame body.
  • an elastic element is added between the inner ring gear and the ring gear fixing seat.
  • the elastic element is easily deformed in the radial direction, so that after the planetary reducer is assembled, the ring gear
  • the fixed seat squeezes the inner gear ring to tightly mesh with the planetary gear through the elastic element, and then the planet gear and the sun gear are tightly meshed together, thereby eliminating the matching gap between the inner gear ring and the planet gear, as well as the planet gear and the sun gear. And eliminate the return gap.
  • the planetary reducer of the present invention has a simple structure, low cost, and has a better effect of eliminating backlash.
  • FIG. 1 is a schematic diagram of the structure of a planetary reducer in an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a part of the structure of a planetary reducer in an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a part of the structure of a planetary reducer in another embodiment of the present invention.
  • FIG. 4 is a schematic diagram of an exploded structure of an elastic element and an inner gear ring in an embodiment of the present invention
  • Fig. 5 is a schematic structural diagram of a ring gear holder in an embodiment of the present invention.
  • Fig. 6 is a schematic structural diagram of a planet carrier in an embodiment of the present invention.
  • an embodiment of the present invention discloses a planetary reducer, including a sun gear 10, at least two planet gears 20 meshingly connected with the sun gear 10, and each of the planet gears A planet carrier 30 connected to each of the planet gears 20, an inner gear ring 40 meshingly connected with each of the planet wheels 20, and a ring gear fixing seat 50 sleeved on the outer circumference of the inner gear ring 40.
  • An elastic element 60 is also provided between the inner gear 40 and the gear holder 50 to provide the inner gear 40 with elastic force in the radial direction.
  • the center of the sun gear 10 is also provided with an input shaft 11, which is connected to the motor to provide driving force;
  • the center of the planet carrier 30 is provided with an output shaft 31 coaxial with the input shaft 11, and the output shaft 31 can be connected to the equipment that needs to be driven, and the output of the motor is reduced by the planetary reducer to reduce the transmission speed, and output to the equipment to drive the equipment to run.
  • the sun gear 10, the planet gears 20 and the ring gear 40 are all gears, wherein the sun gear 10 and the planet gears 20 are gears with teeth provided on the outside, and the ring gear 40 is a gear with teeth provided on the outside.
  • Internal internal gear Internal internal gear.
  • an elastic element 60 is added between the inner ring gear 40 and the ring gear holder 50.
  • the elastic element 60 is easily deformed in the radial direction, so that after the planetary reducer is assembled, the ring gear holder 50
  • the inner ring gear 40 is squeezed by the elastic element 60 to tightly mesh with the planet gear 20, and the planet gear 20 and the sun gear 10 are closely meshed together, thereby eliminating the inner gear 40 and the planet gear 20, and the planet gear 20 and the sun gear
  • the planetary reducer of the present invention has a simple structure, low cost, and has a better effect of eliminating backlash.
  • the planetary reducer is provided with a plurality of the elastic elements 60, and the plurality of elastic elements 60 are arranged on the outer circumference of the inner ring gear 40 at intervals along the circumferential direction of the ring gear 40 .
  • the elastic element 60 is set as a plurality of arc-shaped strips, which is convenient to manufacture and easy to install.
  • each of the elastic elements 60 there is a gap between each of the elastic elements 60, and the size of the gap ranges from 1 mm to 3 mm. There is a gap between the plurality of elastic elements 60 to allow the elastic element 60 to have a space for deformation.
  • the material of the elastic element 60 is polyurethane elastomer.
  • Polyurethane elastomer is also called Youli Glue. It is a new type of material with good strength, small compression deformation, and between plastic and rubber. It has the rigidity of plastic and the elasticity of rubber.
  • the elastic element 60 may also be annular, and the elastic element 60 may be arranged around the outer circumference of the ring gear 40. Specifically, the elastic element 60 is arranged around one circumference of the ring gear 40.
  • the surface of the elastic element 60 facing the inner gear 40 is provided with a groove 61, and the outer circumference of the inner gear 40 is clamped in the groove 61.
  • the elastic element 60 is fixed on the inner gear 40 by clamping the outer periphery of the inner gear 40 in the groove 61.
  • the fixing method is simple and convenient, and no additional fixing elements are required.
  • the width of the groove 61 is smaller than the size of the ring gear 40 in the axial direction. Therefore, the elastic element 60 can be interference fit with the ring gear 40 to provide the ring gear 40 with sufficient elastic force in the radial direction.
  • the groove 61 can be expanded to wrap the outer circumference of the ring gear 40 in the groove 61 of the elastic element 60.
  • the difference between the width of the groove 61 and the size of the ring gear 40 in its own axial direction (that is, the interference size) is approximately between 0.2 mm and 0.3 mm.
  • the outer circumference of 40 can also be tightly connected with the ring gear 40 at the same time.
  • the surface of the ring gear holder 50 facing the elastic element 60 is provided with a plurality of protrusions 51, and the protrusions 51 are pressed against the elastic element 60.
  • a protrusion 51 is provided on the ring gear holder 50, which can further press the elastic element 60 to further provide the inner ring gear 40 with elastic force in the radial direction.
  • the planet carrier 30 includes a carrier body 32 and at least two connecting portions 33 extending from the carrier body 32, and each connecting portion 33 is connected to the The central axis of the planet wheel 20 is fixedly connected; each position where the connecting portion 33 is combined with the carrier body 32 is provided with a relief groove 331, and the relief groove 331 is a through groove that penetrates the planet carrier 30 in the axial direction .
  • the provision of the relief groove 331 on the planet carrier 30 is mainly to enable the elastic element 60 to impart elastic force to the ring gear 50 in the radial direction, and the planet carrier 30 can generate a small amount of deformation due to the existence of the relief groove 331, thereby transmitting the elastic force To the planetary gear 20, the planetary gear 20 can mesh closely with the sun gear 10, and finally the clearance between the planetary gear 20 and the sun gear 10 is eliminated, and the return clearance is eliminated.
  • the amount of slight deformation of the planet carrier can be set to 0.05 mm to 0.25 mm. In the embodiment of the present invention, the slight deformation of the planet carrier is 0.1 mm.
  • an elastic material can be provided at the bearing of the planetary gear 20, so that the planetary gear 20 can also be directly deformed in the radial direction, so that the planetary gear 20 and the sun gear 10 are closely meshed together.
  • two planetary gears 20 are provided on the planetary reducer. In other embodiments, three or more planetary gears may also be provided.
  • the embodiment of the present invention includes two planet carriers 30, each planet carrier has a corresponding carrier body and a connecting part, and the planetary wheels are connected to the planetary wheels at both ends in the axial direction of the planetary wheels.
  • An output shaft 31 is provided on one of the planet carriers.
  • the material of the planet carrier can be 20Cr steel.
  • the material of the planet carrier can also be other hard metal materials.
  • the relief groove 331 is an arc-shaped through groove extending along the circumferential direction of the frame body 32.
  • a plurality of relief grooves 331 may also be provided on the frame body 32, and the shape of the relief grooves may be arc, square or other shapes.
  • a plurality of elastic elements 60 are sequentially installed on the outer circumference of the inner gear 40, that is, the groove of the elastic element 60 is connected with the inner gear 40 by interference fit; and then the ring gear holder 50 It is connected with the elastic element 60 by interference fit, so that the elastic element 60 is tightly pressed between the ring gear fixing seat 50 and the inner ring gear 40.
  • the two planet wheels 20 are assembled with the planet carrier 30 respectively. That is, the connecting portion 33 is fixedly connected with the pin shaft provided in the center of the planetary gear; then, the planetary gear 20 and the sun gear 10 are installed together, and the two planetary gears 20 are meshed with the sun gear 10 respectively, and the sun gear 10 is located between the two planet wheels 20.
  • the installed ring gear 40 is meshedly connected to the two planet wheels 20, and the ring gear 40 encloses the two planet wheels 10 inside.
  • install the motor and its end cover at a suitable position.
  • an elastic element is added between the inner gear ring and the ring gear fixing seat.
  • the elastic element is easily deformed in the radial direction, so that after the planetary reducer is assembled, the ring gear fixing seat is squeezed by the elastic element
  • the inner ring gear closely meshes with the planet gears, and then the planet gears and the sun gear are closely meshed together, thereby eliminating the matching clearance between the inner gear ring and the planet gear, as well as the planet gear and the sun gear, and eliminating the return clearance.
  • the planetary reducer of the present invention has a simple structure, low cost, and has a better effect of eliminating backlash.
  • the elastic element is a plurality of arc-shaped strips, and a gap is left between the plurality of elastic elements, so that the elastic element can have a space for deformation.
  • the material of the elastic element is polyurethane elastomer, which has the rigidity of plastic and the elasticity of rubber.
  • the elastic element can be an interference fit with the inner gear ring to provide sufficient elastic force in the radial direction.
  • a protrusion is provided on the gear ring fixing seat, and the elastic element 60 is further compressed to further provide elastic force for the inner gear ring in the radial direction.
  • the connecting part on the planet carrier and the carrier body are equipped with relief grooves that penetrate the planet carrier, so that when the elastic element imparts elastic force to the ring gear in the radial direction, the planet carrier can generate a small amount of deformation due to the existence of the relief groove. , So as to transmit the elastic force to the planetary gears, so that the planetary gears can be closely meshed with the sun gear, and finally eliminate the matching clearance between the planetary gear and the sun gear, and eliminate the return clearance.

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  • General Engineering & Computer Science (AREA)
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Abstract

一种行星减速器，包括太阳轮（10），至少两个与太阳轮（10）均啮合连接的行星轮（20），与每个行星轮20均连接的行星架（30），与每个行星轮（20）均啮合连接的内齿圈（40），以及套设于内齿圈（30）外周的齿圈固定座（50）。太阳轮（10）的中心还设有输入轴（11），行星架（30）的中心设有与输入轴（11）同轴的输出轴（31）。内齿圈（30）与齿圈固定座（50）之间还设有弹性元件（60），从而为内齿圈（30）在径向上提供弹性力。该行星减速器可消除内齿圈与行星轮，以及行星轮与太阳轮之间的配合间隙，并消除回程间隙。

Description

行星减速器 技术领域
本发明涉及减速器设备领域，尤其涉及一种行星减速器。
背景技术
目前，在减速器设备领域中，行星减速器以其体积小，传动效率高，减速范围广，精度较高等诸多优点，而被广泛应用于伺服电机，步进电机等传动***中。行星齿轮减速器主要传动结构为：行星轮，太阳轮，内齿圈，行星架。目前影响行星减速器精度的主要原因是齿轮制造精度而产生的背隙。背隙即回程间隙：将输出端固定，输入端顺时针和逆时针方向旋转，使输入端产生额定扭矩+/-2％扭矩时，减速器输入端有一个微小的角位移，此角位移就是回程间隙，单位是：弧分，就是一度的六十分之一。这个回程间隙的数值越低越好，相应的行星减速器也越贵。目前精度较高的行星减速器价格十分昂贵。
发明内容
本发明的目的在于提供一种行星减速器。
为实现上述发明目的，本发明一实施方式提供一种行星减速器，包括太阳轮，至少两个与所述太阳轮均啮合连接的行星轮，与每个所述行星轮均连接的行星架，与每个所述行星轮均啮合连接的内齿圈，以及套设于所述内齿圈外周的齿圈固定座；所述太阳轮的中心还设有输入轴， 所述行星架的中心设有与所述输入轴同轴的输出轴；所述内齿圈与所述齿圈固定座之间还设有弹性元件，以为所述内齿圈在径向上提供弹性力。
作为本发明的进一步改进，所述行星减速器上设有多个所述弹性元件，多个所述弹性元件沿所述内齿圈的周向间隔设于所述内齿圈的外周。
作为本发明的进一步改进，每个所述弹性元件之间的均具有间隙，所述间隙的尺寸范围在1mm～3mm之间。作为本发明的进一步改进，所述弹性元件为圆环状，所述弹性元件围绕所述内齿圈的外周设置。
作为本发明的进一步改进，所述弹性元件的材质为聚氨酯弹性体。
作为本发明的进一步改进，所述弹性元件朝向所述内齿圈的表面设有凹槽，所述内齿圈的外周卡设于所述凹槽。
作为本发明的进一步改进，所述凹槽的宽度小于所述内齿圈在轴向上的尺寸。
作为本发明的进一步改进，所述齿圈固定座朝向所述弹性元件的表面设有多个凸起；所述凸起压合于所述弹性元件。
作为本发明的进一步改进，所述行星架包括架体及由所述架体延伸出的至少两个连接部，每个所述连接部分别与所述行星轮连接；每个所述连接部与所述架体结合的位置均设有退让槽，所述退让槽为沿轴向贯穿所述行星架的通槽。
作为本发明的进一步改进，所述退让槽为沿所述架体的周向延伸的弧形通槽。
与现有技术相比，本发明公开的行星减速器，在内齿圈和齿圈固定座之间加入弹性元件，该弹性元件在径向上易变形，从而在行星减速器 组装好后，齿圈固定座通过弹性元件挤压内齿圈紧密啮合行星轮，进而将行星轮和太阳轮紧密啮合在一起，从而，可消除内齿圈与行星轮，以及行星轮与太阳轮之间的配合间隙，并消除回程间隙。本发明的行星减速器结构简单，成本低，并且消除回程间隙的效果较好。
附图说明
图1是本发明一实施方式中行星减速器的结构示意图；
图2是本发明一实施方式中行星减速器部分结构的示意图；
图3是本发明另一实施方式中行星减速器部分结构的示意图；
图4是本发明一实施方式中弹性元件与内齿圈的分解结构示意图；
图5是本发明一实施方式中齿圈固定座的结构示意图；
图6是本发明一实施方式中行星架的结构示意图。
具体实施方式
以下将结合附图所示的具体实施方式对本发明进行详细描述。但这些实施方式并不限制本发明，本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本发明的保护范围内。
应该理解，本文使用的例如“上”、“上方”、“下”、“下方”等表示空间相对位置的术语是出于便于说明的目的来描述如附图中所示的一个单元或特征相对于另一个单元或特征的关系。空间相对位置的术语可以旨在包括设备在使用或工作中除了图中所示方位以外的不同方位。
如图1-6所示，本发明一实施方式公开了一种行星减速器，包括太阳轮10，至少两个与所述太阳轮10均啮合连接的行星轮20，与每个所 述行星轮20均连接的行星架30，与每个所述行星轮20均啮合连接的内齿圈40，以及套设于所述内齿圈40外周的齿圈固定座50。所述内齿圈40与所述齿圈固定座50之间还设有弹性元件60，以为所述内齿圈40在径向上提供弹性力。
具体来说，太阳轮10的中心还设有输入轴11，输入轴11与电机连接，以提供驱动力；行星架30的中心设有与所述输入轴11同轴的输出轴31，输出轴31上可连接所需要驱动的设备等，将电机的输出通过行星减速器来降低传动速度，并输出到设备中，以驱动设备运行。
在本发明实施方式中，太阳轮10，行星轮20及内齿圈40均为齿轮，其中太阳轮10及行星轮20为齿部设于外部的齿轮，而内齿圈40为齿部设于内部的内齿轮。
本发明公开的行星减速器，在内齿圈40和齿圈固定座50之间加入弹性元件60，该弹性元件60在径向上易变形，从而在行星减速器组装好后，齿圈固定座50通过弹性元件60挤压内齿圈40紧密啮合行星轮20，进而将行星轮20和太阳轮10紧密啮合在一起，从而，可消除内齿圈40与行星轮20，以及行星轮20与太阳轮10之间的配合间隙，并消除回程间隙。本发明的行星减速器结构简单，成本低，并且消除回程间隙的效果较好。
如图2所示，所述行星减速器上设有多个所述弹性元件60，多个所述弹性元件60沿所述内齿圈40的周向间隔设于所述内齿圈40的外周。将弹性元件60设为多个弧形条状物，制作方便，且安装较为简便。
进一步地，每个所述弹性元件60之间的均具有间隙，所述间隙的尺 寸范围在1mm～3mm之间。在多个弹性元件60之间留有间隙，是为了使弹性元件60可以有变形的空间。
在本发明实施方式中，所述弹性元件60的材质为聚氨酯弹性体。聚氨酯弹性体又被成为优力胶，是一种强度好，压缩变形小，介于塑料和橡胶之间的一种新型材料，既具有塑料的刚性，又具有橡胶的弹性。
如图3所示，在另外的实施方式中，所述弹性元件60还可以为圆环状，弹性元件60可以围绕内齿圈40的外周设置。具体地，弹性元件60围绕内齿圈40的一周设置。
如图4所示，所述弹性元件60朝向所述内齿圈40的表面设有凹槽61，所述内齿圈40的外周卡设于所述凹槽61。通过将内齿圈40的外周卡设于凹槽61而将弹性元件60固定在内齿圈40上，固定方式简单便捷，并且不需要额外的固定元件。
优选地，所述凹槽61的宽度小于所述内齿圈40在轴向上的尺寸。从而弹性元件60可以与内齿圈40过盈配合，以为内齿圈40在径向上提供足够的弹性力。在安装时，因为弹性元件60具有弹性，可以将凹槽61撑开从而将内齿圈40的外周包裹在弹性元件60的凹槽61内。具体来说，凹槽61宽度与内齿圈40在其自身轴向上的尺寸之差(也即过盈尺寸)大约在0.2mm至0.3mm之间，此时凹槽61可将内齿圈40的外周包裹，同时也可以与内齿圈40紧密连接。
进一步地，如图5所示，所述齿圈固定座50朝向所述弹性元件60的表面设有多个凸起51，所述凸起51压合于所述弹性元件60。在齿圈固定座50上设置凸起51，可以进一步地压合所述弹性元件60，进一步 为内齿圈40在径向上提供弹性力。
如图6所示，在本发明实施方式中，所述行星架30包括架体32及由所述架体32延伸出的至少两个连接部33，每个所述连接部33分别与所述行星轮20的中心轴固定连接；每个所述连接部33与所述架体32结合的位置均设有退让槽331，所述退让槽331为沿轴向贯穿所述行星架30的通槽。在行星架30上设置退让槽331主要是为了使弹性元件60在径向上给予内齿圈50弹性力时，行星架30因为退让槽331的存在可以相应地产生微小变形量，从而将弹性力传递至行星轮20上，进而使得行星轮20可以与太阳轮10紧密啮合在一起，最终消除了行星轮20与太阳轮10之间的配合间隙，并消除了回程间隙。具体来说，根据退让槽331的形状、尺寸及数量的不同，行星架的微小变形量可以设定为0.05mm～0.25mm。在本发明实施方式中，行星架的的微小变形量为0.1mm。
在另外的实施方式中，还可以在行星轮20的轴承处设置弹性材料，从而也可以直接使行星轮20在径向上产生微小变形量，使行星轮20和太阳轮10紧密啮合在一起。
在本发明实施方式中，行星减速器上设有两个行星轮20。在另外的实施方式中，还可以设置三个或更多的行星轮。
如图1所示，实际上，本发明实施方式中包括两个行星架30，每个行星架均具有相应的架体及连接部，在行星轮轴向的两端分别与行星轮连接。在其中一个行星架上设有输出轴31。在其他实施方式中，行星架也可以为一个，或者将两个行星架一体形成。
具体来说，行星架的材质可以是20Cr钢。当然，在另外的实施方式中，行星架的材质还可以为其他硬质金属材质。
如图6所示，所述退让槽331为沿所述架体32的周向延伸的弧形通槽。
在另外的实施方式中，也可以在所述架体32上设置多个退让槽331，并且所述退让槽的形状可以为弧形，方形或其他形状等。
下面对本发明实施方式中的行星减速器的组装方式进行描述。
如图1所示，首先，将多个弹性元件60依次安装到内齿圈40的外周上，也即将弹性元件60的凹槽与内齿圈40过盈配合连接；再将齿圈固定座50与弹性元件60过盈配合连接，从而将弹性元件60紧密压合在齿圈固定座50与内齿圈40之间。接着，将两个行星轮20分别与行星架30组装在一起。也就是将连接部33与设于行星轮的中心的销轴固定连接；然后，将行星轮20与太阳轮10安装在一起，将两个行星轮20分别与太阳轮10啮合，并使太阳轮10位于两个行星轮20之间。最后，将安装好的内齿圈40啮合连接于两个行星轮20，内齿圈40将两个行星轮10围合在其内部。最后在合适的位置安装上电机及其端盖等结构。
本发明公开的行星减速器，在内齿圈和齿圈固定座之间加入弹性元件，该弹性元件在径向上易变形，从而在行星减速器组装好后，齿圈固定座通过弹性元件挤压内齿圈紧密啮合行星轮，进而将行星轮和太阳轮紧密啮合在一起，从而，可消除内齿圈与行星轮，以及行星轮与太阳轮之间的配合间隙，并消除回程间隙。本发明的行星减速器结构简单，成本低，并且消除回程间隙的效果较好。弹性元件为多个弧形条状物，并 且在多个弹性元件之间留有间隙，使弹性元件可以有变形的空间。弹性元件的材质为聚氨酯弹性体，既具有塑料的刚性，又具有橡胶的弹性。弹性元件可以与内齿圈过盈配合，以为内齿圈在径向上提供足够的弹性力。在齿圈固定座上设置凸起，进一步地压合弹性元件60，进一步为内齿圈在径向上提供弹性力。行星架上的连接部与架体结合的位置均设有贯穿行星架的退让槽，使弹性元件在径向上给予内齿圈弹性力时，行星架因为退让槽的存在可以相应地产生微小变形量，从而将弹性力传递至行星轮上，进而使得行星轮可以与太阳轮紧密啮合在一起，最终消除了行星轮与太阳轮之间的配合间隙，并消除了回程间隙。
应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种行星减速器，其特征在于，包括太阳轮，至少两个与所述太阳轮均啮合连接的行星轮，与每个所述行星轮均连接的行星架，与每个所述行星轮均啮合连接的内齿圈，以及套设于所述内齿圈外周的齿圈固定座；
    所述太阳轮的中心还设有输入轴，所述行星架的中心设有与所述输入轴同轴的输出轴；
    所述内齿圈与所述齿圈固定座之间还设有弹性元件，以为所述内齿圈在径向上提供弹性力。
  2. 根据权利要求1所述的行星减速器，其特征在于，所述行星减速器上设有多个所述弹性元件，多个所述弹性元件沿所述内齿圈的周向间隔设于所述内齿圈的外周。
  3. 根据权利要求2所述的行星减速器，其特征在于，每个所述弹性元件之间的均具有间隙，所述间隙的尺寸范围在1mm～3mm之间。
  4. 根据权利要求1所述的行星减速器，其特征在于，所述弹性元件为圆环状，所述弹性元件围绕所述内齿圈的外周设置。
  5. 根据权利要求1所述的行星减速器，其特征在于，所述弹性元件的材质为聚氨酯弹性体。
  6. 根据权利要求2或4所述的行星减速器，其特征在于，所述弹性元件朝向所述内齿圈的表面设有凹槽，所述内齿圈的外周卡设于所述凹槽。
  7. 根据权利要求6所述的行星减速器，其特征在于，所述凹槽的宽 度小于所述内齿圈在轴向上的尺寸。
  8. 根据权利要求1所述的行星减速器，其特征在于，所述齿圈固定座朝向所述弹性元件的表面设有多个凸起；所述凸起压合于所述弹性元件。
  9. 根据权利要求1述的行星减速器，其特征在于，所述行星架包括架体及由所述架体延伸出的至少两个连接部，每个所述连接部分别与所述行星轮连接；每个所述连接部与所述架体结合的位置均设有退让槽，所述退让槽为沿轴向贯穿所述行星架的通槽。
  10. 根据权利要求9所述的行星减速器，其特征在于，所述退让槽为沿所述架体的周向延伸的弧形通槽。
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