WO2023283801A1 - Planetary gear reducer for reducing axial size space - Google Patents

Planetary gear reducer for reducing axial size space Download PDF

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Publication number
WO2023283801A1
WO2023283801A1 PCT/CN2021/105963 CN2021105963W WO2023283801A1 WO 2023283801 A1 WO2023283801 A1 WO 2023283801A1 CN 2021105963 W CN2021105963 W CN 2021105963W WO 2023283801 A1 WO2023283801 A1 WO 2023283801A1
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WO
WIPO (PCT)
Prior art keywords
planetary
planetary gear
stage
arc
gear reduction
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PCT/CN2021/105963
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French (fr)
Chinese (zh)
Inventor
王俊岭
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六环传动（西安）科技有限公司
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Priority to PCT/CN2021/105963 priority Critical patent/WO2023283801A1/en
Publication of WO2023283801A1 publication Critical patent/WO2023283801A1/en

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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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion

Definitions

  • the invention relates to a gear transmission device, in particular to a planetary gear reducer with reduced axial dimension space.
  • the principle of the planetary reduction structure used in the planetary gear reducer is: multiple planetary gears rotate around a sun gear at the same time to achieve deceleration.
  • the planetary gear structure When the planetary gear structure is used for transmission, it has the following characteristics: high load, large transmission Ratio, power splitting can be performed when transmitting power.
  • high load large transmission Ratio
  • power splitting can be performed when transmitting power.
  • the The speed reducer is a three-stage planetary gear structure, in which, the high-speed sun gear 14 at the input end is axially positioned by contacting the housing (actually the end cover 18) through the bearing 19, and the low-speed planetary shaft 5 at the output end is in contact with the output flange (that is, The three-stage planet carrier 34) contacts for axial positioning.
  • the sun gears at all levels are positioned in contact with each other; the planetary frames at all levels are positioned axially through the circlips on the sun gear and the tooth end faces of the sun gear; the shafts of the planetary gears are axially fixed on the planetary frame through the shaft shoulders and circlips; One side of the wheel is positioned on the planet shaft through the bearing of the planet shaft, and the other side is positioned on the planet carrier.
  • the current planetary gear reducer with the above structure has the following problems:
  • a large number of circlips are used for axial positioning, which not only occupies the axial size, but also increases the span of the planetary shaft itself and weakens the rigidity.
  • the axial size is large, which cannot meet some scenarios with strict requirements on the use of space.
  • the planetary gear reducer uses deep groove ball bearings between the low-speed planetary carrier and the inner gear housing as the output end, but because the deep groove ball bearings are mainly used to bear radial loads, the bearing capacity for axial loads is relatively weak , which reduces the bearing capacity of the reducer for axial and moment loads.
  • the present invention provides a reduction in the axial dimension. Space planetary gear reducer.
  • a planetary gear reducer with reduced axial dimension space comprising an inner gear case and N-stage planetary gear reduction mechanisms arranged in sequence along the axial direction of the inner gear case; N ⁇ 2; each stage of planetary gear reduction mechanism includes a sun gear , planetary gear, planetary carrier and planetary shaft;
  • the sun gears in the 2nd to N-stage planetary gear reduction mechanisms are provided with first external teeth and second external teeth, and the tooth height of the first external teeth is greater than the tooth height of the second external teeth;
  • the first external tooth of each sun gear meshes with the planetary gear of the current stage, and the second external tooth forms a key connection with the upper-stage planetary carrier;
  • the end face of the upper-stage planetary carrier is connected with the first outer tooth of the current-stage sun gear end face contact;
  • One side of the planetary gear bearing of each stage of planetary gear reduction mechanism is in contact with the planetary carrier of the current stage to realize the axial positioning of one side of the planetary gear bearing, and the other side realizes the planetary positioning through the shoulder on the planetary shaft or the retaining ring for the shaft.
  • the other side of the wheel bearing is axially positioned, and the planetary shafts of the same stage are in interference fit with the planetary shaft mounting holes on the planetary carrier, and the planetary wheels and the planetary carrier of the same stage are in contact with each other to achieve mutual axial positioning;
  • the planetary gear of the first-stage planetary gear reduction mechanism is axially positioned by the retaining ring through the hole clamped inside the inner gear housing;
  • the planet carrier of the Nth stage planetary gear reduction mechanism is used as an output end and is rotatably connected with the inner gear housing.
  • end face of the upper-stage planet carrier forms a slight gap with the end face of the current-stage planetary gear.
  • the rotational connection between the planetary carrier of the Nth-stage planetary gear reduction mechanism and the inner gear housing relies on the following bearing structure: the outer surface of the planetary carrier of the N-stage planetary gear reduction mechanism is provided with M in the axial direction Outer raceways of the first inner ring, M ⁇ 1, M first inner raceways of the first outer ring are arranged on the inner wall of the inner gear housing in the axial direction; M outer raceways of the first inner ring and M first outer raceways The inner raceways are in one-to-one correspondence, and a plurality of first steel balls are arranged along the circumferential direction between each outer raceway of the first inner ring and the corresponding inner raceway of the first outer ring, thereby forming the planet carrier and the inner gear. Bearing structure between shells.
  • each first inner ring outer raceway is composed of a first circular arc and a second circular arc arranged concentrically, and the first steel balls are in point contact with the first circular arc and the second circular arc respectively;
  • Each inner raceway of the first outer ring is composed of a third arc and a fourth arc arranged differently, and the first steel ball is in point contact with the third arc and the fourth arc respectively; thus forming a four-point contact ball bearing structure.
  • the planetary carrier of the above-mentioned Nth stage planetary gear reduction mechanism is a split structure, including M+1 disks; the first arc and the second arc are respectively arranged on the opposite sides of two adjacent disks. on the edge of the end face in contact.
  • the above-mentioned N-stage planetary gear reduction mechanisms share one internal gear housing, and the modules of the planetary gears in each stage of planetary gear reduction mechanisms are the same, so that the width of the planetary gears in the planetary gears of each stage can be thinned, further reducing
  • the axial size of the reducer is specified; the planetary wheel bearings are cylindrical needle roller bearings or deep groove ball bearings or angular contact bearings.
  • another planetary gear reducer with reduced axial size space including an inner gear case and N-stage planetary gear reduction mechanisms arranged in sequence along the axial direction of the inner gear case; N ⁇ 2; each stage of planetary gear reduction mechanism Both include sun gears, planetary gears, planetary carriers and planetary shafts;
  • the sun gears in the 2nd to N-stage planetary gear reduction mechanisms are provided with first external teeth and second external teeth, and the tooth height of the first external teeth is greater than the tooth height of the second external teeth;
  • the first external tooth meshes with the planetary gear of the current stage, and the second external tooth forms a key connection with the upper-stage planetary carrier;
  • the end surface of the upper-stage planetary carrier contacts the end surface of the first external tooth on the current-stage sun gear;
  • One side of the planetary gear bearing of the 1st to N-1 planetary gear reduction mechanism is in contact with the planet carrier of the current stage to realize the axial positioning of one side of the planetary gear bearing, and the other side passes through the shoulder on the planetary shaft or the shaft.
  • the retaining ring realizes the axial positioning of the other side of the planetary wheel bearing, and the planetary shaft of the same stage is an interference fit with the planetary shaft mounting hole on the planetary carrier, and the planetary wheel and the planetary carrier of the same stage are in contact with each other to achieve mutual axial positioning;
  • the outer surface of the planetary shaft located in the inner hole of the planetary wheel is provided with S second inner ring outer raceways side by side in the axial direction, S ⁇ 2, and each second inner ring outer raceway is aligned with the planet
  • a plurality of second steel balls are arranged along the circumferential direction between the hole walls of the inner hole of the wheel, thus constituting the planetary wheel bearing of the Nth stage planetary gear reduction mechanism;
  • the planetary shaft of the Nth-stage planetary gear reduction mechanism and the planetary shaft installation hole on the planetary carrier are interference fit, and the planetary gears and the planetary carrier of the Nth-stage planetary gear reduction mechanism contact each other to achieve mutual axial positioning;
  • the planetary gear of the first-stage planetary gear reduction mechanism is axially positioned by the retaining ring through the hole clamped inside the inner gear housing;
  • the planet carrier of the Nth stage planetary gear reduction mechanism is used as an output end and is rotatably connected with the inner gear housing.
  • end face of the upper-stage planet carrier forms a slight gap with the end face of the current-stage planetary gear.
  • the second steel balls installed in every two adjacent second inner ring outer raceways are arranged in a circumferential direction in an offset manner.
  • the side of the inner hole of the planetary wheel close to the planetary carrier is provided with an inwardly protruding arc-shaped groove for axially positioning the second steel ball.
  • the outer raceway of the second inner ring is composed of the fifth arc and the sixth arc arranged concentrically, and the second steel ball is in point contact with the fifth arc and the sixth arc respectively and the hole wall of the inner hole of the planetary wheel Point contact, thus forming a three-point contact ball bearing structure.
  • S shallow grooves are provided on the inner wall of the inner hole of the planet wheel of the Nth-stage planetary gear reduction mechanism, and the S shallow grooves correspond to the S second inner ring outer raceways one by one.
  • the outer surface of the planet carrier of the above-mentioned Nth stage planetary gear reduction mechanism is provided with M first inner ring outer raceways in the axial direction, M ⁇ 1, and the inner wall of the inner gear housing is provided with M in the axial direction.
  • the inner raceway of the first outer ring; the outer raceways of the M first inner ring correspond to the inner raceways of the first outer ring one by one, and each outer raceway of the first inner ring corresponds to the inner raceway of the first outer ring corresponding to it.
  • a plurality of first steel balls are arranged along the circumferential direction between the raceways, thereby constituting a bearing between the planet carrier and the inner gear housing.
  • each first inner ring outer raceway is composed of a first circular arc and a second circular arc arranged concentrically, and the first steel balls are in point contact with the first circular arc and the second circular arc respectively;
  • Each inner raceway of the first outer ring is composed of a third arc and a fourth arc arranged differently, and the first steel ball is in point contact with the third arc and the fourth arc respectively; thus forming a four-point contact ball bearing structure.
  • the planetary carrier of the above-mentioned Nth stage planetary gear reduction mechanism is a split structure, including M+1 disks; the first arc and the second arc are respectively arranged on the opposite sides of two adjacent disks. on the edge of the end face in contact.
  • the above-mentioned N-stage planetary gear reduction mechanisms share one internal gear housing, and the modules of the planetary gears in each stage of planetary gear reduction mechanisms are the same, and the planetary gear bearings in the above-mentioned 1st to N-1-stage planetary gear reduction mechanisms are Cylindrical needle roller bearings or deep groove ball bearings or angular contact bearings.
  • the planetary gear of the first-stage planetary gear reduction mechanism is axially positioned by using a retaining ring for the hole, the planetary gear bearing of the current stage is axially positioned by the planetary carrier of the current stage, and the upper-stage planetary carrier passes through the next stage.
  • the first external tooth of the first stage sun gear is axially positioned, and at the same time, the planetary gear and the planet carrier of the same stage are in direct contact to achieve mutual axial positioning.
  • the structure of the present invention not only shortens the overall speed of the planetary gear reducer
  • the axial dimension also reduces the features and quantity of parts and reduces the manufacturing cost.
  • the end face of the upper-stage planet carrier and the end face of the current-stage planetary gear form a micro gap, which can leave space for the grease while eliminating the axial interaction force, so that the contact An oil film is established between the surfaces to improve lubrication and reduce wear; at the same time, the manufacturing tolerance is increased and the manufacturing difficulty is reduced.
  • the planetary wheel bearing in the Nth-stage planetary gear reduction mechanism of the present invention adopts the structure of three-point contact ball bearings, which has higher manufacturing precision, higher load capacity and rigidity than the cylindrical needle roller bearings used in the existing planetary wheel bearings. Stronger and higher transmission accuracy; at the same time, the three-point contact ball bearing structure can be preloaded to eliminate bearing clearance, thereby reducing the backlash of the reducer, and in order to shorten the axial dimension of the planetary gear reduction mechanism, or It is to increase the number of steel ball rows in the same axial space to improve the bearing capacity, and the steel balls installed in the outer raceways of the two adjacent inner rings are arranged in a misaligned direction in the circumferential direction.
  • the output flange of the reducer of the present invention (that is, the planet carrier of the Nth-stage planetary gear reduction mechanism) and the inner gear housing are respectively provided with self-made inner and outer raceways, and by setting a plurality of steel balls, four points are formed.
  • the contact ball bearing structure can not only bear the radial load, but also can bear the axial load. Compared with the structure of the existing reducer, the bearing capacity of the reducer to the axial and bending moment load is greatly improved.
  • the present invention adopts a planetary gear reduction mechanism at all levels to share an internal gear housing, and the planetary gears at all levels are designed with the same module, so that the width of the planetary gears in the planetary mechanisms at all levels can be thinned, further reducing the speed of the reducer. axial dimension.
  • Fig. 1 is a structural schematic diagram of an existing planetary gear reducer.
  • FIG. 2 is a schematic structural diagram of the reducer in Embodiment 1.
  • FIG. 2 is a schematic structural diagram of the reducer in Embodiment 1.
  • FIG. 3 is a partially enlarged schematic diagram of I in FIG. 2 .
  • Fig. 4 is a schematic structural diagram of the reducer of Embodiment 2.
  • Fig. 5 is a schematic diagram of the structure of a three-point contact ball bearing without shallow grooves.
  • Figure 6 is a schematic diagram of the structure of a three-point contact ball bearing with shallow grooves.
  • Fig. 7 is a schematic diagram of circumferentially staggered arrangement of two adjacent rows of second steel balls.
  • 200-planetary gear reduction mechanism 201-sun gear, 2011-first external tooth, 2012-second external tooth, 202-planetary gear, 203-planet carrier, 2031-first inner ring outer raceway, 2032-disc , 204-planetary shaft, 2041-shaft shoulder, 2042-second inner ring outer raceway, 2043-arc groove, 205-planetary wheel bearing, 206-planetary shaft mounting hole, 207-planetary wheel inner hole, 2071 - shallow grooves;
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.
  • the present invention provides a planetary gear reducer structure.
  • the basic design idea is: set The hole uses the retaining ring to axially locate the planetary gear of the planetary gear reduction mechanism at the input end, the planetary carrier of the same stage and the shoulder of the planetary shaft are combined to axially locate the planetary wheel bearing of the stage, and the planetary carrier of the upper stage passes through the lower stage
  • the first external tooth of the sun gear is axially positioned and designed with a micro-gap between the next-stage planetary gear, and at the same time, the same-stage planetary gear and the same-stage planet carrier are in direct contact to achieve mutual axial positioning, thus greatly shortening the planetary gear reduction.
  • Axial dimension of the device is axially ring to axially locate the planetary gear of the planetary gear reduction mechanism at the input end, the planetary carrier of the same stage and the shoulder of the planetary shaft are combined to axially locate the planetary wheel bearing of the stage, and the planetary carrier of the upper stage passes through the
  • the present invention also provides two specific embodiments to introduce the planetary gear reducer of the present invention in more detail.
  • the reducer includes an inner gear housing 100 and an N-stage planetary gear reduction mechanism 200 sequentially arranged along the axial direction of the inner gear housing 100; N ⁇ 2.
  • N takes a value of 3, wherein, The first-stage planetary gear reduction mechanism is the input end of the high-speed stage of the reducer, the second-stage planetary gear reduction mechanism is the medium-speed stage, and the third-stage planetary gear reduction mechanism is the output end of the low-speed stage of the reducer; each stage of the planetary gear reduction mechanism 200 includes a sun gear 201, a planet gear 202, a planet carrier 203 and a planet shaft 204;
  • the sun gear 201 in the second to third stage planetary gear reduction mechanism 200 is provided with a first external tooth 2011 and a second external tooth 2012 along its own axial direction, and the tooth height of the first external tooth 2011 Greater than the tooth height of the second external teeth 2012; the first external teeth 2011 of each stage of the sun gear 200 mesh with the planetary gear 202 of the current stage, and the second external teeth 2012 form a key connection with the planet carrier 203 of the upper stage; the upper stage The end face of the planet carrier 203 is in contact with the end face of the first external tooth 2011 on the current stage sun gear 201;
  • One side of the planetary gear bearing 205 of each stage of planetary gear reduction mechanism 200 is in contact with the planetary carrier 203 of the current stage to realize the axial positioning of one side of the planetary gear bearing 205, and the other side passes through the shoulder 2041 or shaft on the planetary shaft 204.
  • a retaining ring is used to realize the axial positioning of the other side of the planetary wheel bearing 205, and the planetary shaft 204 of the same stage is an interference fit with the planetary shaft mounting hole 206 on the planetary carrier 203, and the planetary wheel 202 and the planetary carrier 203 of the same stage are mutually Contact realizes mutual axial positioning;
  • the planetary wheel bearings 205 used in each stage of the planetary gear reduction mechanism 200 in this embodiment are cylindrical needle roller bearings or deep groove ball bearings or angular contact bearings;
  • the planetary gear 202 of the first-stage planetary gear reduction mechanism is axially positioned by the retaining ring 300 clamped in the hole inside the inner gear housing 100;
  • the planetary carrier 203 of the third-stage planetary gear reduction mechanism is used as an output end, and is rotatably connected with the inner gear housing 100;
  • the externally purchased finished bearings are usually used to realize the rotational connection between the Nth-stage planetary carrier and the inner gear housing, but in this embodiment, the third-stage planetary carrier is rotationally connected to the inner gear housing
  • the specific structure is:
  • the outer surface of the planet carrier 203 of the third-stage planetary gear reduction mechanism is provided with M first inner ring outer raceways 2031 along the axial direction, M ⁇ 1, and the inner wall of the inner gear housing 100
  • M first outer ring inner raceways 1001 arranged in the upper axial direction;
  • M first inner ring outer raceways 2031 correspond to M first outer ring inner raceways 1001 one by one, and each first inner ring outer raceway
  • a plurality of first steel balls 400 are arranged along the circumferential direction between the track 2031 and the corresponding inner raceway 1001 of the first outer ring, thereby forming a self-made bearing structure between the third-stage planetary carrier and the inner gear housing 100 .
  • the reducer includes an inner gear housing 100 and N-stage planetary gear reduction mechanisms 200 sequentially arranged along the axial direction of the inner gear housing 100; N ⁇ 2.
  • N takes a value of 3, wherein, The first-stage planetary gear reduction mechanism is the input end of the high-speed stage of the reducer, the second-stage planetary gear reduction mechanism is the medium-speed stage, and the third-stage planetary gear reduction mechanism is the output end of the low-speed stage of the reducer; each stage of the planetary gear reduction mechanism 200 includes a sun gear 201, a planet gear 202, a planet carrier 203 and a planet shaft 204;
  • the sun gear 201 in the second to third stage planetary gear reduction mechanism 200 is provided with a first external tooth 2011 and a second external tooth 2012 along its own axial direction, and the tooth height of the first external tooth 2011 Greater than the tooth height of the second external teeth 2012; the first external teeth 2011 of each stage of the sun gear 200 mesh with the planetary gear 202 of the current stage, and the second external teeth 2012 form a key connection with the planet carrier 203 of the upper stage; the upper stage The end face of the planet carrier 203 is in contact with the end face of the first external tooth 2011 on the current stage sun gear 201;
  • One side of the planetary wheel bearing 205 of the first to second stage planetary gear reduction mechanism is in contact with the planet carrier 203 of the current stage to realize the axial positioning of one side of the planetary wheel bearing 205, and the other side passes through the shoulder on the planetary shaft 204 or
  • the shaft retaining ring realizes the axial positioning of the other side of the planetary wheel bearing 205, and the planetary shaft 204 of the same stage is an interference fit with the planetary shaft mounting hole 206 on the planetary carrier 203, and the planetary wheel 202 and the planetary carrier 203 of the same stage mutual contact to achieve axial positioning;
  • the planetary wheel bearings 205 used in the first to second stage planetary gear reduction mechanisms in this embodiment are all cylindrical needle roller bearings or deep groove ball bearings or angular contact bearings;
  • the outer surface of the planetary shaft 204 located in the inner hole 207 of the planetary wheel is provided with S second inner ring outer raceways 2042 side by side in the axial direction, S ⁇ 2, each A plurality of second steel balls 500 are arranged along the circumferential direction between the second inner ring outer raceway 2042 and the hole wall of the planetary wheel inner hole 207; in this embodiment, in order to shorten the axial dimension of the planetary gear reduction mechanism, also Or increase the number of rows of steel balls in the same axial space to increase the bearing capacity, and the second steel balls 500 installed in every two adjacent second inner ring outer raceways 2042 are arranged in a circumferential direction in a misalignment, as shown in Figure 7 As shown, the planet wheel bearing of the third-stage planetary gear reduction mechanism is formed; the side of the planet wheel inner hole 207 close to the planet carrier 203 is provided with an inwardly protruding arc-shaped channel 2043 for the second steel ball 500 carry out
  • S shallow grooves 2071 and S shallow grooves 2071 are also provided on the inner wall of the planetary wheel inner hole 207 of the third-stage planetary gear reduction mechanism in this embodiment.
  • the second inner ring outer raceway 2041 is composed of two arcs arranged at different centers, which are respectively recorded as the fifth arc and the sixth arc, and the second steel ball 500 is in contact with two arc points respectively, and is in contact with the shallow groove 2071, thereby forming a three-point contact ball bearing structure;
  • the planetary shaft 204 of the Nth-stage planetary gear reduction mechanism and the planetary shaft installation hole 206 of the planetary carrier 203 are interference fit, and the planetary gear 202 and the planetary carrier 203 of the Nth-stage planetary gear reduction mechanism contact each other to achieve mutual axial positioning;
  • the planetary gear 202 of the first-stage planetary gear reduction mechanism is axially positioned by the retaining ring 300 clamped in the hole inside the inner gear housing 100;
  • the planet carrier 203 of the third-stage planetary gear reduction mechanism is used as an output end and is rotatably connected with the inner gear housing 100 .
  • M first inner ring outer raceways 2031 are arranged in the axial direction, M ⁇ 1, and M pieces are arranged in the axial direction on the inner wall of the inner gear housing 100
  • the first outer ring inner raceway 1001; the M first inner ring outer raceways 2031 and the M first outer ring inner raceways 1001 correspond one-to-one, and each first inner ring outer raceway 2031 corresponds to the corresponding first inner ring outer raceway 2031
  • a plurality of first steel balls 400 are arranged along the circumferential direction between the inner raceways 1001 of an outer ring, thereby forming a self-made bearing structure between the third-stage planet carrier and the inner gear housing 100 .
  • each first inner ring outer raceway 2031 is formed by the first circular arc and the second circular arc arranged differently (as shown in Figure 3, the center O1 of the first circular arc is located at the upper right corner, and the center O2 of the second circular arc is located in the upper left corner), and the first steel ball 400 is in contact with the first arc and the second arc point respectively, and the contact points here are respectively marked as S1 and S2; each inner raceway 1001 of the first outer ring is set by a non-centric (as shown in FIG.
  • the center O3 of the third arc is located at the lower right corner, and the center O4 of the fourth arc is located at the lower left corner), and the first steel ball 400 is connected to the first steel ball 400 respectively.
  • the three arcs and the fourth arc point contact, and the contact points here are respectively recorded as S3 and S4, thereby forming a four-point contact ball bearing structure.
  • the contact points of the steel ball with the first arc, the fourth arc, and the center of the steel ball are collinear (as shown in the figure, that is, the three points S1, S4, and O are collinear ); the contact points of the steel ball and the second arc, the third arc, and the three points of the center of the steel ball are collinear (as shown in the figure, that is, three points S2, S3, and O are collinear).
  • micro-gap The end face of the upper-stage planetary carrier 203 and the end face of the current-stage planetary gear 202 form a micro-gap (the position shown by the mark A in the figure is a micro-gap). There is a relatively low-speed rotation between them. If there is an interference state here and there is an axial force between the two, it will inevitably accelerate wear; therefore, the micro-gap design can eliminate the axial interaction force and give grease Leave a space to create an oil film between the contact surfaces, improve lubrication and reduce wear; at the same time, it also increases the manufacturing tolerance and reduces the difficulty of manufacturing.
  • the value range of the micro gap is: 0.1-0.3mm.
  • the planet carrier 203 of the third-stage planetary gear reduction mechanism is designed as a split type, including two discs 2032; the two discs 2032 are in contact with the end faces The outer edges are each provided with a first arc and a second arc, thereby forming the first inner ring outer raceway 2031 .
  • the three-stage planetary gear reduction mechanisms in the above two embodiments share one inner gear housing 100, and the modules of the planetary gears 202 in each stage of planetary gear reduction mechanisms are the same, which can make the planetary gears (especially the first The width dimension of the first-stage planetary wheel and the second-stage planetary wheel) can be thinned, thereby further reducing the axial dimension of the reducer.

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Abstract

A planetary gear reducer for reducing an axial size space. The reducer comprises an inner gear housing (100) and N-stage planetary gear reduction mechanisms (200) which are sequentially provided along an axial direction of the inner gear housing (100); N is greater than or equal to 2; each stage of the planetary gear reduction mechanism (200) comprises a sun gear (201), a planet gear (202), a planet carrier (203), and a planet shaft (204). The planet gear (202) of an input-end planetary gear reduction mechanism (200) is axially positioned inside the inner gear housing (100) by using a hole retainer ring (300); the same-stage planet carrier (203) and a shaft shoulder (2041) of the planet shaft (204) are combined to axially position this stage of planet gear bearing (205); the upper-stage planet carrier (203) is in micro-gap design with the next-stage planet gear (202) while being axially positioned by means of first outer teeth (2011) of the next-stage sun gear (201), and the same-stage planet gear (202) and the same-stage planet carrier (203) are in direct contact to achieve mutual axial positioning, thereby greatly shortening an axial size of the planetary gear reducer.

Description

一种缩小轴向尺寸空间的行星齿轮减速器A Planetary Gear Reducer with Reduced Axial Dimension Space 技术领域technical field
本发明涉及一种齿轮传动装置，具体涉及一种缩小轴向尺寸空间的行星齿轮减速器。The invention relates to a gear transmission device, in particular to a planetary gear reducer with reduced axial dimension space.
背景技术Background technique
行星齿轮减速器中采用的行星减速结构的原理为：多个行星轮自身自转的同时还围绕一个太阳轮公转，从而实现减速，采用行星齿轮结构传动时，其具有以下特点：高载荷、大传动比，在传递动力时可以进行功率分流。随着科技不断的发展，越来越多的产品开始使用行星齿轮减速器。The principle of the planetary reduction structure used in the planetary gear reducer is: multiple planetary gears rotate around a sun gear at the same time to achieve deceleration. When the planetary gear structure is used for transmission, it has the following characteristics: high load, large transmission Ratio, power splitting can be performed when transmitting power. With the continuous development of science and technology, more and more products start to use planetary gear reducer.
但是，由于现有多级行星齿轮减速器的轴向尺寸较大，例如：中国专利，申请号为：CN200710068194.9公开了一种《封闭式行星齿轮减速器》，如图1所示，该减速器为三级行星齿轮结构，其中，输入端高速级太阳轮14通过轴承19与壳体(实际为端盖18)接触进行轴向定位，输出端低速级行星轴5与输出法兰(即三级行星架34)接触进行轴向定位。各级太阳轮相互之间进行接触定位；各级行星架通过太阳轮上的卡簧、太阳轮轮齿端面进行轴向定位；行星轮轴通过轴肩与卡簧轴向固定于行星架上；行星轮通过行星轴的轴承一面定位于行星轴上，另一面定位于行星架上。但是目前上述结构的行星齿轮减速器却存在以下问题：However, due to the large axial size of the existing multi-stage planetary gear reducer, for example: Chinese patent, application number: CN200710068194.9 discloses a "enclosed planetary gear reducer", as shown in Figure 1, the The speed reducer is a three-stage planetary gear structure, in which, the high-speed sun gear 14 at the input end is axially positioned by contacting the housing (actually the end cover 18) through the bearing 19, and the low-speed planetary shaft 5 at the output end is in contact with the output flange (that is, The three-stage planet carrier 34) contacts for axial positioning. The sun gears at all levels are positioned in contact with each other; the planetary frames at all levels are positioned axially through the circlips on the sun gear and the tooth end faces of the sun gear; the shafts of the planetary gears are axially fixed on the planetary frame through the shaft shoulders and circlips; One side of the wheel is positioned on the planet shaft through the bearing of the planet shaft, and the other side is positioned on the planet carrier. However, the current planetary gear reducer with the above structure has the following problems:
1、大量采用卡簧进行轴向定位，既占据了轴向尺寸，又使得行星轴本身跨距加大，刚性变弱。1. A large number of circlips are used for axial positioning, which not only occupies the axial size, but also increases the span of the planetary shaft itself and weakens the rigidity.
2、轴向尺寸较大，无法满足一些对使用空间要求比较苛刻的场景。2. The axial size is large, which cannot meet some scenarios with strict requirements on the use of space.
3、该行星齿轮减速器的作为输出端的低速级行星架与内齿壳之间采用深沟球轴承，但是由于深沟球轴承主要用于承担径向载荷，对轴向载荷的承载力较弱，降低了减速器的对轴向和弯矩载荷的承载能力。3. The planetary gear reducer uses deep groove ball bearings between the low-speed planetary carrier and the inner gear housing as the output end, but because the deep groove ball bearings are mainly used to bear radial loads, the bearing capacity for axial loads is relatively weak , which reduces the bearing capacity of the reducer for axial and moment loads.
发明内容Contents of the invention
为了解决现有行星齿轮减速器轴向尺寸较大，导致行星轴跨距加大，刚性变弱，同时无法在空间尺寸要求比较苛刻的场景使用的问题，本发明提供了一种缩小轴向尺寸空间的行星齿轮减速器。In order to solve the problem that the existing planetary gear reducer has a large axial dimension, which leads to an increase in the span of the planetary shaft, weakened rigidity, and the problem that it cannot be used in a scene with a relatively strict space dimension, the present invention provides a reduction in the axial dimension. Space planetary gear reducer.
本发明的具体技术方案是：Concrete technical scheme of the present invention is:
提供了一种缩小轴向尺寸空间的行星齿轮减速器，包括内齿壳以及沿内齿壳轴向依次设置的N级行星齿轮减速机构；N≥2；每级行星齿轮减速机构均包括太阳轮、行星轮、行星架以及行星轴；Provided is a planetary gear reducer with reduced axial dimension space, comprising an inner gear case and N-stage planetary gear reduction mechanisms arranged in sequence along the axial direction of the inner gear case; N≥2; each stage of planetary gear reduction mechanism includes a sun gear , planetary gear, planetary carrier and planetary shaft;
其改进之处是：第2至N级行星齿轮减速机构中的太阳轮上均设置有第一外齿和第二外齿，且第一外齿的齿高大于第二外齿的齿高；每级太阳轮的第一外齿与当前级的行星轮啮合，第二外齿与上一级的行星架形成键连接；上一级行星架的端面与当前级太阳轮上的第一外齿端面接触；The improvement is: the sun gears in the 2nd to N-stage planetary gear reduction mechanisms are provided with first external teeth and second external teeth, and the tooth height of the first external teeth is greater than the tooth height of the second external teeth; The first external tooth of each sun gear meshes with the planetary gear of the current stage, and the second external tooth forms a key connection with the upper-stage planetary carrier; the end face of the upper-stage planetary carrier is connected with the first outer tooth of the current-stage sun gear end face contact;
每级行星齿轮减速机构的行星轮轴承一侧与当前级的行星架相接触实现对行星轮轴承的一侧轴向定位，另一侧通过行星轴上的轴肩或者轴用挡圈实现对行星轮轴承的另一侧轴向定位，并且同一级的行星轴与行星架上的行星轴安装孔为过盈配合，同一级行星轮和行星架相互接触实现相互轴向定位；One side of the planetary gear bearing of each stage of planetary gear reduction mechanism is in contact with the planetary carrier of the current stage to realize the axial positioning of one side of the planetary gear bearing, and the other side realizes the planetary positioning through the shoulder on the planetary shaft or the retaining ring for the shaft. The other side of the wheel bearing is axially positioned, and the planetary shafts of the same stage are in interference fit with the planetary shaft mounting holes on the planetary carrier, and the planetary wheels and the planetary carrier of the same stage are in contact with each other to achieve mutual axial positioning;
第一级行星齿轮减速机构的行星轮通过卡装于内齿壳内部的孔用挡圈轴向定位；The planetary gear of the first-stage planetary gear reduction mechanism is axially positioned by the retaining ring through the hole clamped inside the inner gear housing;
第N级行星齿轮减速机构的行星架作为输出端，与所述内齿壳转动连接。The planet carrier of the Nth stage planetary gear reduction mechanism is used as an output end and is rotatably connected with the inner gear housing.
进一步地，上一级行星架的端面与当前级行星轮端面形成微间隙。Further, the end face of the upper-stage planet carrier forms a slight gap with the end face of the current-stage planetary gear.
进一步地，上述第N级行星齿轮减速机构的行星架与所述内齿壳之间的转动连接依靠以下轴承结构：第N级行星齿轮减速机构的行星架的外表面沿轴向方向设置有M条第一内圈外滚道，M≥1，内齿壳的内壁上轴向方向设置有M条第一外圈内滚道；M条第一内圈外滚道和M条第一外圈内滚道一一对应，每条第一内圈外滚道和与之对应的第一外圈内滚道之间均沿圆周方向设置有多个第一钢球，从而构成行星架与内齿壳之间的轴承结构。Further, the rotational connection between the planetary carrier of the Nth-stage planetary gear reduction mechanism and the inner gear housing relies on the following bearing structure: the outer surface of the planetary carrier of the N-stage planetary gear reduction mechanism is provided with M in the axial direction Outer raceways of the first inner ring, M≥1, M first inner raceways of the first outer ring are arranged on the inner wall of the inner gear housing in the axial direction; M outer raceways of the first inner ring and M first outer raceways The inner raceways are in one-to-one correspondence, and a plurality of first steel balls are arranged along the circumferential direction between each outer raceway of the first inner ring and the corresponding inner raceway of the first outer ring, thereby forming the planet carrier and the inner gear. Bearing structure between shells.
进一步地，上述轴承结构中每条第一内圈外滚道由异心设置的第一圆弧和第二圆弧构成，且第一钢球分别与第一圆弧和第二圆弧点接触；每条第一外圈内滚道由异心设置的第三圆弧和第四圆弧构成，且第一钢球分别与第三圆弧和第四圆弧点接触；从而构成四点接触式球轴承结构。Further, in the above bearing structure, each first inner ring outer raceway is composed of a first circular arc and a second circular arc arranged concentrically, and the first steel balls are in point contact with the first circular arc and the second circular arc respectively; Each inner raceway of the first outer ring is composed of a third arc and a fourth arc arranged differently, and the first steel ball is in point contact with the third arc and the fourth arc respectively; thus forming a four-point contact ball bearing structure.
进一步地，为了便于安装，上述第N级行星齿轮减速机构的行星架为分体式结构，包括M+1个圆盘；第一圆弧和第二圆弧分别设置在相邻两个圆盘相接触的端面边缘上。Further, for the convenience of installation, the planetary carrier of the above-mentioned Nth stage planetary gear reduction mechanism is a split structure, including M+1 disks; the first arc and the second arc are respectively arranged on the opposite sides of two adjacent disks. on the edge of the end face in contact.
进一步地，上述N级行星齿轮减速机构共用一个内齿壳，且每级行星齿轮减速机构中行星轮的模数相同，使得各级行星机构中行星轮的宽度尺寸可变薄，进一步地减小了减速器的轴向尺寸；行星轮轴承为圆柱滚针轴承或深沟球轴承或角接触轴承。Further, the above-mentioned N-stage planetary gear reduction mechanisms share one internal gear housing, and the modules of the planetary gears in each stage of planetary gear reduction mechanisms are the same, so that the width of the planetary gears in the planetary gears of each stage can be thinned, further reducing The axial size of the reducer is specified; the planetary wheel bearings are cylindrical needle roller bearings or deep groove ball bearings or angular contact bearings.
另外，还提供了另外一种缩小轴向尺寸空间的行星齿轮减速器，包括内齿壳以及沿内齿壳轴向依次设置的N级行星齿轮减速机构；N≥2；每级行星齿轮减速机构均包括太阳轮、行星轮、行星架以及行星轴；In addition, another planetary gear reducer with reduced axial size space is also provided, including an inner gear case and N-stage planetary gear reduction mechanisms arranged in sequence along the axial direction of the inner gear case; N≥2; each stage of planetary gear reduction mechanism Both include sun gears, planetary gears, planetary carriers and planetary shafts;
其改进之处是：第2至N级行星齿轮减速机构中的太阳轮上均设置有第 一外齿和第二外齿，且第一外齿的齿高大于第二外齿的齿高；所述第一外齿与当前级的行星轮啮合，第二外齿与上一级的行星架形成键连接；上一级行星架的端面与当前级太阳轮上的第一外齿端面接触；The improvement is: the sun gears in the 2nd to N-stage planetary gear reduction mechanisms are provided with first external teeth and second external teeth, and the tooth height of the first external teeth is greater than the tooth height of the second external teeth; The first external tooth meshes with the planetary gear of the current stage, and the second external tooth forms a key connection with the upper-stage planetary carrier; the end surface of the upper-stage planetary carrier contacts the end surface of the first external tooth on the current-stage sun gear;
第1至N-1级行星齿轮减速机构的行星轮轴承一侧与当前级的行星架相接触实现对行星轮轴承的一侧轴向定位，另一侧通过行星轴上的轴肩或者轴用挡圈实现对行星轮轴承的另一侧轴向定位，并且同一级的行星轴与行星架上的行星轴安装孔为过盈配合，同一级行星轮和行星架相互接触实现相互轴向定位；One side of the planetary gear bearing of the 1st to N-1 planetary gear reduction mechanism is in contact with the planet carrier of the current stage to realize the axial positioning of one side of the planetary gear bearing, and the other side passes through the shoulder on the planetary shaft or the shaft. The retaining ring realizes the axial positioning of the other side of the planetary wheel bearing, and the planetary shaft of the same stage is an interference fit with the planetary shaft mounting hole on the planetary carrier, and the planetary wheel and the planetary carrier of the same stage are in contact with each other to achieve mutual axial positioning;
第N级行星齿轮减速机构中，行星轴位于行星轮内孔内的外表面沿轴向并排开设S条第二内圈外滚道，S≥2，每条第二内圈外滚道与行星轮内孔的孔壁之间沿圆周方向设置有多个第二钢球，从而构成了第N级行星齿轮减速机构的行星轮轴承；In the N-stage planetary gear reduction mechanism, the outer surface of the planetary shaft located in the inner hole of the planetary wheel is provided with S second inner ring outer raceways side by side in the axial direction, S≥2, and each second inner ring outer raceway is aligned with the planet A plurality of second steel balls are arranged along the circumferential direction between the hole walls of the inner hole of the wheel, thus constituting the planetary wheel bearing of the Nth stage planetary gear reduction mechanism;
第N级行星齿轮减速机构的行星轴与行星架上的行星轴安装孔为过盈配合，第N级行星齿轮减速机构的行星轮和行星架相互接触实现相互轴向定位；The planetary shaft of the Nth-stage planetary gear reduction mechanism and the planetary shaft installation hole on the planetary carrier are interference fit, and the planetary gears and the planetary carrier of the Nth-stage planetary gear reduction mechanism contact each other to achieve mutual axial positioning;
第一级行星齿轮减速机构的行星轮通过卡装于内齿壳内部的孔用挡圈轴向定位；The planetary gear of the first-stage planetary gear reduction mechanism is axially positioned by the retaining ring through the hole clamped inside the inner gear housing;
第N级行星齿轮减速机构的行星架作为输出端，与所述内齿壳转动连接。The planet carrier of the Nth stage planetary gear reduction mechanism is used as an output end and is rotatably connected with the inner gear housing.
进一步地，上一级行星架的端面与当前级行星轮端面形成微间隙。Further, the end face of the upper-stage planet carrier forms a slight gap with the end face of the current-stage planetary gear.
进一步地，每相邻两条第二内圈外滚道中安装的第二钢球在圆周方向错位布置。Further, the second steel balls installed in every two adjacent second inner ring outer raceways are arranged in a circumferential direction in an offset manner.
进一步地，行星轮内孔靠近行星架的一侧设有向内突起的圆弧形沟道，用于对第二钢球进行轴向定位。Further, the side of the inner hole of the planetary wheel close to the planetary carrier is provided with an inwardly protruding arc-shaped groove for axially positioning the second steel ball.
进一步地，第二内圈外滚道由异心设置的第五圆弧和第六圆弧构成，第二钢球分别与第五圆弧、第六圆弧点接触以及行星轮内孔的孔壁点接触，从而形成三点接触式球轴承结构。Further, the outer raceway of the second inner ring is composed of the fifth arc and the sixth arc arranged concentrically, and the second steel ball is in point contact with the fifth arc and the sixth arc respectively and the hole wall of the inner hole of the planetary wheel Point contact, thus forming a three-point contact ball bearing structure.
进一步地，上述所述第N级行星齿轮减速机构的行星轮内孔内壁上设置有S条浅槽，S条浅槽与S条第二内圈外滚道一一对应。Further, S shallow grooves are provided on the inner wall of the inner hole of the planet wheel of the Nth-stage planetary gear reduction mechanism, and the S shallow grooves correspond to the S second inner ring outer raceways one by one.
进一步地，上述第N级行星齿轮减速机构的行星架的外表面沿轴向方向设置有M条第一内圈外滚道，M≥1，内齿壳的内壁上轴向方向设置有M条第一外圈内滚道；M条第一内圈外滚道和M条第一外圈内滚道一一对应，每条第一内圈外滚道和与之对应的第一外圈内滚道之间均沿圆周方向设置有多个第一钢球，从而构成行星架与内齿壳之间的轴承。Further, the outer surface of the planet carrier of the above-mentioned Nth stage planetary gear reduction mechanism is provided with M first inner ring outer raceways in the axial direction, M≥1, and the inner wall of the inner gear housing is provided with M in the axial direction. The inner raceway of the first outer ring; the outer raceways of the M first inner ring correspond to the inner raceways of the first outer ring one by one, and each outer raceway of the first inner ring corresponds to the inner raceway of the first outer ring corresponding to it. A plurality of first steel balls are arranged along the circumferential direction between the raceways, thereby constituting a bearing between the planet carrier and the inner gear housing.
进一步地，上述轴承结构中每条第一内圈外滚道由异心设置的第一圆弧和第二圆弧构成，且第一钢球分别与第一圆弧和第二圆弧点接触；每条第一外圈内滚道由异心设置的第三圆弧和第四圆弧构成，且第一钢球分别与第三圆弧和第四圆弧点接触；从而构成四点接触式球轴承结构。Further, in the above bearing structure, each first inner ring outer raceway is composed of a first circular arc and a second circular arc arranged concentrically, and the first steel balls are in point contact with the first circular arc and the second circular arc respectively; Each inner raceway of the first outer ring is composed of a third arc and a fourth arc arranged differently, and the first steel ball is in point contact with the third arc and the fourth arc respectively; thus forming a four-point contact ball bearing structure.
进一步地，为了便于安装，上述第N级行星齿轮减速机构的行星架为分体式结构，包括M+1个圆盘；第一圆弧和第二圆弧分别设置在相邻两个圆盘相接触的端面边缘上。Further, for the convenience of installation, the planetary carrier of the above-mentioned Nth stage planetary gear reduction mechanism is a split structure, including M+1 disks; the first arc and the second arc are respectively arranged on the opposite sides of two adjacent disks. on the edge of the end face in contact.
进一步地，上述N级行星齿轮减速机构共用一个内齿壳，且每级行星齿轮减速机构中行星轮的模数相同，且上述第1至N-1级行星齿轮减速机构中的行星轮轴承为圆柱滚针轴承或深沟球轴承或角接触轴承。Further, the above-mentioned N-stage planetary gear reduction mechanisms share one internal gear housing, and the modules of the planetary gears in each stage of planetary gear reduction mechanisms are the same, and the planetary gear bearings in the above-mentioned 1st to N-1-stage planetary gear reduction mechanisms are Cylindrical needle roller bearings or deep groove ball bearings or angular contact bearings.
本发明具有以下有益效果：The present invention has the following beneficial effects:
1、本发明的减速器通过采用孔用挡圈对第一级行星齿轮减速机构的行星 轮进行轴向定位、当前级行星架对行星轮轴承进行轴向定位、上一级行星架通过下一级太阳轮的第一外齿轴向定位，同时同一级行星轮和行星架直接接触实现相互轴向定位，与现有减速器结构相比，本发明的结构不仅缩短了行星齿轮减速器的整体轴向尺寸，同时也减少了零件特征与数量，降低制造成本。1. In the reducer of the present invention, the planetary gear of the first-stage planetary gear reduction mechanism is axially positioned by using a retaining ring for the hole, the planetary gear bearing of the current stage is axially positioned by the planetary carrier of the current stage, and the upper-stage planetary carrier passes through the next stage. The first external tooth of the first stage sun gear is axially positioned, and at the same time, the planetary gear and the planet carrier of the same stage are in direct contact to achieve mutual axial positioning. Compared with the existing reducer structure, the structure of the present invention not only shortens the overall speed of the planetary gear reducer The axial dimension also reduces the features and quantity of parts and reduces the manufacturing cost.
2、本发明的相邻两级行星齿轮减速机构中上一级行星架的端面与当前级行星轮端面形成微间隙，可在消除轴向相互作用力的同时，给油脂留出空间，使得接触面之间建立油膜，提高润滑，降低磨损；同时也增加了制造容差，降低了制造难度。2. In the adjacent two-stage planetary gear reduction mechanism of the present invention, the end face of the upper-stage planet carrier and the end face of the current-stage planetary gear form a micro gap, which can leave space for the grease while eliminating the axial interaction force, so that the contact An oil film is established between the surfaces to improve lubrication and reduce wear; at the same time, the manufacturing tolerance is increased and the manufacturing difficulty is reduced.
3、本发明中第N级行星齿轮减速机构中行星轮轴承采用三点接触式球轴承的结构，相比现有行星轮轴承采用的圆柱滚针轴承的制造精度更高，承载能力、刚度更强和传动精度更高；同时三点接触式球轴承结构可以做预加负荷，消除轴承游隙，从而减少了减速器的反向间隙，并且为了缩短行星齿轮减速机构的轴向尺寸，亦或是在同样的轴向空间内增加钢球列数，提升承载能力，相邻两条内圈外滚道中安装的钢球在圆周方向错位布置。3. The planetary wheel bearing in the Nth-stage planetary gear reduction mechanism of the present invention adopts the structure of three-point contact ball bearings, which has higher manufacturing precision, higher load capacity and rigidity than the cylindrical needle roller bearings used in the existing planetary wheel bearings. Stronger and higher transmission accuracy; at the same time, the three-point contact ball bearing structure can be preloaded to eliminate bearing clearance, thereby reducing the backlash of the reducer, and in order to shorten the axial dimension of the planetary gear reduction mechanism, or It is to increase the number of steel ball rows in the same axial space to improve the bearing capacity, and the steel balls installed in the outer raceways of the two adjacent inner rings are arranged in a misaligned direction in the circumferential direction.
4、本发明的减速器的输出端法兰(即第N级行星齿轮减速机构的行星架)与内齿壳上分别设置自制的内、外滚道并通过设置多个钢球，形成四点接触式球轴承结构，该轴承形式不仅能够承担径向载荷，同时也能承担轴向载荷，相比现有减速器的结构，大大提升了减速器的对轴向和弯矩载荷的承载能力。4. The output flange of the reducer of the present invention (that is, the planet carrier of the Nth-stage planetary gear reduction mechanism) and the inner gear housing are respectively provided with self-made inner and outer raceways, and by setting a plurality of steel balls, four points are formed. The contact ball bearing structure can not only bear the radial load, but also can bear the axial load. Compared with the structure of the existing reducer, the bearing capacity of the reducer to the axial and bending moment load is greatly improved.
5、本发明采用各级行星齿轮减速机构共用一个内齿壳，并且各级行星轮同模数设计，从而使得各级行星机构中行星轮的宽度尺寸可变薄，进一步地减小了减速器的轴向尺寸。5. The present invention adopts a planetary gear reduction mechanism at all levels to share an internal gear housing, and the planetary gears at all levels are designed with the same module, so that the width of the planetary gears in the planetary mechanisms at all levels can be thinned, further reducing the speed of the reducer. axial dimension.
附图说明Description of drawings
图1为现有行星齿轮减速器的结构示意图。Fig. 1 is a structural schematic diagram of an existing planetary gear reducer.
图2为实施例1的减速器结构示意图。FIG. 2 is a schematic structural diagram of the reducer in Embodiment 1. FIG.
图3为图2的I处局部放大示意图。FIG. 3 is a partially enlarged schematic diagram of I in FIG. 2 .
图4为实施例2的减速器结构示意图。Fig. 4 is a schematic structural diagram of the reducer of Embodiment 2.
图5为不带浅槽的三点接触式球轴承结构示意图。Fig. 5 is a schematic diagram of the structure of a three-point contact ball bearing without shallow grooves.
图6为带浅槽的三点接触式球轴承结构示意图。Figure 6 is a schematic diagram of the structure of a three-point contact ball bearing with shallow grooves.
图7为相邻两列第二钢球周向交错布置的示意图。Fig. 7 is a schematic diagram of circumferentially staggered arrangement of two adjacent rows of second steel balls.
附图标记如下：The reference signs are as follows:
100-内齿壳、1001-第一外圈内滚道；100-inner gear housing, 1001-inner raceway of the first outer ring;
200-行星齿轮减速机构、201-太阳轮、2011-第一外齿、2012-第二外齿、202-行星轮、203-行星架、2031-第一内圈外滚道、2032-圆盘、204-行星轴、2041-轴肩、2042-第二内圈外滚道、2043-圆弧形沟道、205-行星轮轴承、206-行星轴安装孔、207-行星轮内孔、2071-浅槽；200-planetary gear reduction mechanism, 201-sun gear, 2011-first external tooth, 2012-second external tooth, 202-planetary gear, 203-planet carrier, 2031-first inner ring outer raceway, 2032-disc , 204-planetary shaft, 2041-shaft shoulder, 2042-second inner ring outer raceway, 2043-arc groove, 205-planetary wheel bearing, 206-planetary shaft mounting hole, 207-planetary wheel inner hole, 2071 - shallow grooves;
300-孔用挡圈；300-hole retaining ring;
400-第一钢球；400-the first steel ball;
500-第二钢球。500-the second steel ball.
具体实施方式detailed description
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.
在本发明的描述中，需要说明的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。In the description of the present invention, it should be noted that the terms "first" and "second" are used for description purposes only, and should not be understood as indicating or implying relative importance.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.
由于现有行星齿轮减速器的轴向尺寸较大而无法应用于一些对空间要求比较苛刻的场景，本发明提供了一种行星齿轮减速器结构，其基本设计思路是：在内齿壳内部设置孔用挡圈对输入端行星齿轮减速机构的行星轮进行轴向定位、同一级行星架和行星轴的轴肩结合对该级行星轮轴承进行轴向定位、上一级行星架通过下一级太阳轮的第一外齿轴向定位的同时并与下一级行星轮之间微间隙设计，同时同一级行星轮和同一级行星架直接接触实现相互轴向定位，从而大大缩短了行星齿轮减速器的轴向尺寸。Due to the large axial size of the existing planetary gear reducer, it cannot be applied to some scenes with strict space requirements. The present invention provides a planetary gear reducer structure. The basic design idea is: set The hole uses the retaining ring to axially locate the planetary gear of the planetary gear reduction mechanism at the input end, the planetary carrier of the same stage and the shoulder of the planetary shaft are combined to axially locate the planetary wheel bearing of the stage, and the planetary carrier of the upper stage passes through the lower stage The first external tooth of the sun gear is axially positioned and designed with a micro-gap between the next-stage planetary gear, and at the same time, the same-stage planetary gear and the same-stage planet carrier are in direct contact to achieve mutual axial positioning, thus greatly shortening the planetary gear reduction. Axial dimension of the device.
根据上述基本设计思路，本发明还提供了两个具体的实施例来对本发明的行星齿轮减速器进行更为详尽的介绍。According to the basic design ideas above, the present invention also provides two specific embodiments to introduce the planetary gear reducer of the present invention in more detail.
实施例1Example 1
如图2所示，该减速器包括内齿壳100以及沿内齿壳100轴向依次设置的N级行星齿轮减速机构200；N≥2，本实施例中，N取值为3，其中，第一级行星齿轮减速机构为减速器的高速级输入端，第2级行星齿轮减速机构为中速级，第3级行星齿轮减速机构为减速器的低速级输出端；每级行星齿 轮减速机构200均包括太阳轮201、行星轮202、行星架203以及行星轴204；As shown in FIG. 2 , the reducer includes an inner gear housing 100 and an N-stage planetary gear reduction mechanism 200 sequentially arranged along the axial direction of the inner gear housing 100; N≥2. In this embodiment, N takes a value of 3, wherein, The first-stage planetary gear reduction mechanism is the input end of the high-speed stage of the reducer, the second-stage planetary gear reduction mechanism is the medium-speed stage, and the third-stage planetary gear reduction mechanism is the output end of the low-speed stage of the reducer; each stage of the planetary gear reduction mechanism 200 includes a sun gear 201, a planet gear 202, a planet carrier 203 and a planet shaft 204;
在实施例中，第2至3级行星齿轮减速机构200中的太阳轮201上均沿自身轴向方向设置有第一外齿2011和第二外齿2012，且第一外齿2011的齿高大于第二外齿2012的齿高；每级太阳轮200的第一外齿2011与当前级的行星轮202啮合，第二外齿2012与上一级的行星架203形成键连接；上一级行星架203的端面与当前级太阳轮201上的第一外齿2011端面接触；In the embodiment, the sun gear 201 in the second to third stage planetary gear reduction mechanism 200 is provided with a first external tooth 2011 and a second external tooth 2012 along its own axial direction, and the tooth height of the first external tooth 2011 Greater than the tooth height of the second external teeth 2012; the first external teeth 2011 of each stage of the sun gear 200 mesh with the planetary gear 202 of the current stage, and the second external teeth 2012 form a key connection with the planet carrier 203 of the upper stage; the upper stage The end face of the planet carrier 203 is in contact with the end face of the first external tooth 2011 on the current stage sun gear 201;
每级行星齿轮减速机构200的行星轮轴承205一侧与当前级的行星架203相接触实现对行星轮轴承205的一侧轴向定位，另一侧通过行星轴204上的轴肩2041或者轴用挡圈实现对行星轮轴承205的另一侧轴向定位，并且同一级的行星轴204与行星架203上的行星轴安装孔206为过盈配合，同一级行星轮202和行星架203相互接触实现相互轴向定位；需要说明的是：本实施例中每级行星齿轮减速机构200中采用的行星轮轴承205均为圆柱滚针轴承或深沟球轴承或角接触轴承；One side of the planetary gear bearing 205 of each stage of planetary gear reduction mechanism 200 is in contact with the planetary carrier 203 of the current stage to realize the axial positioning of one side of the planetary gear bearing 205, and the other side passes through the shoulder 2041 or shaft on the planetary shaft 204. A retaining ring is used to realize the axial positioning of the other side of the planetary wheel bearing 205, and the planetary shaft 204 of the same stage is an interference fit with the planetary shaft mounting hole 206 on the planetary carrier 203, and the planetary wheel 202 and the planetary carrier 203 of the same stage are mutually Contact realizes mutual axial positioning; it should be noted that: the planetary wheel bearings 205 used in each stage of the planetary gear reduction mechanism 200 in this embodiment are cylindrical needle roller bearings or deep groove ball bearings or angular contact bearings;
第一级行星齿轮减速机构的行星轮202通过卡装于内齿壳100内部的孔用挡圈300轴向定位；The planetary gear 202 of the first-stage planetary gear reduction mechanism is axially positioned by the retaining ring 300 clamped in the hole inside the inner gear housing 100;
第3级行星齿轮减速机构的行星架203作为输出端，与所述内齿壳100转动连接；The planetary carrier 203 of the third-stage planetary gear reduction mechanism is used as an output end, and is rotatably connected with the inner gear housing 100;
现有的行星齿轮减速器中，第N级行星架与内齿壳之间通常采用外购的成品轴承实现转动连接，而在本实施例中，实现第3级行星架与内齿壳转动连接的具体结构为：In the existing planetary gear reducer, the externally purchased finished bearings are usually used to realize the rotational connection between the Nth-stage planetary carrier and the inner gear housing, but in this embodiment, the third-stage planetary carrier is rotationally connected to the inner gear housing The specific structure is:
如图2和3所示，在第3级行星齿轮减速机构的行星架203的外表面沿轴向方向设置有M条第一内圈外滚道2031，M≥1，内齿壳100的内壁上轴 向方向设置有M条第一外圈内滚道1001；M条第一内圈外滚道2031和M条第一外圈内滚道1001一一对应，每条第一内圈外滚道2031和与之对应的第一外圈内滚道1001之间均沿圆周方向设置有多个第一钢球400，从而构成第3级行星架与内齿壳100之间的自制轴承结构。As shown in Figures 2 and 3, the outer surface of the planet carrier 203 of the third-stage planetary gear reduction mechanism is provided with M first inner ring outer raceways 2031 along the axial direction, M≥1, and the inner wall of the inner gear housing 100 There are M first outer ring inner raceways 1001 arranged in the upper axial direction; M first inner ring outer raceways 2031 correspond to M first outer ring inner raceways 1001 one by one, and each first inner ring outer raceway A plurality of first steel balls 400 are arranged along the circumferential direction between the track 2031 and the corresponding inner raceway 1001 of the first outer ring, thereby forming a self-made bearing structure between the third-stage planetary carrier and the inner gear housing 100 .
实施例2Example 2
如图4所示，该减速器包括内齿壳100以及沿内齿壳100轴向依次设置的N级行星齿轮减速机构200；N≥2，本实施例中，N取值为3，其中，第一级行星齿轮减速机构为减速器的高速级输入端，第2级行星齿轮减速机构为中速级，第3级行星齿轮减速机构为减速器的低速级输出端；每级行星齿轮减速机构200均包括太阳轮201、行星轮202、行星架203以及行星轴204；As shown in FIG. 4 , the reducer includes an inner gear housing 100 and N-stage planetary gear reduction mechanisms 200 sequentially arranged along the axial direction of the inner gear housing 100; N≥2. In this embodiment, N takes a value of 3, wherein, The first-stage planetary gear reduction mechanism is the input end of the high-speed stage of the reducer, the second-stage planetary gear reduction mechanism is the medium-speed stage, and the third-stage planetary gear reduction mechanism is the output end of the low-speed stage of the reducer; each stage of the planetary gear reduction mechanism 200 includes a sun gear 201, a planet gear 202, a planet carrier 203 and a planet shaft 204;
在实施例中，第2至3级行星齿轮减速机构200中的太阳轮201上均沿自身轴向方向设置有第一外齿2011和第二外齿2012，且第一外齿2011的齿高大于第二外齿2012的齿高；每级太阳轮200的第一外齿2011与当前级的行星轮202啮合，第二外齿2012与上一级的行星架203形成键连接；上一级行星架203的端面与当前级太阳轮201上的第一外齿2011端面接触；In the embodiment, the sun gear 201 in the second to third stage planetary gear reduction mechanism 200 is provided with a first external tooth 2011 and a second external tooth 2012 along its own axial direction, and the tooth height of the first external tooth 2011 Greater than the tooth height of the second external teeth 2012; the first external teeth 2011 of each stage of the sun gear 200 mesh with the planetary gear 202 of the current stage, and the second external teeth 2012 form a key connection with the planet carrier 203 of the upper stage; the upper stage The end face of the planet carrier 203 is in contact with the end face of the first external tooth 2011 on the current stage sun gear 201;
第1至2级行星齿轮减速机构的行星轮轴承205一侧与当前级的行星架203相接触实现对行星轮轴承205的一侧轴向定位，另一侧通过行星轴204上的轴肩或者轴用挡圈实现对行星轮轴承205的另一侧轴向定位，并且同一级的行星轴204与行星架203上的行星轴安装孔206为过盈配合，同一级行星轮202和行星架203相互接触相互实现轴向定位；需要说明的是：本实施例中第1至2级行星齿轮减速机构中采用的行星轮轴承205均为圆柱滚针轴承或深沟球轴承或角接触轴承；One side of the planetary wheel bearing 205 of the first to second stage planetary gear reduction mechanism is in contact with the planet carrier 203 of the current stage to realize the axial positioning of one side of the planetary wheel bearing 205, and the other side passes through the shoulder on the planetary shaft 204 or The shaft retaining ring realizes the axial positioning of the other side of the planetary wheel bearing 205, and the planetary shaft 204 of the same stage is an interference fit with the planetary shaft mounting hole 206 on the planetary carrier 203, and the planetary wheel 202 and the planetary carrier 203 of the same stage mutual contact to achieve axial positioning; it should be noted that the planetary wheel bearings 205 used in the first to second stage planetary gear reduction mechanisms in this embodiment are all cylindrical needle roller bearings or deep groove ball bearings or angular contact bearings;
如图5所示，第3级行星齿轮减速机构中，行星轴204位于行星轮内孔207内的外表面沿轴向并排开设S条第二内圈外滚道2042，S≥2，每条第二内圈外滚道2042与行星轮内孔207的孔壁之间沿圆周方向设置有多个第二钢球500；在本实施例中，为了缩短行星齿轮减速机构的轴向尺寸，亦或是在同样的轴向空间内增加钢球列数，提升承载能力，每相邻两条第二内圈外滚道2042中安装的第二钢球500在圆周方向错位布置，如图7所示，从而构成了第3级行星齿轮减速机构的行星轮轴承；行星轮内孔207靠近行星架203的一侧设有向内突起的圆弧形沟道2043，用于对第二钢球500进行轴向定位；As shown in Figure 5, in the third-stage planetary gear reduction mechanism, the outer surface of the planetary shaft 204 located in the inner hole 207 of the planetary wheel is provided with S second inner ring outer raceways 2042 side by side in the axial direction, S≥2, each A plurality of second steel balls 500 are arranged along the circumferential direction between the second inner ring outer raceway 2042 and the hole wall of the planetary wheel inner hole 207; in this embodiment, in order to shorten the axial dimension of the planetary gear reduction mechanism, also Or increase the number of rows of steel balls in the same axial space to increase the bearing capacity, and the second steel balls 500 installed in every two adjacent second inner ring outer raceways 2042 are arranged in a circumferential direction in a misalignment, as shown in Figure 7 As shown, the planet wheel bearing of the third-stage planetary gear reduction mechanism is formed; the side of the planet wheel inner hole 207 close to the planet carrier 203 is provided with an inwardly protruding arc-shaped channel 2043 for the second steel ball 500 carry out axial positioning;
为了第二钢球的定位更加可靠，如图6所示，本实施例中还在第3级行星齿轮减速机构的行星轮内孔207内壁上开设了S条浅槽2071，S条浅槽2071与S条第二内圈外滚道2041一一对应，第二内圈外滚道2041由异心设置的两条圆弧构成，分别记为第五圆弧和第六圆弧，第二钢球500分别与两条圆弧点接触，并与所述浅槽2071相接触，从而构成三点接触式球轴承结构；In order to make the positioning of the second steel ball more reliable, as shown in Figure 6, S shallow grooves 2071 and S shallow grooves 2071 are also provided on the inner wall of the planetary wheel inner hole 207 of the third-stage planetary gear reduction mechanism in this embodiment. Corresponding to the S second inner ring outer raceways 2041 one by one, the second inner ring outer raceway 2041 is composed of two arcs arranged at different centers, which are respectively recorded as the fifth arc and the sixth arc, and the second steel ball 500 is in contact with two arc points respectively, and is in contact with the shallow groove 2071, thereby forming a three-point contact ball bearing structure;
第N级行星齿轮减速机构的行星轴204与行星架上203的行星轴安装孔206为过盈配合，第N级行星齿轮减速机构的行星轮202和行星架203相互接触实现相互轴向定位；The planetary shaft 204 of the Nth-stage planetary gear reduction mechanism and the planetary shaft installation hole 206 of the planetary carrier 203 are interference fit, and the planetary gear 202 and the planetary carrier 203 of the Nth-stage planetary gear reduction mechanism contact each other to achieve mutual axial positioning;
第一级行星齿轮减速机构的行星轮202通过卡装于内齿壳100内部的孔用挡圈300轴向定位；The planetary gear 202 of the first-stage planetary gear reduction mechanism is axially positioned by the retaining ring 300 clamped in the hole inside the inner gear housing 100;
第3级行星齿轮减速机构的行星架203作为输出端，与所述内齿壳100转动连接。The planet carrier 203 of the third-stage planetary gear reduction mechanism is used as an output end and is rotatably connected with the inner gear housing 100 .
与实施例1相同，本实施例实现第3级行星架与内齿壳转动连接的具体结构为：Same as Embodiment 1, the specific structure of this embodiment to realize the rotational connection between the third-stage planet carrier and the inner gear housing is as follows:
在第3级行星齿轮减速机构的行星架203的外表面沿轴向方向设置有M条第一内圈外滚道2031，M≥1，内齿壳100的内壁上轴向方向设置有M条第一外圈内滚道1001；M条第一内圈外滚道2031和M条第一外圈内滚道1001一一对应，每条第一内圈外滚道2031和与之对应的第一外圈内滚道1001之间均沿圆周方向设置有多个第一钢球400，从而构成第3级行星架与内齿壳100之间的自制轴承结构。On the outer surface of the planet carrier 203 of the third-stage planetary gear reduction mechanism, M first inner ring outer raceways 2031 are arranged in the axial direction, M≥1, and M pieces are arranged in the axial direction on the inner wall of the inner gear housing 100 The first outer ring inner raceway 1001; the M first inner ring outer raceways 2031 and the M first outer ring inner raceways 1001 correspond one-to-one, and each first inner ring outer raceway 2031 corresponds to the corresponding first inner ring outer raceway 2031 A plurality of first steel balls 400 are arranged along the circumferential direction between the inner raceways 1001 of an outer ring, thereby forming a self-made bearing structure between the third-stage planet carrier and the inner gear housing 100 .
以上两个实施例还具有以下优化设计：Above two embodiments also have following optimization design:
1、为了使第3级行星架与内齿壳转动连接既能承担轴向载荷，也能承担径向载荷，如图3所示，本实施例采用四点接触式轴承结构，其具体结构为：每条第一内圈外滚道2031由异心设置的第一圆弧和第二圆弧构成(如图3所示，第一圆弧的圆心O1位于右上角，第二圆弧的圆心O2位于左上角)，且第一钢球400分别与第一圆弧和第二圆弧点接触，将此处接触点分别记为S1和S2；每条第一外圈内滚道1001由异心设置的第三圆弧和第四圆弧构成(如图3所示，第三圆弧的圆心O3位于右下角，第四圆弧的圆心O4位于左下角)，且第一钢球400分别与第三圆弧和第四圆弧点接触，将此处接触点分别记为S3和S4，从而构成了四点接触式球轴承结构。为了进一步地减少钢球磨损，其中，钢球与第一圆弧、第四圆弧的接触点，以及钢球圆心三点共线(如图所示，即S1、S4、O三点共线)；钢球与第二圆弧、第三圆弧的接触点，以及钢球圆心三点共线(如图所示，即S2、S3、O三点共线)。1. In order to make the rotation connection between the third-stage planetary carrier and the inner gear housing bear both axial load and radial load, as shown in Figure 3, this embodiment adopts a four-point contact bearing structure, and its specific structure is : Each first inner ring outer raceway 2031 is formed by the first circular arc and the second circular arc arranged differently (as shown in Figure 3, the center O1 of the first circular arc is located at the upper right corner, and the center O2 of the second circular arc is located in the upper left corner), and the first steel ball 400 is in contact with the first arc and the second arc point respectively, and the contact points here are respectively marked as S1 and S2; each inner raceway 1001 of the first outer ring is set by a non-centric (as shown in FIG. 3 , the center O3 of the third arc is located at the lower right corner, and the center O4 of the fourth arc is located at the lower left corner), and the first steel ball 400 is connected to the first steel ball 400 respectively. The three arcs and the fourth arc point contact, and the contact points here are respectively recorded as S3 and S4, thereby forming a four-point contact ball bearing structure. In order to further reduce the wear of the steel ball, the contact points of the steel ball with the first arc, the fourth arc, and the center of the steel ball are collinear (as shown in the figure, that is, the three points S1, S4, and O are collinear ); the contact points of the steel ball and the second arc, the third arc, and the three points of the center of the steel ball are collinear (as shown in the figure, that is, three points S2, S3, and O are collinear).
2、上一级行星架203的端面与当前级行星轮202端面形成微间隙(如图中标记A所示位置为微间隙)，该微间隙的意义在于：由于行星架203和行星轮202之间是有相对低速转动的，如果此处为过盈状态，两者之间有轴向作 用力，则必然会加快磨损；因此通过微间隙设计可在消除轴向相互作用力的同时，给油脂留出空间，使得接触面之间建立油膜，提高润滑，降低磨损；同时也增加了制造容差，降低了制造难度，该微间隙的取值范围是：0.1-0.3mm。2. The end face of the upper-stage planetary carrier 203 and the end face of the current-stage planetary gear 202 form a micro-gap (the position shown by the mark A in the figure is a micro-gap). There is a relatively low-speed rotation between them. If there is an interference state here and there is an axial force between the two, it will inevitably accelerate wear; therefore, the micro-gap design can eliminate the axial interaction force and give grease Leave a space to create an oil film between the contact surfaces, improve lubrication and reduce wear; at the same time, it also increases the manufacturing tolerance and reduces the difficulty of manufacturing. The value range of the micro gap is: 0.1-0.3mm.
3、为了方便该四点接触式球轴承结构的安装，本实施还将第3级行星齿轮减速机构的行星架203设计为分体式，包括2个圆盘2032；两个圆盘2032相接触端面外边缘均开设有第一圆弧和第二圆弧，从而构成所述一条第一内圈外滚道2031。3. In order to facilitate the installation of the four-point contact ball bearing structure, in this implementation, the planet carrier 203 of the third-stage planetary gear reduction mechanism is designed as a split type, including two discs 2032; the two discs 2032 are in contact with the end faces The outer edges are each provided with a first arc and a second arc, thereby forming the first inner ring outer raceway 2031 .
4、上述两个实施例中3级行星齿轮减速机构共用一个内齿壳100，且每级行星齿轮减速机构中行星轮202的模数相同，能够使得各级行星机构中行星轮(特别是第1级行星轮和第2级行星轮)的宽度尺寸可变薄，从而进一步地减小了减速器的轴向尺寸。4. The three-stage planetary gear reduction mechanisms in the above two embodiments share one inner gear housing 100, and the modules of the planetary gears 202 in each stage of planetary gear reduction mechanisms are the same, which can make the planetary gears (especially the first The width dimension of the first-stage planetary wheel and the second-stage planetary wheel) can be thinned, thereby further reducing the axial dimension of the reducer.

Claims (16)

  1. 一种缩小轴向尺寸空间的行星齿轮减速器，包括内齿壳以及沿内齿壳轴向依次设置的N级行星齿轮减速机构；N≥2；每级行星齿轮减速机构均包括太阳轮、行星轮、行星架以及行星轴；A planetary gear reducer with reduced axial dimension space, comprising an inner gear case and N-stage planetary gear reduction mechanisms arranged in sequence along the axial direction of the inner gear case; N≥2; each stage of planetary gear reduction mechanism includes a sun gear, a planetary Wheels, planet carriers and planet shafts;
    其特征在于：第2至N级行星齿轮减速机构中的太阳轮上均设置有第一外齿和第二外齿，且第一外齿的齿高大于第二外齿的齿高；每级太阳轮的第一外齿与当前级的行星轮啮合，第二外齿与上一级的行星架形成键连接；上一级行星架的端面与当前级太阳轮上的第一外齿端面接触；It is characterized in that: first external teeth and second external teeth are provided on the sun gears in the 2nd to N-stage planetary gear reduction mechanisms, and the tooth height of the first external teeth is greater than the tooth height of the second external teeth; each stage The first external tooth of the sun gear meshes with the planetary gear of the current stage, and the second external tooth forms a key connection with the upper-stage planet carrier; the end face of the upper-stage planet carrier contacts the end face of the first external tooth on the current stage sun gear ;
    每级行星齿轮减速机构的行星轮轴承一侧与当前级的行星架相接触实现对行星轮轴承的一侧轴向定位，另一侧通过行星轴上的轴肩或者轴用挡圈实现对行星轮轴承的另一侧轴向定位，并且同一级的行星轴与行星架上的行星轴安装孔为过盈配合，同一级行星轮和行星架相互接触实现相互轴向定位；One side of the planetary gear bearing of each stage of planetary gear reduction mechanism is in contact with the planetary carrier of the current stage to realize the axial positioning of one side of the planetary gear bearing, and the other side realizes the planetary positioning through the shoulder on the planetary shaft or the retaining ring for the shaft. The other side of the wheel bearing is axially positioned, and the planetary shafts of the same stage are in interference fit with the planetary shaft mounting holes on the planetary carrier, and the planetary wheels and the planetary carrier of the same stage are in contact with each other to achieve mutual axial positioning;
    第一级行星齿轮减速机构的行星轮通过卡装于内齿壳内部的孔用挡圈轴向定位；The planetary gear of the first-stage planetary gear reduction mechanism is axially positioned by the retaining ring through the hole clamped inside the inner gear housing;
    第N级行星齿轮减速机构的行星架作为输出端，与所述内齿壳转动连接。The planet carrier of the Nth stage planetary gear reduction mechanism is used as an output end and is rotatably connected with the inner gear housing.
  2. 根据权利要求1所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：上一级行星架的端面与当前级行星轮端面形成微间隙。The planetary gear reducer with reduced axial dimension space according to claim 1, characterized in that: the end face of the upper stage planetary carrier and the end face of the current stage planetary gear form a micro gap.
  3. 根据权利要求1所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：第N级行星齿轮减速机构的行星架的外表面沿轴向方向设置有M条第一内圈外滚道，M≥1，内齿壳的内壁上轴向方向设置有M条第一外圈内滚道；M条第一内圈外滚道和M条第一外圈内滚道一一对应，每条第一内圈外滚道和与之对应的第一外圈内滚道之间均沿圆周方向设置有多个第一钢球，从而 构成行星架与内齿壳之间的轴承结构。The planetary gear reducer with reduced axial size space according to claim 1, characterized in that: the outer surface of the planetary carrier of the Nth stage planetary gear reduction mechanism is provided with M first inner ring outer raceways along the axial direction , M≥1, the inner wall of the inner gear housing is provided with M first outer ring inner raceways in the axial direction; the M first inner ring outer raceways correspond to the M first outer ring inner raceways, each A plurality of first steel balls are arranged along the circumferential direction between the outer raceways of the first inner ring and the corresponding inner raceways of the first outer ring, thereby forming a bearing structure between the planet carrier and the inner gear housing.
  4. 根据权利要求3所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：每条第一内圈外滚道由异心设置的第一圆弧和第二圆弧构成，且第一钢球分别与第一圆弧和第二圆弧点接触；每条第一外圈内滚道由异心设置的第三圆弧和第四圆弧构成，且第一钢球分别与第三圆弧和第四圆弧点接触。The planetary gear reducer with reduced axial dimension space according to claim 3, characterized in that: each first inner ring outer raceway is composed of a first circular arc and a second circular arc arranged eccentrically, and the first steel The balls are in point contact with the first arc and the second arc respectively; each inner raceway of the first outer ring is composed of the third arc and the fourth arc arranged differently, and the first steel ball is respectively in contact with the third arc Contact with the fourth arc point.
  5. 根据权利要求4所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：第N级行星齿轮减速机构的行星架为分体式结构，包括M+1个圆盘；第一圆弧和第二圆弧分别设置在相邻两个圆盘相接触的端面边缘上。The planetary gear reducer with reduced axial dimension space according to claim 4, characterized in that: the planet carrier of the Nth stage planetary gear reduction mechanism is a split structure, including M+1 discs; the first arc and The second arcs are respectively arranged on the edges of the contacting end faces of two adjacent discs.
  6. 根据权利要求1至5任一权利要求所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：N级行星齿轮减速机构共用一个内齿壳，且每级行星齿轮减速机构中行星轮的模数相同；所述行星轮轴承为圆柱滚针轴承或深沟球轴承或角接触轴承。According to any one of claims 1 to 5, the planetary gear reducer with reduced axial size space is characterized in that: N-stage planetary gear reduction mechanisms share one inner gear case, and the planetary gears in each stage of planetary gear reduction mechanisms The modulus is the same; the planet wheel bearings are cylindrical needle roller bearings or deep groove ball bearings or angular contact bearings.
  7. 一种缩小轴向尺寸空间的行星齿轮减速器，包括内齿壳以及沿内齿壳轴向依次设置的N级行星齿轮减速机构；N≥2；每级行星齿轮减速机构均包括太阳轮、行星轮、行星架以及行星轴；A planetary gear reducer with reduced axial dimension space, comprising an inner gear case and N-stage planetary gear reduction mechanisms arranged in sequence along the axial direction of the inner gear case; N≥2; each stage of planetary gear reduction mechanism includes a sun gear, a planetary Wheels, planet carriers and planet shafts;
    其特征在于：第2至N级行星齿轮减速机构中的太阳轮上均设置有第一外齿和第二外齿，且第一外齿的齿高大于第二外齿的齿高；所述第一外齿与当前级的行星轮啮合，第二外齿与上一级的行星架形成键连接；上一级行星架的端面与当前级太阳轮上的第一外齿端面接触；It is characterized in that: the sun gears in the 2nd to N-stage planetary gear reduction mechanisms are provided with first external teeth and second external teeth, and the tooth height of the first external teeth is greater than the tooth height of the second external teeth; The first external tooth meshes with the planetary gear of the current stage, and the second external tooth forms a key connection with the upper-stage planet carrier; the end face of the upper-stage planet carrier contacts the end face of the first external tooth on the current stage sun gear;
    第1至N-1级行星齿轮减速机构的行星轮轴承一侧与当前级的行星架相接触实现对行星轮轴承的一侧轴向定位，另一侧通过行星轴上的轴肩或者轴用挡圈实现对行星轮轴承的另一侧轴向定位，并且同一级的行星轴与行星架 上的行星轴安装孔为过盈配合，同一级行星轮和行星架相互接触实现相互轴向定位；One side of the planetary gear bearing of the 1st to N-1 planetary gear reduction mechanism is in contact with the planet carrier of the current stage to realize the axial positioning of one side of the planetary gear bearing, and the other side passes through the shoulder on the planetary shaft or the shaft. The retaining ring realizes the axial positioning of the other side of the planetary wheel bearing, and the planetary shaft of the same stage is an interference fit with the planetary shaft mounting hole on the planetary carrier, and the planetary wheel and the planetary carrier of the same stage are in contact with each other to achieve mutual axial positioning;
    第N级行星齿轮减速机构中，行星轴位于行星轮内孔内的外表面沿轴向并排开设S条第二内圈外滚道，S≥2，每条第二内圈外滚道与行星轮内孔的孔壁之间沿圆周方向设置有多个第二钢球，从而构成了第N级行星齿轮减速机构的行星轮轴承；In the N-stage planetary gear reduction mechanism, the outer surface of the planetary shaft located in the inner hole of the planetary wheel is provided with S second inner ring outer raceways side by side in the axial direction, S≥2, and each second inner ring outer raceway is aligned with the planet A plurality of second steel balls are arranged along the circumferential direction between the hole walls of the inner hole of the wheel, thus constituting the planetary wheel bearing of the Nth stage planetary gear reduction mechanism;
    第N级行星齿轮减速机构的行星轴与行星架上的行星轴安装孔为过盈配合，第N级行星齿轮减速机构的行星轮和行星架相互接触实现相互轴向定位；The planetary shaft of the Nth-stage planetary gear reduction mechanism and the planetary shaft installation hole on the planetary carrier are interference fit, and the planetary gears and the planetary carrier of the Nth-stage planetary gear reduction mechanism contact each other to achieve mutual axial positioning;
    第一级行星齿轮减速机构的行星轮通过卡装于内齿壳内部的孔用挡圈轴向定位；The planetary gear of the first-stage planetary gear reduction mechanism is axially positioned by the retaining ring through the hole clamped inside the inner gear housing;
    第N级行星齿轮减速机构的行星架作为输出端，与所述内齿壳转动连接。The planet carrier of the Nth stage planetary gear reduction mechanism is used as an output end and is rotatably connected with the inner gear housing.
  8. 根据权利要求7所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：上一级行星架的端面与当前级行星轮端面形成微间隙。The planetary gear reducer with reduced axial dimension space according to claim 7, characterized in that: the end face of the upper stage planetary carrier and the end face of the current stage planetary gear form a micro gap.
  9. 根据权利要求7所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：每相邻两条第二内圈外滚道中安装的第二钢球在圆周方向错位布置。The planetary gear reducer with reduced axial dimension space according to claim 7, characterized in that: the second steel balls installed in every two adjacent second inner ring outer raceways are arranged in a circumferential direction in an offset manner.
  10. 根据权利要求8所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：行星轮内孔靠近行星架的一侧设有向内突起的圆弧形沟道，用于对第二钢球进行轴向定位。According to claim 8, the planetary gear reducer with reduced axial size space is characterized in that: the side of the inner hole of the planetary wheel close to the planetary carrier is provided with an inwardly protruding arc-shaped groove for the second steel The ball is positioned axially.
  11. 根据权利要求7-10任一权利要求所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：第二内圈外滚道由异心设置的第五圆弧和第六圆弧构成，第二钢球分别与第五圆弧、第六圆弧点接触以及行星轮内孔的孔壁点接触，从而形成三点接触式球轴承结构。According to any one of claims 7-10, the planetary gear reducer with reduced axial size space is characterized in that: the outer raceway of the second inner ring is composed of a fifth arc and a sixth arc arranged eccentrically, The second steel ball is in point contact with the fifth arc, the sixth arc and the hole wall of the inner hole of the planetary wheel respectively, thereby forming a three-point contact ball bearing structure.
  12. 根据权利要求11所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：所述第N级行星齿轮减速机构的行星轮内孔内壁上设置有S条浅槽，S条浅槽与S条第二内圈外滚道一一对应。The planetary gear reducer with reduced axial dimension space according to claim 11, characterized in that: S shallow grooves are arranged on the inner wall of the inner hole of the planetary wheel of the Nth stage planetary gear reduction mechanism, and the S shallow grooves are connected with There is a one-to-one correspondence between the S second inner ring outer raceways.
  13. 根据权利要求7所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：第N级行星齿轮减速机构的行星架的外表面沿轴向方向设置有M条第一内圈外滚道，M≥1，内齿壳的内壁上轴向方向设置有M条第一外圈内滚道；M条第一内圈外滚道和M条第一外圈内滚道一一对应，每条第一内圈外滚道和与之对应的第一外圈内滚道之间均沿圆周方向设置有多个第一钢球，从而构成行星架与内齿壳之间的轴承。According to claim 7, the planetary gear reducer with reduced axial dimension space is characterized in that: the outer surface of the planetary carrier of the Nth stage planetary gear reduction mechanism is provided with M first inner ring outer raceways along the axial direction , M≥1, the inner wall of the inner gear housing is provided with M first outer ring inner raceways in the axial direction; the M first inner ring outer raceways correspond to the M first outer ring inner raceways, each A plurality of first steel balls are arranged along the circumferential direction between the outer raceways of the first inner ring and the corresponding inner raceways of the first outer ring, thereby constituting a bearing between the planet carrier and the inner gear housing.
  14. 根据权利要求13所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：每条第一内圈外滚道由异心设置的第一圆弧和第二圆弧构成，且第一钢球分别与第一圆弧和第二圆弧点接触；每条第一外圈内滚道由异心设置的第三圆弧和第四圆弧构成，且第一钢球分别与第三圆弧和第四圆弧点接触。The planetary gear reducer with reduced axial dimension space according to claim 13, characterized in that: each first inner ring outer raceway is composed of a first circular arc and a second circular arc arranged eccentrically, and the first steel The balls are in point contact with the first arc and the second arc respectively; each inner raceway of the first outer ring is composed of the third arc and the fourth arc arranged differently, and the first steel ball is respectively in contact with the third arc Contact with the fourth arc point.
  15. 根据权利要求7所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：第N级行星齿轮减速机构的行星架为分体式结构，包括M+1个圆盘；第一圆弧和第二圆弧分别设置在相邻两个圆盘相接触的端面边缘上。The planetary gear reducer with reduced axial dimension space according to claim 7, characterized in that: the planetary carrier of the Nth stage planetary gear reduction mechanism is a split structure, including M+1 discs; the first arc and The second arcs are respectively arranged on the edges of the contacting end faces of two adjacent discs.
  16. 根据权利要求7所述的缩小轴向尺寸空间的行星齿轮减速器，其特征在于：N级行星齿轮减速机构共用一个内齿壳，且每级行星齿轮减速机构中行星轮的模数相同；所述第1至N-1级行星齿轮减速机构中的行星轮轴承为圆柱滚针轴承或深沟球轴承或角接触轴承。According to claim 7, the planetary gear reducer with reduced axial dimension space is characterized in that: N-stage planetary gear reduction mechanisms share one inner gear housing, and the modules of the planetary gears in each stage of planetary gear reduction mechanisms are the same; The planetary wheel bearings in the 1st to N-1st stage planetary gear reduction mechanisms are cylindrical needle roller bearings or deep groove ball bearings or angular contact bearings.
PCT/CN2021/105963 2021-07-13 2021-07-13 Planetary gear reducer for reducing axial size space WO2023283801A1 (en)

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CN117646785A (en) * 2024-01-29 2024-03-05 中国电建集团华东勘测设计研究院有限公司 High-speed linear lifting unit gear box

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US4452429A (en) * 1981-12-04 1984-06-05 Rule Industries, Inc. Planetary gear winch comprising selectively operable freewheel arrangement
CN207860386U (en) * 2017-12-13 2018-09-14 天津迪思科博科技发展有限公司 Through shaft type miniature hub motor of electric bicycle
CN208565448U (en) * 2018-07-18 2019-03-01 六环传动（西安）科技有限公司 A kind of disc type bearing arrangement and planetary reducer
CN110739798A (en) * 2018-07-18 2020-01-31 六环传动（西安）科技有限公司 Planetary gear motor capable of realizing full closed-loop control and joint robot
CN212028434U (en) * 2020-03-18 2020-11-27 杭州行星传动设备有限公司 Planetary reducer for pharmacy stirring

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Publication number Priority date Publication date Assignee Title
US4452429A (en) * 1981-12-04 1984-06-05 Rule Industries, Inc. Planetary gear winch comprising selectively operable freewheel arrangement
CN207860386U (en) * 2017-12-13 2018-09-14 天津迪思科博科技发展有限公司 Through shaft type miniature hub motor of electric bicycle
CN208565448U (en) * 2018-07-18 2019-03-01 六环传动（西安）科技有限公司 A kind of disc type bearing arrangement and planetary reducer
CN110739798A (en) * 2018-07-18 2020-01-31 六环传动（西安）科技有限公司 Planetary gear motor capable of realizing full closed-loop control and joint robot
CN212028434U (en) * 2020-03-18 2020-11-27 杭州行星传动设备有限公司 Planetary reducer for pharmacy stirring

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117646785A (en) * 2024-01-29 2024-03-05 中国电建集团华东勘测设计研究院有限公司 High-speed linear lifting unit gear box
CN117646785B (en) * 2024-01-29 2024-04-19 中国电建集团华东勘测设计研究院有限公司 High-speed linear lifting unit gear box

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