CN210397603U - Planetary harmonic combination reducer - Google Patents

Abstract

The utility model belongs to the technical field of reducers, and relates to a planetary harmonic combined reducer. The input shaft, sun gear, planetary gear, planet carrier, and flexible gear form a first-level planetary reduction gear train. The position of the annular part of the flexible gear is fixed. The input shaft is used to connect with external input equipment as an input part. The wheel meshes with the sun gear and the flex wheel at the same time, revolves around the input shaft and rotates around the mandrel of the planet carrier at the same time. Shrink deformation inward. The sun gear, the planetary gear and the planetary frame form a wave generator, and the flexible gear, the rigid gear and the first bearing form a secondary harmonic reduction gear train. The position of the annular part of the flexible gear is fixed, the wave generator is input, and the rigid gear is used to connect the external Output equipment to output power. The flex wheel participates in the motion of the first-level planetary reduction gear train and the second-level harmonic reduction gear train at the same time, achieving a high reduction ratio, effectively utilizing the space, and being easy to process and assemble.

Description

Planetary harmonic combination reducer

technical field

The utility model belongs to the technical field of reducers, in particular to a planetary harmonic combined reducer.

Background technique

The reduction ratio of the harmonic reducer is generally 30 to 160. Due to the limitation of its own volume and modulus, a larger reduction ratio cannot be achieved, resulting in limited application fields. In the prior art, a planetary harmonic combined reducer has been obtained by combining a planetary reducer and a harmonic reducer, so as to achieve a higher reduction ratio, but there are disadvantages of large volume and difficult processing and assembly.

Utility model content

The purpose of the utility model is to provide a planetary harmonic combined reducer to solve the technical problems that the existing planetary harmonic combined reducer has a large volume and is difficult to process and assemble.

The embodiment of the present utility model provides a planetary harmonic combined reducer, comprising:

A rigid wheel with a first ring gear;

passing through the input shaft of the rigid wheel;

The flexible wheel includes a cylindrical portion and an annular portion extending from an edge of one end of the cylindrical portion. The inner side of the cylindrical portion is provided with a second inner gear ring;

A wave generator comprising a sun gear that rotates synchronously with the input shaft, a planetary carrier rotatably mounted on the input shaft and having a mandrel, and a planetary gear rotatably mounted on the mandrel, the planetary gear meshing with the sun gear and the second ring gear at the same time; and

A first bearing for supporting the rigid wheel on the annular portion.

Optionally, the annular portion is fixedly connected with an input flange, the rigid wheel is fixedly connected with an output flange, and the input flange and the output flange are arranged at intervals.

Optionally, the input shaft passes through the interface of the input flange and the interface of the output flange.

Optionally, the input shaft is supported at the interface of the input flange through a second bearing, and the input shaft is supported at the interface of the output flange through a third bearing.

Optionally, the annular portion is located between the input flange and the first bearing; the rigid wheel is located between the output flange and the first bearing.

Optionally, the planet carrier is supported on the input shaft through a fourth bearing.

Optionally, the number of the mandrels is two or three, the mandrels are distributed along the circumferential direction of the input shaft, the number of the planetary gears is equal to the number of the mandrels, and the planetary gears are in one-to-one correspondence. It is rotatably mounted on the mandrel, and the sum of the number of teeth of the outer ring gear and the number of the planetary gears is equal to the number of teeth of the first inner ring gear.

Optionally, both the first inner gear ring and the outer gear ring are double arc gears;

And/or, the second ring gear is an involute ring gear, and the sun gear and the planetary gear are both involute gears.

Optionally, the annular portion is formed to extend outward from one end edge of the cylindrical portion, and the first bearing is located outside the cylindrical portion.

Optionally, the annular portion is connected with the outer ring of the first bearing, and the rigid wheel is connected with the inner ring of the first bearing.

The above-mentioned one or more technical solutions in the planetary harmonic combined reducer provided by the present invention have at least one of the following technical effects: the input shaft, the sun gear, the planetary gear, the planet carrier, and the flexible gear constitute a first-level planetary reduction gear train, The position of the annular part of the flex wheel is fixed, the input shaft is used to connect with an external input device as an input part, the sun gear rotates with the input shaft, and the planetary gear meshes with the sun gear and the second inner gear of the flex wheel cylindrical part at the same time, around the input When the shaft revolves, it rotates around the mandrel of the planet carrier, and the cylindrical part of the flexible wheel is forced to expand and deform outwards at the meshing position with the planetary gear. . The sun gear, the planetary gear, and the planetary frame form a wave generator in the harmonic reduction gear train. The wave generator, the flexible gear, the rigid gear, and the first bearing form a secondary harmonic gear train. The position of the ring portion of the flexible gear is fixed. , the first-stage planetary reduction gear train transmits the power to the wave generator, the wave generator is used as the input part, and the cylindrical part of the flexible wheel is elastically deformed. Turn, the rigid wheel is used to connect the external output device to output power.

The outer ring gear and the second inner ring gear are set on the flex wheel. The flex wheel simultaneously participates in the motion of the first-level planetary reduction gear train and the second-level harmonic reduction gear train. The sun gear, planetary gear and planet carrier of the first-level planetary reduction gear train As the wave generator of the second-stage harmonic reduction gear train, while achieving a high reduction ratio, it effectively utilizes space, reduces the radial and axial dimensions, and has the advantages of small size, simple and compact structure, easy processing and assembly, and reduced It has the advantages of large ratio and high power density, and is suitable for applications in the fields of robot steering gear and various instruments and meters.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present utility model. For some novel embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a three-dimensional assembly view of a planetary harmonic combined reducer provided by an embodiment of the present utility model;

Fig. 2 is a perspective exploded view of the planetary harmonic combination reducer of Fig. 1;

FIG. 3 is an exploded perspective view of the input shaft, the wave generator and the fourth bearing applied in the planetary harmonic combined reducer of FIG. 2;

Fig. 4 is the sectional view of the planetary harmonic combination reducer of Fig. 1;

Fig. 5 is the three-dimensional structure diagram of the flexible wheel applied in the planetary harmonic combination reducer of Fig. 2;

FIG. 6 is a schematic diagram of the deformation of the flexible wheel applied in the planetary harmonic combination reducer of FIG. 2 under the action of the planetary wheel, and the dotted line represents the flexible wheel at another time point.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not intended to limit the present invention.

In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical" The orientation or positional relationship indicated by "straight", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the embodiments of the present invention and simplify the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation on the embodiments of the present invention.

Furthermore, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of technical features indicated. Thus, a feature defined as "first", "second", "third", "fourth" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the embodiments of the present utility model, unless otherwise explicitly specified and limited, terms such as "installation", "connected", "connected", "fixed" should be understood in a broad sense, for example, it may be a fixed connection or a Detachable connection or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium, internal communication between two elements or interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations.

Referring to FIGS. 1 to 6 , an embodiment of the present invention provides a planetary harmonic combined reducer, which includes a rigid wheel 10 , an input shaft 20 , a flexible wheel 30 , a wave generator 40 , and a first bearing 51 . The rigid wheel 10 has a first inner gear 11 ; the input shaft 20 passes through the rigid wheel 10 ; the flexible wheel 30 includes a cylindrical portion 31 and an annular portion 32 extending from one end edge of the cylindrical portion 31 . The outer side is provided with an outer ring gear 311 that meshes with the first inner gear 11 , and the inner side of the cylindrical portion 31 is provided with a second inner gear 312 ; the wave generator 40 includes a sun gear 41 that rotates synchronously with the input shaft 20 . , a planetary carrier 42 rotatably mounted on the input shaft 20 and having a spindle 421, and a planetary wheel 43 rotatably mounted on the spindle 421, the planetary wheel 43 meshes with the sun gear 41 and the second ring gear 312 at the same time; the first The bearing 51 is used to support the rigid wheel 10 on the annular portion 32 .

The input shaft 20 , the sun gear 41 , the planetary gear 43 , the planet carrier 42 , and the flexible gear 30 constitute a first-stage planetary reduction gear train. The position of the annular portion 32 of the flexible gear 30 is fixed, and the input shaft 20 is used to connect with an external input device as an input part. , the sun gear 41 rotates with the input shaft 20, the planetary gear 43 meshes with the sun gear 41 and the second ring gear 312 of the cylindrical portion 31 of the flexible gear 30 at the same time, and revolves around the input shaft 20 while revolving around the spindle of the planet carrier 42 421 rotates, and the cylindrical portion 31 of the flex wheel 30 is forced to expand and deform outwardly at the meshing position with the planetary wheel 43 , and the cylindrical portion 31 of the flex wheel 30 undergoes an inward shrinkage deformation in the middle area that is not engaged with the planetary wheel 43 . The sun gear 41, the planetary gear 43, and the planet carrier 42 constitute the wave generator 40 in the harmonic reduction gear train. The wave generator 40, the flexible gear 30, the rigid gear 10, and the first bearing 51 constitute the second-level harmonic reduction gear train. The position of the annular portion 32 of the flexible wheel 30 is fixed, the first-stage planetary reduction gear train transmits the power to the wave generator 40, the wave generator 40 is used as the input part, the cylindrical portion 31 of the flexible wheel 30 is elastically deformed, and the external teeth of the flexible wheel 30 are elastically deformed. The ring 311 meshes with the first inner gear 11 of the rigid wheel 10, thereby driving the rigid wheel 10 to rotate, and the rigid wheel 10 is used for connecting to an external output device to output power.

An outer ring gear 311 and a second inner gear 312 are arranged on the flex wheel 30. The flex wheel 30 simultaneously participates in the movement of the first-level planetary reduction gear train and the second-level harmonic reduction gear train. The sun gear 41, The planet gear 43 and the planet carrier 42 are used as the wave generator 40 of the second harmonic reduction gear train. While realizing a high reduction ratio, the space is effectively utilized, the radial and axial dimensions are reduced, and the volume is small and the structure is small. Simple and compact, easy to process and assemble, large reduction ratio, high power density, etc., it is suitable for applications in robot steering gear, various instruments and other fields.

In another embodiment of the present invention, the first ring gear 11 of the rigid wheel 10, the sun gear 41 and the planetary gear 43 are on the same plane, and the axis of the mandrel 421 and the axis of the input shaft 20 are parallel to each other, so that the input shaft 20. The sun gear 41, the planetary gear 43, the planet carrier 42, and the flexible gear 30 constitute a first-level planetary reduction gear train. The position of the flexible gear 30 is fixed, the sun gear 41 rotates with the input shaft 20, and the planetary gear 43 meshes with the sun gear 41 at the same time. The flex wheel 30 revolves around the input shaft 20 and rotates around the spindle 421 of the planet carrier 42. The flex wheel 30 is forced to expand and deform outwards at the meshing position with the planet wheel 43, and the middle area of the flex wheel 30 shrinks inward. deformed. The sun gear 41 , the planetary gear 43 and the planet carrier 42 constitute the wave generator 40 in the harmonic reduction gear train.

In another embodiment of the present invention, the first bearing 51 is a crossed roller bearing. The crossed roller bearing is a bearing with a split inner ring and a rotating outer ring, with high rigidity and adjustable bearing clearance, which can achieve high Precision rotary motion. The first bearing 51 may also be other types of bearings.

In another embodiment of the present invention, the annular portion 32 is fixedly connected with an input flange 60 , the rigid wheel 10 is fixedly connected with an output flange 70 , and the input flange 60 and the output flange 70 are arranged at intervals. This solution is easy to assemble, and can effectively protect the protective flexible wheel 30 and the wave generator 40 between the input flange 60 and the output flange 70. The planetary harmonic combination reducer is fixed at the installation position through the input flange 60, and the output The flange 70 is connected to an external output device.

Referring to FIGS. 2 and 4 , in another embodiment of the present invention, the inner edge of a surface of the rigid wheel 10 is provided with a first positioning edge 12 , which is convenient for aligning the rigid wheel 10 with the inner ring 512 of the first bearing 51 . Specifically, the first positioning edge 12 is annular, which facilitates the positioning of the annular rigid wheel 10 . The outer edge of one surface of the output flange 70 is provided with a second positioning edge 72 for radially positioning the rigid wheel 10 , so as to facilitate the alignment of the output flange 70 with the rigid wheel 10 . Specifically, the second positioning edge 72 is annular, which facilitates the positioning of the inner ring 512 of the annular first bearing 51 . The inner edge of one surface of the input flange 60 is provided with a third positioning edge 62 , which is convenient for aligning the input flange 60 with the annular portion 32 of the flexible wheel 30 and the outer ring 511 of the first bearing 51 . Specifically, the third positioning edge 62 is annular, which facilitates the positioning of the input flange 60 on the annular portion 32 .

In another embodiment of the present invention, the output flange 70 is provided with an accommodating groove 73 for accommodating the planet carrier 42 , so that the planet carrier 42 is partially accommodated in the accommodating groove 73 , which can reduce the axial dimension of the overall structure.

In another embodiment of the present invention, the input shaft 20 passes through the interface 61 of the input flange 60 and the interface 71 of the output flange 70 . This solution allows the input shaft 20 to pass from the input flange 60 through the output flange 70 . One end of the input shaft 20 is close to the end of the output flange 70 , and then the input shaft 20 and the output flange 70 pass through the existing rotation angle sensor to detect the rotation angle, so that the overall structure is compact.

In another embodiment of the present invention, the input shaft 20 is a hollow shaft 421 , which is easy to form, and can also pass lines or other components in the inner cavity of the input shaft 20 .

In another embodiment of the present invention, the input shaft 20 is supported at the interface 61 of the input flange 60 through the second bearing 52 , and the input shaft 20 is supported at the interface 71 of the output flange 70 through the third bearing 53 . This solution is easy to assemble, and can reduce the friction between the input shaft 20 and the input flange 60 or the output flange 70 , so that the input shaft 20 can be stably and reliably supported on the input flange 60 and the output flange 70 . Specifically, the second bearing 52 and the third bearing 53 may be deep groove ball bearings, which can bear radial and axial loads. The input shaft 20 is provided with mounting positions for mounting on the second bearing 52 and the third bearing 53 , so as to facilitate the assembly of the bearings.

In another embodiment of the present invention, the annular portion 32 is located between the input flange 60 and the first bearing 51 ; the rigid wheel 10 is located between the output flange 70 and the first bearing 51 . The solution can reduce the size of the overall structure, occupy less space, and be easy to assemble.

Referring to FIGS. 3 and 4 , in another embodiment of the present invention, the planet carrier 42 is supported on the input shaft 20 through the fourth bearing 54 . In this solution, the planet carrier 42 is rotatably mounted on the input shaft 20 . Specifically, the fourth bearing 54 can be a deep groove ball bearing, which can bear radial and axial loads.

Please refer to FIG. 3 , FIG. 4 , and FIG. 6 , in another embodiment of the present invention, the number of the mandrels 421 is two or three, the mandrels 421 are distributed along the circumferential direction of the input shaft 20 , and the number of the planetary gears 43 is equal to the number of the mandrels 421 . The number of shafts 421 and the planetary gears 43 are rotatably mounted on the spindle 421 in one-to-one correspondence. By configuring the number of different spindles 421 , the number of teeth of the outer ring gear 311 , and the number of teeth of the first inner gear 11 , a predetermined reduction ratio is formed, which is specifically set as required. The sun gear 41 rotates with the input shaft 20, the planetary gear 43 meshes with the sun gear 41 and the flexible gear 30 at the same time, revolves around the input shaft 20 while revolving around the spindle 421 of the planet carrier 42, and expands outward in the flexible gear 30. The deformed middle region produces inward contraction deformation, and inward contraction deformation occurs in the middle region of the flexible wheel 30. The sun gear 41, the planetary gear 43, and the planet carrier 42 constitute the wave generator 40 in the harmonic reduction gear train.

In another embodiment of the present invention, the planet carrier 42 has two mandrels 421 corresponding to two planet gears 43 , and the number of teeth of the outer ring gear 311 of the flexible wheel 30 is less than the number of teeth of the first inner ring gear 11 of the rigid wheel 10 two to form a predetermined reduction ratio.

In another embodiment of the present invention, there are three spindles 421 on the planet carrier 42, corresponding to three planet gears 43, and the number of teeth of the outer ring gear 311 of the flexible wheel 30 is three less than the number of teeth of the first inner ring gear 11 of the rigid wheel 10 to form a predetermined reduction ratio.

In another embodiment of the present invention, the first inner gear 11 and the outer gear 311 are both double arc gears; the double arc gears have great advantages in terms of stability, torque and service life. It can realize continuous and smooth transmission, especially suitable for harmonic reduction gear train.

In another embodiment of the present invention, the second ring gear 312 is an involute ring gear, and the sun gear 41 and the planetary gear 43 are both involute gears. Involute teeth are easy to process and have the advantage of constant angular velocity, especially suitable for planetary reduction gear trains.

Referring to FIG. 5 , in another embodiment of the present invention, the annular portion 32 is formed to extend outward from one end edge of the cylindrical portion 31 , and the first bearing 51 is located outside the cylindrical portion 31 . This structure is easy to form, can reduce the radial dimension, and is convenient to rotate and install the rigid wheel 10 on the annular portion 32 .

Referring to FIGS. 2 and 4 , in another embodiment of the present invention, the annular portion 32 is connected with the outer ring 511 of the first bearing 51 , and the rigid wheel 10 is connected with the inner ring 512 of the first bearing 51 . This structure is easy to assemble, allowing the rigid wheel 10 to be rotatably mounted on the annular portion 32 . Specifically, the input flange 60 and the annular portion 32 are fixedly connected to the outer ring 511 of the first bearing 51 by fasteners, and the output flange 70 and the rigid wheel 10 are fixedly connected to the inner ring 512 of the first bearing 51 by fasteners , the structure is easy to assemble and the connection is reliable.

In another embodiment of the present invention, the sun gear 41 is installed on the input shaft 20 through a flat key connection or other means, which is easy to assemble and has reliable connection, so that the sun gear 41 can rotate with the input shaft 20 . Alternatively, the sun gear 41 is integrally formed with the input shaft 20 .

The above are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in the present utility model. within the scope of protection.

Claims (10)

1. Planetary harmonic combination reduction gear, its characterized in that includes:

a rigid wheel with a first inner gear ring;

the input shaft penetrates through the rigid wheel;

the flexible gear comprises a cylindrical part and an annular part formed by extending the edge of one end of the cylindrical part, an outer gear ring meshed with the first inner gear ring is arranged on the outer side surface of the cylindrical part, and a second inner gear ring is arranged on the inner side surface of the cylindrical part;

a wave generator including a sun gear rotating synchronously with the input shaft, a planet carrier rotatably mounted on the input shaft and having a spindle, and a planet gear rotatably mounted on the spindle, the planet gear being simultaneously meshed with the sun gear and the second ring gear; and

a first bearing for supporting the rigid wheel to the annular portion.

2. A planetary harmonic compound speed reducer as in claim 1 wherein said annulus is fixedly connected to an input flange and said ring gear is fixedly connected to an output flange, said input flange being spaced from said output flange.

3. A planetary harmonic compound reducer as in claim 2 wherein said input shaft passes through the interface of said input flange and the interface of said output flange.

4. A planetary harmonic compound reducer as in claim 3 wherein said input shaft is supported at the interface of said input flange by a second bearing and said input shaft is supported at the interface of said output flange by a third bearing.

5. A planetary harmonic compound reducer as in claim 2 wherein said annulus is located between said input flange and said first bearing; the rigid wheel is located between the output flange and the first bearing.

6. A planetary harmonic compound speed reducer as in any one of claims 1 to 5 wherein said planet carrier is supported on said input shaft by a fourth bearing.

7. A planetary harmonic combined reducer as in any one of claims 1 to 5 wherein the number of spindles is two or three, the spindles are distributed along the circumferential direction of the input shaft, the number of planetary gears is equal to the number of spindles, the planetary gears are rotatably mounted on the spindles in one-to-one correspondence, and the sum of the number of teeth of the outer ring gear and the number of planetary gears is equal to the number of teeth of the first inner ring gear.

8. The planetary harmonic combined speed reducer of any one of claims 1 to 5, wherein the first inner ring gear and the outer ring gear are both double-circular-arc ring gears;

and/or the second inner gear ring is an involute gear ring, and the sun gear and the planet gear are involute gears.

9. The planetary harmonic composite speed reducer according to any one of claims 1 to 5, wherein the annular portion is formed extending outward at one end edge of the cylindrical portion, and the first bearing is located outside the cylindrical portion.

10. The planetary harmonic compound speed reducer of any one of claims 1 to 5, wherein the annular portion is connected to an outer race of the first bearing, and the rigid gear is connected to an inner race of the first bearing.

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