TWI733494B - Shifting planetary reducer - Google Patents

Abstract

A shifting planetary reducer includes a fixing casing, a planetary gear set and a clutch device. The planetary gear set and the clutch device are installed in the fixing casing, and the fixing casing provides fastening points for installing. The planetary gear set has a sun gear, planetary gears and an internal gear ring for forming the planetary reducer. The clutch device can be formed by a linear electromagnetic actuator, in which the electromagnetic actuator is directly or indirectly connected to the internal gear ring of the planetary gear set though a telescopic motion thereof, so as to control the connection between the internal gear ring of the planetary gear set and the fixing casing. The clutch device can be formed by a rotation electromagnetic actuator, in which the electromagnetic actuator is connected to a crankshaft structure and controls a reverse 180 degree motion of it, so as to control the connection between the internal gear ring of the planetary gear set and the fixing casing.

Description

Variable speed planetary reducer

The present invention relates to a speed reducer, and particularly relates to a variable speed planetary speed reducer.

Taiwan Patent No. 92116644 discloses a two-stage planetary gear electromagnetic transmission device, which controls the displacement of the clutch sleeve through the electromagnetic coil and the armature, and controls the coupling of the gear box and the internal gear or the sun gear to achieve the effect of two-stage transmission.

Chinese Patent No. CN101922534A discloses an electromagnetic planetary gear continuously variable transmission. A brake mechanism with an inner ring is arranged in a multi-stage planetary gear system. The end output speed is adjusted by the electromagnetic mechanism interfering with the rotation of planetary gears of different stages.

The transmission scheme implemented in the above two cases relies on a high degree of mechanism integration and complex transmission parts, resulting in a large mechanism body, and the achieved reduction ratio switching range is also relatively small.

In order to achieve both torque and speed requirements in a single mechanism, eliminate the need to significantly upgrade the motor, and improve the long-term problem of the current robotics industry, that is, the robot arm supporting the high-load application field is slow and cumbersome; The robot arm supporting the low-load application field is agile and weak. In the future, the robot market will go out of the factory. The above-mentioned robot system cannot adapt to future needs, that is, the size of the organization, When energy consumption and motors are limited, it is necessary to maintain high output torque and high speed that can assist human work.

The present invention is based on the common disadvantage of traditional planetary deceleration, that is, the reduction ratio is the combination and matching value of the predetermined gear set. In practical applications, if high torque output is required, the output speed will be slow, and if high speed output is required, the output torque will be low; The existing solution that combines high torque output and high speed is to buy more high-power motors to make up for the lack, but the obvious shortcomings are that the size of the mechanism and the energy consumption have also risen sharply. To solve the aforementioned problems, the present invention proposes a variable speed planetary reducer design.

The principle of the tooth difference planetary reducer is that the sun gear is the input and meshes the inner side of the freely rotating upper planetary gear, the outer side of the upper planetary gear meshes with the first inner gear ring and the lower planetary gear meshes with the second inner gear ring 8. The inner gear ring is connected to the fixed housing, the second inner gear ring is used as the output, and the auxiliary sun gear is used as the supporting auxiliary wheel of the lower planetary gear and does not participate in the reduction transmission. Among them, a small amount of difference in the number of teeth can be achieved by arranging the modulus variation of the first and second layers of gears to form a high reduction ratio between output and input.

The principle of the planetary reducer takes the sun gear as input and engages the inner side of the upper planetary gear. The planetary gear holder is connected to the fixed housing. The upper planetary gear directly links the outer side of the lower planetary gear to mesh with the second inner gear ring. Both the ring gear and the auxiliary sun gear serve as the supporting auxiliary wheels of the planetary gear set and do not participate in the reduction transmission. The aforementioned combination forms a standard planetary reducer transmission connection.

Based on the principle of the aforementioned reducer, through the configuration of clutch devices, including: The electromagnetic actuator is provided with a latch of the actuator fixing member to perform the action; the outer side of the first inner gear ring fixing ring is provided with a groove to be combined with the actuator fixing member; the planetary gear fixing frame is provided with a groove to fix the actuator The actuator fixing frame is provided with a circular groove to assist the movement of the end pin of the electromagnetic actuator. The present invention can realize a variable speed planetary reducer based on the principle of the gear difference planetary reducer. When the clutch device is locked, the end pin is Join the first internal gear ring fixing ring with the fixed housing, and allow the planetary gear holder to rotate freely to form a gear-difference reducer transmission connection; when the clutch device is opened, the end pin connects the planetary gear holder with the fixed housing and makes the first An internal gear ring fixed ring freely rotates to form the transmission connection of the planetary reducer. Through the alternate engagement of the clutch device, the transmission connection of the reducer is changed to achieve the effect of switching the reduction ratio.

The tooth difference planetary reducer can be switched to a planetary reducer. Compared with other similar inventions at home and abroad, the present invention can achieve the effect of switching the reduction ratio with the least number of mechanisms and the smallest mechanism volume. At the same time, the manufacturability and cost are also equivalent. There are advantages.

In this invention, the gear difference planetary reducer is selected as the development target based on the high reduction ratio characteristics, and when switching to the planetary reducer, both can have significant speed and torque changes, and the configuration can also achieve The most compact mechanism size meets the needs of the robot.

1: fixed shell

2: Power input shaft

3: PTO shaft fixing cover

4: PTO shaft

5: Sun gear

6: auxiliary sun gear

7: The first internal gear ring

8: The second internal gear ring

9: The first internal gear ring fixing ring

9a: Bearing connection surface

9b: Internal gear ring connection groove

9c: The missing groove part of the first internal gear ring fixing ring

10: Output shaft bearing

11: Input shaft bearing

12: Auxiliary sun gear bearing

14: Planetary gear set connecting shaft

15: Upper planetary gear

16: Planetary gear holder

16a: groove

16b: inner hole

16c: Notch part of planetary gear holder

17: Linear actuator

18: Actuator holder

18a: Actuator holder chute

19: Actuator fixing part (bolt)

19a: Class

19h: upper limit position

19s: lower limit position

20: Actuator fixing (crankshaft)

20a: lower surface

20b: Undercut

20c: Upper cut surface

20d: upper surface

20h, 20s: position

21: Lower planetary gear

22: Rotary actuator

Figure 1 is a schematic cross-sectional structure of the present invention.

Fig. 2 is a schematic diagram of the inner gear ring fixed ring engaged by the clutch device of the present invention.

Fig. 3 is a schematic diagram of the planetary gear holder engaged by the clutch device of the present invention.

4A and 4B are schematic diagrams of the actuator fixing member of the clutch device of the present invention.

5A and 5B are schematic diagrams of the action of the clutch device according to Embodiment 1 of the present invention.

6A and 6B are schematic diagrams showing the action of the clutch device according to the second embodiment of the present invention.

The variable speed planetary reducer of an embodiment of the present invention includes a power input shaft, a power output shaft, a set of tooth difference planetary gear sets and a set of clutch devices. The tooth difference planetary gear set includes a sun gear, an auxiliary sun gear, a planetary gear holder, a first internal gear ring, a second internal gear ring and a plurality of planetary gear units. Each planetary gear unit consists of an upper planetary gear, a lower planetary gear Planetary gear and fixed shaft. The clutch device includes a set of more than one electromagnetic actuator. The power output shaft meshes with the planetary gear unit to connect the sun gear. The lower planetary gear meshes with the sun gear and the first inner gear ring, the upper planetary gear and the second inner gear ring, and the auxiliary sun gear. After meshing, the second inner gear ring is connected with the power output shaft to form a gear difference reduction mechanism type, and the planetary gear holder is connected with a plurality of upper planetary gears and a plurality of lower planetary gears. When the clutch device is locked, the electromagnetic actuator extends to the front limit, and the leading edge of the electromagnetic actuator is connected with the first inner gear ring fixed ring, then the first inner gear ring is connected in series with the fixed housing, and the planetary gear holder is free When rotating, the planetary gear set with tooth difference can output torque with a high reduction ratio. When the clutch device is turned on, the electromagnetic actuator is retracted to the limit, the front edge of the electromagnetic actuator is connected to the planetary gear holder, and the planetary gear holder is connected in series with the fixed housing. The first inner gear ring appears to rotate freely. The differential planetary gear set transmission is transformed into a planetary gear set to output torque at a low reduction ratio.

The electromagnetic actuator of the clutch device of an embodiment of the present invention includes a linear electromagnetic actuator or a rotary electromagnetic actuator, wherein the linear electromagnetic actuator achieves a reciprocating motion of a fixed distance back and forth, and the rotary electromagnetic actuator achieves a fixed angle between Reciprocating motion.

In an embodiment of the present invention, the first inner gear ring is connected to the first inner gear ring fixing ring, wherein the connecting part is provided with a ring-shaped stage to connect with the bearing, and is connected to the inner groove of the fixed housing, and the connecting part contains the connection of the clutch device Cooperate with agencies.

In an embodiment of the present invention, the first inner gear ring fixing ring and the outer side of the planetary gear fixing frame are provided with a continuous notch portion for the electromagnetic actuator of the clutch device to be engaged.

An embodiment of the present invention is provided with sliding circular grooves for the actuator of the electromagnetic actuator on the inner side of the fixed housing.

The clutch device of an embodiment of the present invention can be configured with more than one set, installed at an average angle, and controlled in a parallel and simultaneous manner.

The end of the linear electromagnetic actuator of an embodiment of the present invention is connected or processed into a cylinder, and the diameter of the cylinder is equal to the diameter of the notch of the first internal gear ring fixing ring and the planetary gear fixing frame.

The end of the rotary electromagnetic actuator of an embodiment of the present invention is connected or processed into a crankshaft structure. The diameter of the crankshaft structure is equal to the diameter of the groove portion of the first internal gear ring fixing ring and the planetary gear holder. The missing circle of the crankshaft structure is larger than the first The interference range of the top circle radius between the internal gear ring fixing ring and the planetary gear fixing frame.

The effective mechanism components of the first internal gear ring fixing ring of an embodiment of the present invention can be partially or fully integrated into the internal gear ring design of the first internal gear ring.

In order to fully understand the purpose, features and effects of the present invention, the following The embodiment of the body, in conjunction with the attached drawings, will give a detailed description of the present invention. In summary, the description is as follows.

The present invention is a variable speed planetary reducer. Refer to Figure 1 and take the tooth difference planetary reduction mechanism type as an embodiment. The reduction ratio is switched to achieve a larger difference. If a two-stage planetary reduction mechanism type is used, the present invention is also Can be implemented. In the present invention, a fixed housing 1 is used to include most of the gear set and transmission elements. The power input shaft 2 provides a flange surface and a locking point for connecting the reducer and the motor, and the power input shaft 2 is connected with the sun gear 5 for transmission. Torque is given to the planetary gear set meshing with it, and the rear section of the power input shaft is connected with a bearing 12 to connect with the auxiliary sun gear 6 and give the auxiliary sun gear 6 free rotation, and finally connect to the input shaft bearing 11. The planetary gear set described above has a connecting shaft 14 that is sequentially combined with the upper planetary gear 15 and the lower planetary gear 21, and the connecting shaft 14 is pivoted in the planetary gear holder 16 through a bearing and can rotate freely. Among them, referring to FIG. 3, the planetary gear holder 16 has a groove 16a for mounting the bearing to connect the planetary gear set, the inner hole 16b serves as a limit for the planetary gear set between the sun gear 5 and the auxiliary sun gear 6, and the groove portion 16c For the use of clutch devices.

In the embodiment of the present invention, the planetary gear set is configured with four groups, and the number of configured groups can be freely configured at least one group based on the principle that they are evenly distributed in the reducer. The upper planetary gear 15 of the planetary gear set meshes with the sun gear 5 inwardly and meshes with the first inner gear ring 7 outwardly. The first inner gear ring 7 is connected to the inner gear ring fixing ring 9 which has a bearing connecting surface. 9a. The inner gear ring connecting groove 9b and the missing groove 9c are used for the clutch device; the lower planetary gear 21 of the planetary gear set meshes with the auxiliary sun gear 6 inward, and meshes with the second inner gear ring 8 outward, and the second inner tooth The ring 8 is connected to the power output shaft 4 for output, which The central power output shaft 4 is connected to the bearing 10 and the fixed cover 3 that is locked to the fixed housing 1 and is installed with a limit. Referring to Fig. 2 in the aforementioned internal gear ring fixing ring 9, the bearing connecting surface 9a, the internal gear ring connecting groove 9b, and the missing groove portion 9c can be partly or completely integrated into the design of the first internal gear ring 7 to simplify the mechanism. , So the internal gear ring fixing ring 9 is not a necessary mechanism, part or all of the mechanism can be incorporated into this embodiment to have a connecting mechanism with it.

In the embodiment of the present invention, two clutch device embodiments are described for the variable speed planetary reducer:

Embodiment 1, referring to Figures 5A and 5B, the clutch device is composed of a linear actuator 17 as a power source, and the number of configuration groups of the linear actuator 17 can be freely configured for more than one group to be evenly distributed in the reducer. It is controlled by parallel simultaneous motion and can control the up and down reciprocating movement of the linear actuator 17 through energization. It is installed on the actuator fixing frame 18 and connected to the fixed housing 1. The fixing frame 18 is provided with the actuator fixing member 19 The matching sliding groove 18a is used as a radial movement limit. Referring to Figure 4A, the actuator fixing member 19 is a circular pin with a step, and the thickness of the upper half of the pin 19a is not less than the inner gear ring The thickness of the fixed ring 9 or the planetary gear holder 16, and the thickness does not interfere with the internal gear ring fixed ring groove 9c and the planetary gear holder groove 16c at the same time. By controlling the internal coil of the actuator, the actuator fixing member 19 is controlled to move to the upper limit position 19h shown in FIG. 5B or the lower limit position 19s shown in FIG. 5A.

When the fixing member 19 is located at the upper limit position 19h, the internal gear ring fixing ring groove 9c and the actuator fixing frame sliding groove 18a form a connection and fixing, and the planetary gear fixing frame groove 16c can rotate freely. The above gear transmission chain is transmitted from the sun gear to the planetary gear set, the first internal gear ring is connected to the ground rod, and the planetary gear set is transmitted to the second internal gear ring The output can form a gear difference planetary reduction mechanism type; when the fixing member 19 is at the lower limit position 19s, the planetary gear holder groove 16c and the actuator holder slide groove 18a form a connection and fixed, then the inner gear ring fixed ring The notch 9c can rotate freely. The above-mentioned gear transmission chain is transmitted from the sun gear to the planetary gear set, the planetary gear holder is connected to the ground rod, and the planetary gear set is transmitted to the second inner gear ring for output, forming a planetary reduction mechanism type.

The second embodiment, referring to FIGS. 6A and 6B, the clutch device is composed of a rotary actuator 22 as a power source, and the number of groups of the rotary actuator can be configured freely to be evenly distributed in the reducer. Parallel simultaneous control, and the rotary actuator 22 can be energized to control the reciprocating motion between 0 degrees and 180 degrees. It is installed on the actuator fixing frame 18 and connected to the fixed housing 1. The fixing frame 18 is provided with and The sliding groove 18a of the actuator fixing member 20 is used as a radial movement limit. Referring to FIG. 4B, the actuator fixing member 20 is a crankshaft. The crankshaft has an upper curved surface 20d and a lower curved surface 20a that are 180 degrees apart from each other. And the curved surface can be engaged with the planetary gear holder notch 16c and the inner gear ring holder groove 9c; the upper cut surface 20c and the lower cut surface 20b of the crankshaft are 180 degrees apart from each other, and the cut surface and the planet gear holder notch 16c and the inner ring The gear ring fixing ring notch 9c does not interfere with each other. By controlling the internal coil of the actuator, the actuator fixing member 20 is controlled to move to the 0 degree position 20h (as shown in FIG. 6B) or the 180 degree position 20s (as shown in FIG. 6A).

When the fixing member 20 is at the 0 degree position 20h, the internal gear ring fixing ring groove 9c and the actuator fixing frame sliding groove 18a are connected and fixed, and the planetary gear fixing frame groove 16c can rotate freely. The above gear transmission chain is transmitted from the sun gear to the planet Gear set, the first inner gear ring is connected to the ground rod, and the planetary gear set is transmitted to the second inner gear ring for output, which can form a gear difference planetary reduction mechanism; when the fixing member 20 is at the 180 degree position, the planetary gear holder lacks grooves 16c is connected and fixed with the sliding groove 18a of the actuator fixing frame, so that the internal gear ring fixing ring groove 9c can rotate freely. The above-mentioned gear transmission chain is transmitted from the sun gear to the planetary gear set, the planetary gear holder is connected to the ground rod, and the planetary gear set is transmitted to the second inner gear ring for output, forming a planetary reduction mechanism type.

In this embodiment, the variable speed planetary reducer is a configuration based on a tooth-difference planetary reducer, and can switch the transmission chain to become a planetary reducer. Take the differential gear planetary reducer as an example, the calculation formula of the reduction ratio of the differential gear planetary reducer is: (1+(number of upper planetary gear teeth*number of second internal gear ring teeth)/(number of sun gear teeth*number of lower planetary gear teeth)) Divide by (1-(number of upper planetary gear teeth*number of second internal gear ring teeth)/(number of first internal gear ring teeth*number of lower planetary gear teeth)).

In this embodiment, the number of teeth of the sun gear is 32, the number of teeth of the upper planetary gear is 16, the number of teeth of the lower planetary gear is 21, the number of teeth of the first internal gear ring is 64, and the number of teeth of the second internal gear ring is 81. The ratio is 82.

Take the planetary reducer as an example, the formula for calculating the reduction ratio of the planetary reducer is (take the transmission chain with the sun gear driving ring gear output planet carrier fixed as an example): -(number of teeth of the second internal gear/number of teeth of the sun gear).

In this embodiment, the number of teeth of the sun gear is 32, and the number of teeth of the second internal gear ring is 81, and the reduction ratio is -2.53 by using the formula.

In the above two embodiments, the actuator can be controlled by the host controller to switch, or integrated with the motor driver. At this time, the motor output has three modes: mode one, In high load mode, all actuator groups enter the upper limit position 19h or 0 degree position 20h to convert the transmission of the reducer into a gear-difference planetary reducer, operating at high torque and low speed output; in low load mode, all actuator groups enter The lower limit position 19s or the 0 degree position 20s turns the reducer transmission into a planetary reducer, which operates at low torque and high speed output; locked mode, half of the actuator group, enters the upper limit position 19h or 0 degree position 20h to turn the reducer The transmission is converted to a gear difference planetary reducer, half of the actuator groups, entering the lower limit position 19s or 0 degree position 20s, the reducer transmission is converted to a planetary reducer, so in the reducer transmission chain, the first inner gear ring Both the fixed ring 9 and the planetary gear holder 16 are connected to the fixed housing, which can terminate the transmission relationship of the reducer, resulting in no relative movement between the power output shaft and the power input shaft and locks the motor operation.

The old planetary reducer has a fixed reduction ratio. The present invention can achieve a variable speed planetary reducer with more than two speeds, so that it is not limited to the torque and speed of a single motor when applied to robotic arms, robots or industrial machinery. It provides the benefits of smaller motor selection, better energy efficiency, and reduced mechanism size.

In summary, it can be seen that in the variable speed planetary reducer in the embodiment of the present invention, the reduction ratio can be switched between 82 and -2.53 through an electronic control method, thereby achieving a significant speed and torque switching effect, providing a variety of different robot applications. Take the handling robot as an example: if the present invention is used as the robot arm of the handling robot, the reducer switches to low load mode when moving without load, so that the robot arm can move quickly to reach the position, and then the reducer switches to high load mode, the robot arm It can output high torque to lift heavy objects. When the robot arm reaches the position of lifting the load, the shaft that does not need to be rotated can enter the lock mode to reduce the power consumption of the system. If the load is lower, the shaft that needs to rotate is reduced. The speed machine can enter the low load mode to increase the rotation speed. Therefore, a small, low-power, and low-cost motor control system can be used, so that the overall robot system can reduce costs, reduce the size of the mechanism, and extend the operating time if it is a battery system.

1: fixed shell

2: Power input shaft

3: PTO shaft fixing cover

4: PTO shaft

5: Sun gear

6: auxiliary sun gear

7: The first internal gear ring

8: The second internal gear ring

9: The first internal gear ring fixing ring

10: Output shaft bearing

11: Input shaft bearing

12: Auxiliary sun gear bearing

14: Planetary gear set connecting shaft

15: Upper planetary gear

16: Planetary gear holder

17: Linear actuator

18: Actuator holder

19: Actuator fixing part (bolt)

21: Lower planetary gear

Claims (9)

A variable speed planetary reducer, comprising: a power input shaft; a power output shaft; a set of planetary gear sets with tooth difference, including a sun gear, an auxiliary sun gear, a planetary gear holder, a first inner gear ring, and a first inner gear ring. Two internal gear rings and a plurality of planetary gear units, each planetary gear unit unit is composed of an upper planetary gear, a lower planetary gear and a fixed shaft; and a set of clutch devices, including a set of more than one electromagnetic actuator, the power output shaft meshes The planetary gear unit is connected to the sun gear, wherein the lower planetary gear meshes with the sun gear and the first inner gear ring, the upper planetary gear meshes with the second inner gear ring and the auxiliary sun gear, and the second inner gear The ring is then connected to the power output shaft to form a gear-difference reduction mechanism type. The planetary gear holder is connected to a plurality of the upper planetary gears and a plurality of the lower planetary gears. When the clutch device is locked, the electromagnetic actuator extends to The front limit, the leading edge of the electromagnetic actuator is connected with the first inner gear ring fixed ring, then the first inner gear ring is connected in series with the fixed housing, the planetary gear holder presents free rotation, and the tooth difference planetary gear set The torque can be output with a high reduction ratio. When the clutch device is turned on, the electromagnetic actuator retracts to the rear limit, and the front edge of the electromagnetic actuator is connected to the planetary gear holder, then the planetary gear holder and the fixed housing Connected in series, the first inner gear ring presents free rotation, and the gear difference planetary gear set is transmitted to the planetary gear set to output torque with a low reduction ratio. The variable speed planetary reducer according to claim 1, wherein the electromagnetic actuator of the clutch device includes a linear electromagnetic actuator or a rotary electromagnetic actuator, wherein the linear electromagnetic actuator achieves a reciprocating movement of a fixed distance back and forth , The rotary electromagnetic actuator achieves reciprocating motion between fixed angles. The variable speed planetary reducer according to claim 1, wherein the first inner gear ring is connected to the first inner gear ring fixing ring, and the connecting member is provided with a ring-shaped stage connected to the bearing and connected to the fixed housing In the inner groove, the connecting part contains the connecting and cooperating mechanism of the clutch device. The variable speed planetary reducer according to claim 1, wherein a continuous notch is provided on the outer side of the first inner gear ring fixing ring and the planetary gear fixing frame for the electromagnetic actuator of the clutch device to be engaged. The variable speed planetary reducer according to claim 1, wherein the inner side of the fixed housing is provided with a sliding circular groove for the actuator of the electromagnetic actuator. The variable speed planetary reducer according to claim 1, wherein the clutch device can be configured with more than one set, and it can be installed at an average angle and controlled in parallel and simultaneous motion. The variable speed planetary reducer according to claim 2, wherein the end of the linear electromagnetic actuator is connected or processed into a cylinder, the diameter of the cylinder is equal to the groove of the first internal gear ring fixing ring and the planetary gear fixing frame The diameters of the parts are equal. The variable speed planetary reducer according to claim 2, wherein the end of the rotary electromagnetic actuator is connected or processed into a crankshaft structure, the diameter of the crankshaft structure and the lack of grooves of the first internal gear ring fixing ring and the planetary gear fixing frame The diameter of the crankshaft is equal, the crankshaft knot The lack circle is larger than the interference range of the top circle radius of the first internal gear ring fixing ring and the planetary gear fixing frame. The variable speed planetary reducer according to claim 3, wherein the effective mechanism components of the first internal gear ring fixing ring can be partially or completely integrated into the internal gear ring design of the first internal gear ring.

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