Co-location differential speed reducer

Abstract

The invention discloses a co-location differential speed reducer which is a speed reducer with a co-location differential gear train. A transmission structure of the co-location differential speed reducer is designed by combining differential logics and multiple logics, the reduction ratio is negatively correlated with the difference value of two contrast rotating speeds, and the difference valuecan be infinitely close to zero from the positive direction and the negative direction, so that the reduction ratio can tend to be infinitely great or infinitely small, how large the reduction ratio is is not mainly determined by how large the multiple of geometrical parameters of assemblies of a transmission gear train is and is mainly determined by how approaches the multiple of geometrical parameters of two transmission gear trains is, under the condition that the sizes are equal, a wide output range and a large reduction ratio can be obtained, or under the same reduction ratio, the size issmaller or the load capacity is larger. On the basis, multiple zero-backlash transmission methods are adopted to reduce return difference, and multiple other technical means are matched to obtain more excellent comprehensive performance and a larger application range.

Description

technical field [0001] The invention relates to a reducer, especially a reducer related to extreme technical features such as super large reduction ratio, zero backlash and the like. Background technique [0002] As an indispensable transmission device in the field of power machinery, the reducer has evolved a lot of structural types with the development of the world's industrial civilization for hundreds of years. Today, with the rapid development of aerospace, automation, robotics and other fields, It has ushered in a new round of development opportunities. At the same time, it is also facing higher requirements in terms of transmission ratio, return difference, precision and strength. The existing coaxial reducer technology types mainly include planetary, pinwheel cycloid, rotation vector RV and harmonic, and the transmission mode is gear transmission. Among them, as the most widely used type, the reduction ratio of the planetary reducer is determined by The diameter of ...

AI Technical Summary

Problems solved by technology

The existing coaxial reducer technology types mainly include planetary, pinwheel cycloid, rotation vector RV and harmonic, and the transmission mode is gear transmission. Among them, as the most widely used type, the reduction ratio of the planetary reducer is determined by The diameter of the transmission subassembly itself, the number of teeth and other geometric parameters are determined by the multiple relationship, and the entire transmission structure is also designed according to the multiple logic. This basic shifting principle has made the planetary reducer, but it has also become a factor hindering its further performance improvement. ——Because of the limited material strength and correct meshing conditions, the geometric parameters of the pinion gear of the transmission pair can easily reach the minimum limit. To obtain a larger transmission ratio, it is necessary to increase the diameter of the large gear, the number of teeth or the number of transmission stages, so that The structure becomes more complex, and the volume, weight and manufacturing cost also increase. More importantly, the backlash increases step by step, so it is not suitable for applications in fields such as robots that require small size and high precision. use

The pin wheel cycloid reducer, the rotation vector RV reducer and the harmonic reducer have high transmission accuracy, but they adopt the reduction principle of small tooth difference. The size of the transmission ratio depends on the number of teeth difference and the number of large gear teeth. Too small or too few teeth of a large gear will easily cause interference. When a large transmission ratio is required, the large gear is not large enough and the difference in the number of teeth is not small enough. In order to avoid interference, the gear often needs to be repaired, which makes manufacturing and It is inconvenient to maintain. In addition, compared with the planetary reducer, the structure is more complex and weak, which limits the load capacity

Different technology types have their own advantages and disadvantages, and it is difficult for one type of reducer to meet the strict requirements of many aspects at the same time

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