Manufacturing method of gear ring assembly of speed reducer, manufacturing method of speed reducer and speed reducer
By using interference fit in the reducer, the semi-finished ring gear and the ring raceway set are processed on the basis of the gear and the raceway grooves are solved, and the problems of low accuracy and high weight of the traditional reducer are achieved, and high precision is achieved , high torque and low weight reduction effects meet the driving needs of humanoid robots.
Patent Information
- Application Number
- CN202411558727.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-01
- Publication Date
- 2025-02-25
AI Technical Summary
Traditional reducers have problems such as low accuracy, large weight, small reduction ratio and small torque, which cannot meet the requirements of humanoid robots.
By fitting the semi-finished ring gear and the annular raceway together in an interference fit, forming a semi-finished ring gear assembly, and then processing multiple teeth and raceway grooves on it to obtain the reducer ring gear assembly. This method simplifies the structure, reduces weight, and improves the coaxiality and accuracy of the processing.
It achieves improving the accuracy and torque of the reducer, reducing weight and wall thickness, thereby increasing the speed reduction ratio, and meeting the high torque output and precise motion requirements of the humanoid robot drive system.
Smart Images
Figure CN119508474A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of reducers, and in particular to a method for manufacturing a reducer ring gear assembly, a method for manufacturing a reducer, and a reducer. Background Art
[0002] With the rapid development of industrial automation and intelligent robots, humanoid robots have broad application prospects in industrial production, medical care, services and other fields. Humanoid robots need to have the characteristics of high torque output, precise movement and stable control to meet various task requirements. In the drive system of humanoid robots, reducers play a vital role.
[0003] However, traditional reducers have disadvantages such as low precision, heavy weight, small reduction ratio, and small torque, which cannot meet the requirements of robot use. Summary of the invention
[0004] In view of this, the embodiments of the present application provide a method for manufacturing a reducer ring gear assembly, a method for manufacturing a reducer, and a reducer, which solve the problems of low precision, heavy weight, small reduction ratio, and small torque of traditional reducers.
[0005] In the first aspect, an embodiment of the present application provides a method for manufacturing a reducer gear ring assembly, comprising: fitting a semi-finished gear ring and a first semi-finished annular raceway together in an interference fit manner to obtain a semi-finished gear ring assembly; taking the semi-finished gear ring assembly as a processing object, processing a plurality of teeth on the semi-finished gear ring along the circumference of the semi-finished gear ring assembly, and processing a first raceway groove on the first semi-finished annular raceway along the circumference of the semi-finished gear ring assembly to obtain a reducer gear ring assembly, wherein the teeth and the first raceway groove are arranged at an axial spacing in the reducer gear ring assembly.
[0006] In some embodiments, the method of fitting the semi-finished gear ring and the first semi-finished annular raceway together by interference fit includes: fitting the inner side surface of the semi-finished gear ring onto the outer side surface of the first semi-finished annular raceway by interference fit; taking the semi-finished gear ring assembly as the processing object, processing a plurality of teeth on the semi-finished gear ring assembly along the circumference of the semi-finished gear ring assembly, and processing a first raceway groove on the first semi-finished annular raceway along the circumference of the semi-finished gear ring assembly to obtain the reducer gear ring assembly, includes: taking the semi-finished gear ring assembly as the processing object, processing a plurality of teeth on the inner side surface of the semi-finished gear ring assembly along the circumference of the semi-finished gear ring assembly, and processing the first raceway groove on the inner side surface of the first semi-finished annular raceway along the circumference of the semi-finished gear ring assembly to obtain the reducer gear ring assembly.
[0007] In some embodiments, before the inner side surface of the semi-finished gear ring is fitted onto the outer side surface of the first semi-finished annular raceway by interference fit, the method further includes: coating a rubber layer on the inner side surface of the semi-finished gear ring and / or the outer side surface of the first semi-finished annular raceway; and / or, after the inner side surface of the semi-finished gear ring is fitted onto the outer side surface of the first semi-finished annular raceway by interference fit, the method further includes: welding the semi-finished gear ring and the first semi-finished annular raceway.
[0008] In some embodiments, before coating the rubber layer on the inner side surface of the semi-finished gear ring and / or the outer side surface of the first semi-finished annular raceway, it also includes: machining a groove on the inner side surface of the semi-finished gear ring and / or the outer side surface of the first semi-finished annular raceway.
[0009] In some embodiments, before obtaining the semi-finished ring gear assembly, it also includes: inserting the inner side surface of the second semi-finished annular raceway onto the outer side surface of the semi-finished ring gear in an interference fit manner; before obtaining the reducer ring gear assembly, it also includes: processing a second raceway groove on the outer side surface of the second semi-finished annular raceway along the circumference of the semi-finished ring gear assembly.
[0010] In some embodiments, the cross-sectional shape of the first rolling groove includes a triangle or an arc shape, and the first rolling groove is configured to accommodate a cross roller or a spherical roller; and / or, the cross-sectional shape of the second rolling groove includes a triangle or an arc shape, and the second rolling groove is configured to accommodate the cross roller or the spherical roller.
[0011] In some embodiments, before the semi-finished gear ring and the first semi-finished annular raceway are assembled together in an interference fit manner, the process also includes: performing a first rough machining and a first heat treatment on the gear ring blank to obtain the semi-finished gear ring, wherein the semi-finished gear ring has a plurality of semi-finished teeth along the circumference of the semi-finished gear ring; performing a second rough machining and a second heat treatment on the raceway blank to obtain the first semi-finished annular raceway, wherein the material strength of the gear ring blank is greater than the material strength of the raceway blank, and the material hardness of the gear ring blank is less than the material hardness of the raceway blank; wherein, taking the semi-finished gear ring assembly as the processing object, processing a plurality of teeth on the semi-finished gear ring along the circumference of the semi-finished gear ring assembly includes: taking the semi-finished gear ring assembly as the processing object, and performing shaping on a plurality of the semi-finished teeth.
[0012] In a second aspect, an embodiment of the present application provides a method for manufacturing a reducer, comprising: utilizing the method for manufacturing a reducer ring gear assembly described in the first aspect to obtain a reducer ring gear assembly; assembling the reducer ring gear assembly, the reducer planetary carrier assembly, the first roller assembly, the planetary gear assembly and the sun gear assembly to obtain a reducer.
[0013] In some embodiments, before assembling the reducer ring gear assembly, the reducer planetary carrier assembly, the first roller assembly, the planetary wheel assembly and the sun gear assembly, it also includes: fitting the semi-finished planetary carrier and the third semi-finished annular raceway together in an interference fit manner to obtain a semi-finished planetary carrier assembly; taking the semi-finished planetary carrier assembly as the processing object, processing a third raceway groove on the third semi-finished annular raceway along the circumference of the semi-finished planetary carrier assembly to obtain the reducer planetary carrier assembly.
[0014] In a third aspect, an embodiment of the present application provides a reducer, comprising: a reducer ring gear assembly, comprising a ring gear and a first annular raceway, the ring gear being sleeved on the first annular raceway in an interference fit manner, the ring gear having a plurality of teeth arranged along the circumference of the reducer ring gear assembly, the first annular raceway having a first raceway groove arranged along the circumference of the reducer ring gear assembly, wherein the teeth and the first raceway groove are arranged axially at intervals in the reducer ring gear assembly; a reducer planetary carrier assembly, comprising a planetary carrier and a third annular raceway, the third annular raceway being sleeved on the planetary carrier in an interference fit manner, the third annular raceway having a first raceway groove arranged along the circumference of the reducer ring gear assembly A third rolling groove is arranged circumferentially of the planetary carrier assembly; a first roller assembly includes a plurality of first rollers, the plurality of first rollers are arranged along the circumference of the reducer planetary carrier assembly, and the first rollers extend into the first rolling groove and the third rolling groove; a planetary wheel assembly is rotatably connected to the reducer planetary carrier assembly and meshes and rotates with the plurality of teeth of the reducer ring gear assembly, and the rotation axis of the planetary wheel assembly is parallel to the axial direction of the reducer planetary carrier assembly; a sun gear assembly is meshed and transmitted with the planetary wheel assembly and rotatably connected to the reducer planetary carrier assembly, and the revolution axis of the planetary wheel assembly is collinear with the rotation axis of the sun gear assembly.
[0015] The manufacturing method of a reducer gear ring assembly provided in an embodiment of the present application comprises: fitting a semi-finished gear ring and a first semi-finished annular raceway together in an interference fit manner to obtain a semi-finished gear ring assembly, and then processing a plurality of teeth on the semi-finished gear ring along the circumference of the semi-finished gear ring assembly using the semi-finished gear ring assembly as a processing object, and processing a first raceway groove on the first semi-finished annular raceway along the circumference of the semi-finished gear ring assembly to obtain a reducer gear ring assembly. In other words, the reducer gear ring assembly processes a plurality of teeth and a first raceway groove using the semi-finished gear ring assembly as a whole, so that the same processing reference can be selected when processing a plurality of teeth and a first raceway groove, and the coaxiality of the plurality of teeth and the first raceway groove can be ensured, thereby improving the accuracy of the reducer assembled using the reducer gear ring assembly.
[0016] In addition, the semi-finished gear ring and the first semi-finished annular raceway are fitted together in an interference fit manner to obtain a semi-finished gear ring assembly, so that the semi-finished gear ring and the first semi-finished annular raceway are fixedly connected together, and no additional limiting structure is required to limit the positional relationship between the semi-finished gear ring and the first semi-finished annular raceway, which simplifies the structure of the reducer gear ring assembly and reduces the weight of the reducer gear ring assembly. In addition, the semi-finished gear ring and the first semi-finished annular raceway can be made of different materials. For example, if the first semi-finished annular raceway does not have high requirements on the hardness of the material, a light material can be selected to further reduce the weight of the reducer gear ring assembly. In addition, if the teeth and the first raceway groove are processed before the semi-finished ring gear and the first semi-finished annular raceway are put together, in order to prevent the semi-finished ring gear and the first semi-finished annular raceway from being deformed, the wall thickness of the semi-finished ring gear and the wall thickness of the first semi-finished annular raceway are required to meet certain wall thickness requirements. If the teeth and the first raceway groove are processed after the semi-finished ring gear and the first semi-finished annular raceway are put together, the semi-finished ring gear assembly only needs to meet certain wall thickness requirements, thereby reducing the wall thickness of the reducer ring gear assembly and further reducing the weight of the reducer ring gear assembly.
[0017] In addition, for reducers of the same size, since the wall thickness of the reducer ring gear assembly is smaller, the size of the inner ring of the reducer ring gear assembly can be made larger, thereby increasing the reduction ratio of the reducer manufactured using the reducer ring gear assembly, and then improving the torque of the reducer. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components.
[0019] Figure 1 Shown is a flow chart of a method for manufacturing a reducer ring gear assembly provided in one embodiment of the present application.
[0020] Figure 2 Shown is a schematic structural diagram of a semi-finished ring gear and a first semi-finished annular raceway provided in one embodiment of the present application.
[0021] Figure 3 Shown is a schematic structural diagram of a semi-finished ring gear assembly provided in one embodiment of the present application.
[0022] Figure 4 Shown is a schematic structural diagram of a reducer ring gear assembly provided in one embodiment of the present application.
[0023] Figure 5Shown is a flow chart of a method for manufacturing a reducer ring gear assembly provided in another embodiment of the present application.
[0024] Figure 6 Shown is a schematic structural diagram of a semi-finished ring gear, a first semi-finished annular raceway, and a second semi-finished annular raceway provided in one embodiment of the present application.
[0025] Figure 7 Shown is a schematic structural diagram of a reducer ring gear assembly provided in another embodiment of the present application.
[0026] Figure 8 Shown is a side view of a reducer ring gear assembly provided in one embodiment of the present application.
[0027] Fig. 9 The present invention provides an embodiment of the present invention. Figure 8 The cross-sectional view of the reducer ring gear assembly along the AA direction is shown.
[0028] Fig.10 The present invention provides an embodiment of the present invention. Fig. 9 The shown figure is a partial enlarged view of the reducer ring gear assembly in area B.
[0029] Fig.11 Shown is a schematic structural diagram of a reducer and a yoke provided in one embodiment of the present application.
[0030] Fig.12 Shown is an exploded view of a reducer and a yoke provided in one embodiment of the present application.
[0031] Fig.13 Shown is a side view of a reducer and a yoke provided in one embodiment of the present application.
[0032] Fig.14 The present invention provides an embodiment of the present invention. Fig.13 The cross-sectional view of the reducer and yoke along the CC direction is shown.
[0033] Reference numerals:
[0034] 1. Reducer; 200. Semi-finished gear ring; 201. Outer side of semi-finished gear ring; 202. Inner side of semi-finished gear ring; 210. Tooth; 300. First semi-finished annular raceway; 301. Outer side of first semi-finished annular raceway; 302. Inner side of first semi-finished annular raceway; 310. First raceway groove; 400. Semi-finished gear ring assembly; 500. Reducer gear ring assembly; 510. Gear ring; 520. First annular raceway; 530. Second annular raceway ; 600, second semi-finished annular raceway; 601, inner side surface of the second semi-finished annular raceway; 602, inner side surface of the second semi-finished annular raceway; 610, second raceway groove; 710, reducer planetary carrier assembly; 711, planetary carrier; 712, third annular raceway; 7120, third raceway groove; 720, first roller assembly; 730, planetary gear assembly; 740, sun gear assembly; 810, yoke; 811, fourth raceway groove; 820, second roller assembly. DETAILED DESCRIPTION
[0035] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0036] Traditional precision planetary reducers are large in size and weight and are not suitable for humanoid robots. Harmonic reducers have low torque and are mainly used in light-load joints such as the robot's forearm, wrist or hand. RV reducers are heavy and are mainly used in heavy-load joints such as the robot's base, upper arm, and shoulder. The lower limbs of bipedal robots require reducers with low weight and high torque. Precision planetary reducers, harmonic reducers, and RV reducers are not suitable for the lower limbs of bipedal robots. Therefore, traditional reducers have the disadvantages of low precision, heavy weight, small reduction ratio, and low torque, and cannot meet the use requirements of robots.
[0037] In response to the above-mentioned problems, an embodiment of the present application provides a method for manufacturing a reducer gear ring assembly, wherein a semi-finished gear ring is assembled with a first semi-finished annular raceway in an interference fit manner to obtain a semi-finished gear ring assembly, and then the semi-finished gear ring assembly is used as a processing object, multiple teeth are processed on the semi-finished gear ring along the circumference of the semi-finished gear ring assembly, and a first raceway groove is processed on the first semi-finished annular raceway along the circumference of the semi-finished gear ring assembly to obtain a reducer gear ring assembly. In other words, the reducer gear ring assembly uses the semi-finished gear ring assembly as a whole to process multiple teeth and a first raceway groove, so that the same processing reference can be selected when processing multiple teeth and the first raceway groove, which can ensure the coaxiality of multiple teeth and the first raceway groove, thereby improving the accuracy of the reducer assembled using the reducer gear ring assembly.
[0038] In addition, the semi-finished ring gear is inserted together with the first semi-finished annular raceway by interference fit to obtain a semi-finished ring gear assembly, so that the semi-finished ring gear and the first semi-finished annular raceway are fixedly connected together, and no additional limiting structure is required to limit the positional relationship between the semi-finished ring gear and the first semi-finished annular raceway, thereby simplifying the structure of the reducer ring gear assembly and reducing the weight of the reducer ring gear assembly.
[0039] Different materials can be selected for the semi-finished ring gear and the first semi-finished annular raceway. For example, if the first semi-finished annular raceway does not require high material hardness, a light material can be selected to further reduce the weight of the reducer ring gear assembly.
[0040] If the teeth and the first raceway groove are processed before the semi-finished ring gear and the first semi-finished annular raceway are fitted together, in order to prevent the semi-finished ring gear and the first semi-finished annular raceway from deforming, the wall thickness of the semi-finished ring gear and the wall thickness of the first semi-finished annular raceway are required to meet certain wall thickness requirements. If the teeth and the first raceway groove are processed after the semi-finished ring gear and the first semi-finished annular raceway are fitted together, it is only necessary for the semi-finished ring gear assembly to meet certain wall thickness requirements, thereby reducing the wall thickness of the reducer ring gear assembly and further reducing the weight of the reducer ring gear assembly.
[0041] In addition, for reducers of the same size, since the wall thickness of the reducer ring gear assembly is smaller, the size of the inner ring of the reducer ring gear assembly can be made larger, thereby increasing the reduction ratio of the reducer manufactured using the reducer ring gear assembly, and then improving the torque of the reducer.
[0042] The specific structure of the reducer ring gear assembly and the manufacturing method of the reducer ring gear assembly are explained below in conjunction with the accompanying drawings and specific embodiments.
[0043] Figure 1 FIG. 1 is a flow chart of a method for manufacturing a reducer gear ring assembly according to an embodiment of the present application. Figure 1As shown, the manufacturing method of the reducer ring gear assembly includes the following steps.
[0044] Step 110, sleeve the semi-finished ring gear and the first semi-finished annular raceway together in an interference fit manner to obtain a semi-finished ring gear assembly.
[0045] Interference fit uses the elasticity of the material to expand and deform the hole so that it fits on the shaft. When the hole is restored, it generates a clamping force on the shaft to connect the two parts. In the interference fit tolerance zone diagram, the tolerance zone of the hole is below the tolerance zone of the shaft.
[0046] Figure 2 Shown is a schematic structural diagram of a semi-finished ring gear and a first semi-finished annular raceway provided in one embodiment of the present application. Figure 3 The figure is a schematic diagram of the structure of a semi-finished ring gear assembly provided by an embodiment of the present application. Exemplarily, the cross-sectional shape of the semi-finished ring gear 200 includes a circular ring shape. The cross-sectional shape of the first semi-finished annular raceway 300 includes a circular ring shape. Exemplarily, the outer side surface 201 of the semi-finished ring gear can be considered as an axis, and the inner side surface 302 of the first semi-finished annular raceway can be considered as a hole. Exemplarily, the outer side surface 301 of the first semi-finished annular raceway can be considered as an axis, and the inner side surface 202 of the semi-finished ring gear can be considered as a hole. Figure 2 As shown in FIG. 1 , the semi-finished gear ring 200 and the first semi-finished annular raceway 300 before assembly are shown. Figure 3 As shown, a semi-finished ring gear assembly 400 is shown, namely, the semi-finished ring gear 200 and the first semi-finished annular raceway 300 are assembled. Figure 3 The semi-finished ring gear assembly 400 is shown, which is obtained by interference fitting with the outer side surface 301 of the first semi-finished annular raceway as the axis and the inner side surface 202 of the semi-finished ring gear as the hole.
[0047] Step 120, taking the semi-finished ring gear assembly as the processing object, processing a plurality of teeth on the semi-finished ring gear along the circumference of the semi-finished ring gear assembly, and processing a first raceway groove on the first semi-finished annular raceway along the circumference of the semi-finished ring gear assembly to obtain a reducer ring gear assembly.
[0048] Figure 4 FIG. 1 is a schematic diagram of the structure of a reducer gear ring assembly provided in an embodiment of the present application. Figure 4 As shown, a reducer gear ring assembly 500 is shown. The teeth 210 and the first raceway groove 310 are arranged at intervals in the axial direction of the reducer gear ring assembly 500. Exemplarily, a plurality of teeth 210 are processed on the semi-finished gear ring 200 along the circumference of the semi-finished gear ring assembly 400 to obtain the gear ring 510. The first raceway groove 310 is processed on the first semi-finished annular raceway 300 along the circumference of the semi-finished gear ring assembly 400 to obtain the first annular raceway 520. The gear ring 510 and the first annular raceway 520 form the reducer gear ring assembly 500.
[0049] Exemplarily, the plurality of teeth 210 of the reducer gear ring assembly 500 are used to mesh with the planetary gears of the reducer. The first raceway groove 310 of the reducer gear ring assembly 500 is used to form a complete bearing track with the raceway on the planetary carrier of the reducer, and the complete bearing track can accommodate rollers, thereby realizing a rotatable connection between the reducer gear ring assembly 500 and the planetary carrier.
[0050] The reducer ring gear assembly 500 uses the semi-finished ring gear assembly 400 as an integral processing object to process multiple teeth 210 and the first rolling groove 310, so that the same processing reference can be selected when processing the multiple teeth 210 and the first rolling groove 310, which can ensure the coaxiality of the multiple teeth 210 and the first rolling groove 310, thereby improving the accuracy of the reducer assembled using the reducer ring gear assembly 500.
[0051] Exemplarily, the machining references of the plurality of teeth 210 and the first raceway groove 310 may be the outer side surface of the semi-finished ring gear assembly 400 , the inner side surface of the semi-finished ring gear assembly 400 , the end surface of the semi-finished ring gear assembly 400 , the axis of the semi-finished ring gear assembly 400 , etc.
[0052] The semi-finished ring gear 200 and the first semi-finished annular raceway 300 are assembled together by interference fit to obtain a semi-finished ring gear assembly 400, so that the semi-finished ring gear 200 and the first semi-finished annular raceway 300 are fixedly connected together, and no additional limiting structure is required to limit the positional relationship between the semi-finished ring gear 200 and the first semi-finished annular raceway 300, thereby simplifying the structure of the reducer ring gear assembly 500 and reducing the weight of the reducer ring gear assembly 500.
[0053] The semi-finished ring gear 200 and the first semi-finished annular raceway 300 may be made of different materials. For example, the first semi-finished annular raceway 300 does not require high material hardness, so a light material such as aluminum may be selected to further reduce the weight of the reducer ring gear assembly 500.
[0054] If the teeth 210 and the first raceway groove 310 are processed before the semi-finished ring gear 200 and the first semi-finished annular raceway 300 are assembled together, in order to prevent the semi-finished ring gear 200 and the first semi-finished annular raceway 300 from being deformed, the wall thickness of the semi-finished ring gear 200 and the wall thickness of the first semi-finished annular raceway 300 are required to meet certain wall thickness requirements. If the teeth 210 and the first raceway groove 310 are processed after the semi-finished ring gear 200 and the first semi-finished annular raceway 300 are assembled together, it is only necessary for the semi-finished ring gear assembly 400 to meet certain wall thickness requirements, thereby reducing the wall thickness of the reducer ring gear assembly 500 and further reducing the weight of the reducer ring gear assembly 500.
[0055] For reducers of the same size, since the wall thickness of the reducer ring gear assembly 500 is smaller, the size of the inner ring of the reducer ring gear assembly 500 can be made larger, thereby increasing the reduction ratio of the reducer manufactured using the reducer ring gear assembly 500 and further improving the torque of the reducer.
[0056] Figure 5 FIG. 1 is a flow chart of a method for manufacturing a reducer gear ring assembly according to another embodiment of the present invention. Figure 5 As shown, the semi-finished gear ring and the first semi-finished annular raceway are sheathed together in an interference fit manner, including the following steps.
[0057] Step 111, inserting the inner side surface of the semi-finished gear ring onto the outer side surface of the first semi-finished annular raceway in an interference fit manner.
[0058] The process of processing a semi-finished gear ring assembly includes the following steps: processing a plurality of teeth on the semi-finished gear ring along the circumference of the semi-finished gear ring assembly, and processing a first raceway groove on a first semi-finished annular raceway along the circumference of the semi-finished gear ring assembly to obtain a reducer gear ring assembly.
[0059] Step 121, taking the semi-finished ring gear assembly as the processing object, processing a plurality of teeth on the inner side surface of the semi-finished ring gear along the circumference of the semi-finished ring gear assembly, and processing the first raceway groove on the inner side surface of the first semi-finished annular raceway along the circumference of the semi-finished ring gear assembly to obtain the reducer ring gear assembly.
[0060] In some embodiments, Figure 5 As shown, before the inner side surface of the semi-finished gear ring is fitted onto the outer side surface of the first semi-finished annular raceway in an interference fit manner, the following steps are also included.
[0061] Step 105 , coating a rubber layer on the inner side surface of the semi-finished gear ring and / or the outer side surface of the first semi-finished annular raceway.
[0062] By way of example, the glue layer may be a viscous liquid or a solid.
[0063] By applying the rubber layer, the connection between the semi-finished gear ring 200 and the first semi-finished annular raceway 300 is more stable and strong, and can bear greater force.
[0064] In some embodiments, Figure 5 As shown, after the inner side surface of the semi-finished gear ring is fitted onto the outer side surface of the first semi-finished annular raceway in an interference fit manner, the following steps are also included.
[0065] Step 115, welding the semi-finished ring gear and the first semi-finished annular raceway.
[0066] Exemplarily, the welding may be friction welding or other welding methods, which are not specifically limited in this application.
[0067] By welding the semi-finished gear ring 200 and the first semi-finished annular raceway 300 , the connection between the semi-finished gear ring 200 and the first semi-finished annular raceway 300 is made more stable and strong, and can bear greater force.
[0068] In some embodiments, Figure 5 As shown, before coating the rubber layer on the inner side surface of the semi-finished gear ring and / or the outer side surface of the first semi-finished annular raceway, the following steps are also included.
[0069] Step 103: machining a groove on the inner side surface of the semi-finished gear ring and / or the outer side surface of the first semi-finished annular raceway.
[0070] By machining grooves on the inner side surface 202 of the semi-finished gear ring and / or the outer side surface 301 of the first semi-finished annular raceway, a rubber layer can be coated in the grooves to further improve the stability of the semi-finished gear ring 200 and the first semi-finished annular raceway 300 .
[0071] In some embodiments, before obtaining the semi-finished ring gear assembly, the method further includes: fitting the inner side surface of the second semi-finished annular raceway onto the outer side surface of the semi-finished ring gear in an interference fit manner.
[0072] Exemplarily, the inner side surface of the second semi-finished annular raceway is inserted into the outer side surface of the semi-finished ring gear in an interference fit manner to obtain the semi-finished ring gear assembly 400 .
[0073] Figure 6 FIG. 1 is a schematic diagram of the structure of a semi-finished ring gear, a first semi-finished annular raceway, and a second semi-finished annular raceway provided in an embodiment of the present application. Figure 6 As shown, a semi-finished ring gear 200 , a first semi-finished annular raceway 300 , and a second semi-finished annular raceway 600 are shown.
[0074] For example, Figure 6 As shown, the outer side surface 201 of the semi-finished gear ring can be a step surface, and the inner side surface 202 of the semi-finished gear ring can also be a step surface.
[0075] The inner side surface 601 of the second semi-finished annular raceway is inserted into the outer side surface 201 of the semi-finished ring gear in an interference fit manner, so that the semi-finished ring gear 200 and the second semi-finished annular raceway 600 are fixedly connected together. No additional limiting structure is required to limit the positional relationship between the semi-finished ring gear 200 and the second semi-finished annular raceway 600, thereby simplifying the structure of the reducer ring gear assembly 500 and reducing the weight of the reducer ring gear assembly 500.
[0076] The semi-finished ring gear 200 and the second semi-finished annular raceway 600 may be made of different materials. For example, the second semi-finished annular raceway 600 does not require high material hardness, so a light material such as aluminum may be selected to further reduce the weight of the reducer ring gear assembly 500.
[0077] Before obtaining the reducer gear ring assembly, the method further includes: machining a second raceway groove on the outer side surface of the second semi-finished annular raceway along the circumference of the semi-finished gear ring assembly.
[0078] Figure 7 FIG. 1 is a schematic diagram of the structure of a reducer gear ring assembly provided by another embodiment of the present application. Figure 7 As shown, the reducer ring gear assembly 500 is shown, and the teeth 210, the first rolling groove 310 and the second rolling groove 610 included in the reducer ring gear assembly 500 are shown.
[0079] Exemplarily, after the second raceway groove 610 is machined on the outer side surface 602 of the second semi-finished annular raceway along the circumference of the semi-finished ring gear assembly 400 , the second annular raceway 530 is obtained.
[0080] By providing the second rolling groove 610 , the reducer gear ring assembly 500 and the rolling tracks on the motor rotor can form a complete bearing track, and the complete bearing track can accommodate rollers, thereby achieving a rotatable connection between the reducer gear ring assembly 500 and the motor rotor.
[0081] If the teeth 210 and the first raceway groove 310 are processed before the semi-finished gear ring 200 and the second semi-finished annular raceway 600 are assembled together, in order to prevent the semi-finished gear ring 200 and the second semi-finished annular raceway 600 from deformation, the wall thickness of the semi-finished gear ring 200 and the wall thickness of the second semi-finished annular raceway 600 are required to meet certain wall thickness requirements. If the teeth 210 and the second raceway groove 610 are processed after the semi-finished gear ring 200 and the second semi-finished annular raceway 600 are assembled together, it is only necessary for the semi-finished gear ring assembly 400 to meet certain wall thickness requirements, thereby reducing the wall thickness of the reducer gear ring assembly 500 and further reducing the weight of the reducer gear ring assembly 500.
[0082] For reducers of the same size, since the wall thickness of the reducer ring gear assembly 500 is smaller, the size of the inner ring of the reducer ring gear assembly 500 can be made larger, thereby increasing the reduction ratio of the reducer manufactured using the reducer ring gear assembly 500 and further improving the torque of the reducer.
[0083] In some embodiments, the cross-sectional shape of the first rolling groove 310 includes a triangle or an arc shape, and the first rolling groove 310 is configured to accommodate a cross roller or a spherical roller. In some embodiments, the cross-sectional shape of the second rolling groove 610 includes a triangle or an arc shape, and the second rolling groove 610 is configured to accommodate a cross roller or a spherical roller.
[0084] Exemplarily, in the case where the shape of the cross section of the first rolling groove 310 includes a triangle, the first rolling groove 310 is configured to accommodate a cross roller. In the case where the shape of the cross section of the first rolling groove 310 includes an arc shape, the first rolling groove 310 is configured to accommodate a spherical roller. In the case where the shape of the cross section of the second rolling groove 610 includes an arc shape, the second rolling groove 610 is configured to accommodate a spherical roller. In the case where the shape of the cross section of the second rolling groove 610 includes a triangle, the second rolling groove 610 is configured to accommodate a cross roller.
[0085] Figure 8 Shown is a side view of a reducer ring gear assembly provided in one embodiment of the present application. Fig. 9 The present invention provides an embodiment of the present invention. Figure 8 The cross-sectional view of the reducer ring gear assembly along the AA direction is shown. Fig.10 The present invention provides an embodiment of the present invention. Fig. 9 The following is a partial enlarged view of the reducer gear ring assembly in area B. Figures 8 to 10 As shown, the cross-sectional shape of the first rolling groove 310 includes a triangle, and the cross-sectional shape of the second rolling groove 610 includes an arc.
[0086] Since standard crossed roller bearings or standard spherical roller bearings are thin-walled bearings and cannot be connected to shafts or holes by interference fit, the traditional connection method between the gear ring and the standard crossed roller bearing or standard spherical roller bearing is a clearance fit connection method. Therefore, it is necessary to set limiting structures such as retaining rings and retaining plates. In the present application, the semi-finished gear ring 200 is assembled together with the first semi-finished annular raceway 300 by interference fit, and the inner side surface 601 of the second semi-finished annular raceway is assembled on the outer side surface 201 of the semi-finished gear ring by interference fit, so as to obtain the semi-finished gear ring assembly 400. The teeth 210, the first raceway groove 310 and the second raceway groove 610 are processed, and cross rollers or spherical rollers are assembled in the raceways to form thin-walled bearings. No additional limiting structure is required to limit the positional relationship between the semi-finished gear ring 200 and the first semi-finished annular raceway 300, nor is there any additional limiting structure to limit the positional relationship between the semi-finished gear ring 200 and the second semi-finished annular raceway 600, thereby simplifying the structure of the reducer gear ring assembly 500 and reducing the weight of the reducer gear ring assembly 500.
[0087] In some embodiments, before the semi-finished ring gear is assembled with the first semi-finished annular raceway in an interference fit manner, it also includes: performing a first rough machining and a first heat treatment on the ring gear blank to obtain a semi-finished ring gear, wherein the semi-finished ring gear has a plurality of semi-finished teeth along the circumference of the semi-finished ring gear; and performing a second rough machining and a second heat treatment on the raceway blank to obtain a first semi-finished annular raceway.
[0088] Exemplarily, the gear ring blank can be of any shape, and the first group of processing can be machining, casting, or other rough processing, as long as the shape of the semi-finished gear ring 200 can be processed. Exemplarily, the first heat treatment refers to a metal heat processing process in which the material is heated, kept warm, and cooled in a solid state to obtain the expected structure and performance. Exemplarily, the first heat treatment can be annealing, normalizing, quenching, and tempering.
[0089] Exemplarily, the material strength of the ring gear blank is greater than the material strength of the raceway blank, and the material hardness of the ring gear blank is less than the material hardness of the raceway blank. Exemplarily, the material of the ring gear blank can be aluminum, and the material of the raceway blank can be bearing steel. Exemplarily, the material of the second semi-finished annular raceway 600 can be bearing steel.
[0090] The semi-finished gear ring assembly is used as a processing object, and a plurality of teeth are processed on the semi-finished gear ring along the circumference of the semi-finished gear ring assembly, including: the semi-finished gear ring assembly is used as a processing object, and a plurality of semi-finished teeth are reshaped.
[0091] For example, during the first rough machining of the ring gear blank, a rough tooth shape can be machined, and then the semi-finished ring gear assembly is used as a machining object to shape multiple semi-finished teeth to obtain teeth 210.
[0092] An embodiment of the present application also provides a reducer. Fig.11 Shown is a schematic structural diagram of a reducer and a magnetic yoke provided in one embodiment of the present application. Fig.12 Shown is an exploded view of a reducer and a yoke provided in one embodiment of the present application. Fig.13 Shown is a side view of a reducer and a yoke provided in one embodiment of the present application. Fig.14 The present invention provides an embodiment of the present invention. Fig.13 The cross-sectional view of the reducer and yoke along the CC direction is shown in FIG. Figures 11 to 14 As shown, the reducer 1 includes: a reducer ring gear assembly 500 , a reducer planetary carrier assembly 710 , a first roller assembly 720 , a planetary gear assembly 730 and a sun gear assembly 740 .
[0093] The reducer gear ring assembly 500 includes a gear ring 510 and a first annular raceway 520. The gear ring 510 is fitted on the first annular raceway 520 in an interference fit manner. The gear ring 510 has a plurality of teeth 210 arranged along the circumference of the reducer gear ring assembly 500, and the first annular raceway 520 has a first raceway groove 310 arranged along the circumference of the reducer gear ring assembly 500.
[0094] The reducer planet carrier assembly 710 comprises a planet carrier 711 and a third annular raceway 712. The third annular raceway 712 is sleeved on the planet carrier 711 in an interference fit manner, and the third annular raceway 712 has a third raceway groove 7120 arranged along the circumference of the reducer planet carrier assembly.
[0095] The first roller assembly 720 includes a plurality of first rollers, which are arranged along the circumference of the reducer planetary carrier assembly 710 , and the rollers extend into the first rolling groove 310 and the third rolling groove 7120 .
[0096] The planetary gear assembly 730 is rotatably connected to the reducer planetary carrier assembly 710 and meshes and rotates with the plurality of teeth 210 of the reducer ring gear assembly 500 . The rotation axis of the planetary gear assembly 730 is parallel to the axial direction of the reducer planetary carrier assembly 710 .
[0097] The sun gear assembly 740 is meshed with the planetary gear assembly 730 for transmission, and is rotatably connected to the reducer planetary carrier assembly 710 . The revolution axis of the planetary gear assembly 730 is colinear with the rotation axis of the sun gear assembly 740 .
[0098] like Figures 11 to 14 As shown, the yoke 810 of the motor is annular and has a fourth rolling groove 811. A second roller assembly 820 is provided between the yoke 810 and the reducer gear ring assembly 500. The second roller assembly 820 also includes a plurality of second rollers, which are arranged along the circumference of the reducer gear ring assembly 500, and the second rollers extend into the second rolling groove 610 and the fourth rolling groove 811. The yoke 810 is a part of the rotor of the motor.
[0099] An embodiment of the present application also provides a method for manufacturing a reducer, comprising: utilizing the method for manufacturing a reducer ring gear assembly of the above-mentioned embodiment to obtain a reducer ring gear assembly; assembling the reducer ring gear assembly, the reducer planetary carrier assembly, the first roller assembly, the planetary gear assembly and the sun gear assembly to obtain a reducer.
[0100] Since the method for manufacturing a reducer includes the reducer ring gear assembly 500 obtained by using the method for manufacturing a reducer ring gear assembly of the above-mentioned embodiment, the method for manufacturing a reducer has all the technical features and technical effects of the method for manufacturing a reducer ring gear assembly, which will not be repeated here.
[0101] In some embodiments, before assembling the reducer ring gear assembly, the reducer planetary carrier assembly, the first roller assembly, the planetary wheel assembly and the sun gear assembly, it also includes: fitting the semi-finished planetary carrier and the third semi-finished annular raceway together in an interference fit manner to obtain a semi-finished planetary carrier assembly; taking the semi-finished planetary carrier assembly as the processing object, processing the third raceway groove on the third semi-finished annular raceway along the circumference of the semi-finished planetary carrier assembly to obtain the reducer planetary carrier assembly.
[0102] Exemplarily, a third raceway groove 7120 is machined on the third semi-finished annular raceway along the circumference of the semi-finished planetary carrier assembly to obtain the third annular raceway 712 .
[0103] The semi-finished planetary carrier and the third semi-finished annular raceway are put together with an interference fit to obtain a semi-finished planetary carrier assembly, so that the semi-finished planetary carrier and the third semi-finished annular raceway are fixedly connected together, and no additional limiting structure is required to limit the positional relationship between the semi-finished planetary carrier and the third semi-finished annular raceway, thereby simplifying the structure of the reducer planetary carrier assembly and reducing the weight of the reducer planetary carrier assembly.
[0104] Different materials can be selected for the semi-finished planet carrier and the third semi-finished annular raceway. For example, the third semi-finished annular raceway does not require high material hardness, so a light material can be selected to further reduce the weight of the reducer planet carrier assembly.
[0105] In the embodiments of the present application, if the connection form is not clearly defined, the connection form may be a detachable connection form such as bolts and nuts, screws, buckles, magnets, etc. If there is no special requirement for a non-detachable connection form in some connections, a non-detachable connection may be made by welding, bonding, etc.
[0106] The phrases "one embodiment", "an embodiment", etc. mentioned in the specification indicate that the embodiment described may include a specific feature, structure or characteristic, but not every embodiment may include the specific feature, structure or characteristic. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments, whether explicitly or not explicitly described.
[0107] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).
[0108] Additionally, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one component or feature to other components or features as shown in the figures. The spatially relative terms are intended to encompass different orientations of the component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.
[0109] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.
[0110] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.
Claims
1. A method for manufacturing a reducer ring gear assembly, characterized in that: include: The semi-finished ring gear is sheathed together with the first semi-finished annular raceway in an interference fit manner to obtain a semi-finished ring gear assembly; The semi-finished gear ring assembly is taken as the processing object, a plurality of teeth are processed on the semi-finished gear ring along the circumference of the semi-finished gear ring assembly, and a first raceway groove is processed on the first semi-finished annular raceway along the circumference of the semi-finished gear ring assembly to obtain a reducer gear ring assembly, wherein the teeth and the first raceway groove are arranged at axial intervals in the reducer gear ring assembly.
2. The method for manufacturing a reducer ring gear assembly according to claim 1, characterized in that: The method of sleeve-fitting the semi-finished gear ring and the first semi-finished annular raceway together by interference fit comprises: The inner side surface of the semi-finished gear ring is fitted onto the outer side surface of the first semi-finished annular raceway in an interference fit manner; The method of processing the semi-finished gear ring assembly as a processing object, processing a plurality of teeth on the semi-finished gear ring along the circumference of the semi-finished gear ring assembly, and processing a first raceway groove on the first semi-finished annular raceway along the circumference of the semi-finished gear ring assembly to obtain a reducer gear ring assembly includes: The semi-finished gear ring assembly is taken as the processing object, a plurality of teeth are processed on the inner side surface of the semi-finished gear ring along the circumference of the semi-finished gear ring assembly, and the first raceway groove is processed on the inner side surface of the first semi-finished annular raceway along the circumference of the semi-finished gear ring assembly to obtain the reducer gear ring assembly.
3. The method for manufacturing a reducer ring gear assembly according to claim 2, characterized in that: Before the inner side surface of the semi-finished gear ring is fitted onto the outer side surface of the first semi-finished annular raceway in an interference fit manner, the method further comprises: Applying a rubber layer on the inner side surface of the semi-finished gear ring and / or the outer side surface of the first semi-finished annular raceway; and / or, After the inner side surface of the semi-finished gear ring is fitted onto the outer side surface of the first semi-finished annular raceway in an interference fit manner, the method further comprises: The semi-finished ring gear and the first semi-finished annular raceway are welded.
4. The method for manufacturing a reducer ring gear assembly according to claim 3, characterized in that: Before coating the rubber layer on the inner side surface of the semi-finished gear ring and / or the outer side surface of the first semi-finished annular raceway, the method further comprises: A groove is machined on the inner side surface of the semi-finished gear ring and / or the outer side surface of the first semi-finished annular raceway.
5. The method for manufacturing a reducer ring gear assembly according to any one of claims 2 to 4, characterized in that: Before obtaining the semi-finished gear ring assembly, the method further comprises: The inner side surface of the second semi-finished annular raceway is fitted onto the outer side surface of the semi-finished gear ring in an interference fit manner; Before obtaining the reducer gear ring assembly, the method further includes: A second raceway groove is machined on the outer side surface of the second semi-finished annular raceway along the circumference of the semi-finished ring gear assembly.
6. The method for manufacturing a reducer ring gear assembly according to claim 5, characterized in that: The cross-section of the first raceway groove includes a triangle or an arc shape, and the first raceway groove is configured to accommodate a cross roller or a spherical roller; And / or, the cross-section of the second rolling groove includes a triangle or an arc shape, and the second rolling groove is configured to accommodate the cross roller or the spherical roller.
7. The method for manufacturing a reducer ring gear assembly according to any one of claims 1 to 4, characterized in that: Before the semi-finished gear ring and the first semi-finished annular raceway are sheathed together in an interference fit manner, the method further comprises: Performing a first rough machining and a first heat treatment on the gear ring blank to obtain the semi-finished gear ring, wherein the semi-finished gear ring has a plurality of semi-finished teeth along the circumference of the semi-finished gear ring; Performing a second rough machining and a second heat treatment on the raceway blank to obtain the first semi-finished annular raceway, wherein the material strength of the ring gear blank is greater than the material strength of the raceway blank, and the material hardness of the ring gear blank is less than the material hardness of the raceway blank; Wherein, taking the semi-finished gear ring assembly as a processing object, processing a plurality of teeth on the semi-finished gear ring along the circumference of the semi-finished gear ring assembly comprises: The semi-finished gear ring assembly is used as a processing object, and a plurality of the semi-finished teeth are reshaped.
8. A method for manufacturing a reducer, characterized in that: include: A reducer ring gear assembly is obtained by using the manufacturing method of the reducer ring gear assembly according to any one of claims 1 to 7; The reducer ring gear assembly, the reducer planetary carrier assembly, the first roller assembly, the planetary wheel assembly and the sun wheel assembly are assembled to obtain the reducer.
9. The method for manufacturing a speed reducer according to claim 8, characterized in that: Before assembling the reducer ring gear assembly, the reducer planetary carrier assembly, the first roller assembly, the planetary gear assembly and the sun gear assembly, the method further includes: The semi-finished planet carrier is sheathed together with the third semi-finished annular raceway in an interference fit manner to obtain a semi-finished planet carrier assembly; The semi-finished planetary carrier assembly is taken as a processing object, and a third raceway groove is processed on the third semi-finished annular raceway along the circumference of the semi-finished planetary carrier assembly to obtain the reducer planetary carrier assembly.
10. A reducer, characterized in that: include: A reducer gear ring assembly, comprising a gear ring and a first annular raceway, wherein the gear ring is sleeved on the first annular raceway in an interference fit manner, the gear ring has a plurality of teeth arranged along the circumference of the reducer gear ring assembly, and the first annular raceway has a first raceway groove arranged along the circumference of the reducer gear ring assembly, wherein the teeth and the first raceway groove are arranged at intervals in the axial direction of the reducer gear ring assembly; A planet carrier assembly for a speed reducer, comprising a planet carrier and a third annular raceway, wherein the third annular raceway is sleeved on the planet carrier in an interference fit manner, and the third annular raceway has a third raceway groove arranged along the circumference of the planet carrier assembly for the speed reducer; A first roller assembly, comprising a plurality of first rollers, wherein the plurality of first rollers are arranged along the circumference of the reducer planetary carrier assembly, and the first rollers extend into the first rolling groove and the third rolling groove; A planetary gear assembly is rotatably connected to the reducer planetary carrier assembly and meshes and rotates with a plurality of teeth of the reducer ring gear assembly, wherein the rotation axis of the planetary gear assembly is parallel to the axial direction of the reducer planetary carrier assembly; The sun gear assembly is meshed with the planetary gear assembly for transmission and is rotatably connected to the reducer planetary carrier assembly. The revolution axis of the planetary gear assembly is colinear with the rotation axis of the sun gear assembly.