Face gear tooth difference transmission mechanism

Abstract

The utility model discloses a face gear tooth difference transmission mechanism which comprises a fixed planet carrier, a non-fixed planet carrier, a third face gear and a duplex face gear, and the fixed planet carrier is connected with a plurality of fixed planet cylindrical gears. The non-fixed planet carrier is located on the inner side or the outer side of the fixed planet carrier. The non-fixed planet carrier is connected with a plurality of non-fixed planet cylindrical gears; the third face gear is meshed with the fixed planetary cylindrical gear and the non-fixed planetary cylindrical gear at the same time; the first face gear and the second face gear of the duplex face gear are unequal in tooth number; a first face gear of the duplex face gear is meshed with the fixed planetary cylindrical gear; and a second face gear of the duplex face gear is meshed with the non-fixed planetary cylindrical gear. Through tooth difference transmission, mechanical transmission with a high transmission ratio can be realized.

Description

Technical Field

[0001] The utility model relates to a mechanical mechanism, in particular to a face gear tooth difference transmission mechanism. Background Art

[0002] As the basic functional unit in the field of mechanical transmission, reducers are widely used. Especially driven by the demand in the fields of industrial robots, service robots and humanoid robots, precision reducers with compact structure, wide speed ratio range and strong load-bearing capacity have formed the current product structure in the joint drive application scenario dominated by RV reducers, harmonic reducers and precision planetary reducers.

[0003] However, the application occasions of these three types of reducers are limited due to their own defects. Among them, the RV reducer has high rigidity but complex structure and manufacturing process and high cost, and is mainly used in occasions that require high load capacity and high impact resistance; the harmonic reducer has a compact structure but low load capacity and service life, and is mainly used in low-load occasions; the precision planetary reducer has high transmission efficiency but low single-stage speed ratio, and is mainly used in high-power transmission occasions.

[0004] Taking robots as an example, due to the limited application scenarios of existing reducers, different joints require different reducers, which leads to high difficulty in product design of the entire robot and a complex supply chain.

[0005] Among the existing reducers, cylindrical and bevel gear reducers need to increase the number of transmission stages to achieve a larger transmission ratio. Due to their large size and weight, they are difficult to use in joint drives that pursue light weight and heavy loads. Planetary reducers can achieve high transmission ratios through complex multi-stage structures, but they are more difficult to design. For example, NW-type planetary reducers require double gears with poor processability. There is also a type of reducer that achieves differential motion through tooth difference. Although it has the characteristics of simple structure and high transmission ratio, it is often only suitable for low-speed occasions due to the eccentric motion of the planetary gear.

[0006] In recent years, a new type of reducer has emerged that achieves a large transmission ratio through tooth difference. For example, Chinese utility model patent document CN115875409A discloses a structure of a planetary gear reducer with a large transmission ratio, a transmission ratio calculation method and a parameter determination method, which specifically discloses a mirror differential planetary gear reducer that achieves a high transmission ratio through two sets of planetary transmissions, but also has problems such as difficult design, use of a double sun gear and complex structure.

[0007] Chinese utility model patent document CN109764108A discloses a hybrid bevel gear differential speed reduction mechanism, which adopts a displacement hybrid bevel gear differential speed reduction method to realize a high transmission ratio reducer based on hybrid bevel gears. However, this mechanism not only has the problems of difficult manufacturing and assembly of hybrid bevel gears and difficulty in ensuring accuracy, but also has a very complex overall structure, which leads to large volume and weight and low accuracy, making it difficult to apply in joint drive.

[0008] Face gears have attracted more and more attention in recent years because they can achieve high-performance transmission and are therefore used in the structure of reducers and transmissions. Japanese utility model patent document JP6420097B2 discloses a face gear reducer, which uses double coaxial face gears to mesh with different cylindrical gears to achieve a single-stage reduction and speed change with an axis angle. However, since it only has one-stage speed change, the transmission ratio is limited by the size of the face gears and is not large enough. Japanese utility model patent document JP6484014B2 discloses a multi-stage gear reducer, which uses face gears as the first stage of multi-stage transmission, which is only a conventional application of face gear transmission. Chinese utility model patent document CN104633022B discloses a planetary multi-stage speed transmission method and device, which uses multiple coaxial face gears to mesh with planetary cylindrical gears at the same time to achieve speed transmission. Since each face gear is a single-stage transmission, the achievable transmission ratio is also limited by the size of the face gears and is only used as a transmission.

[0009] Chinese utility model patent document CN112503143B discloses a displaced hybrid bevel gear differential reduction method, which uses two opposed non-coaxial face gears with unequal numbers of teeth to mesh with a cylindrical gear, and then uses an internally meshing cylindrical gear to compensate for the eccentricity of the axes of the two face gears, and finally realizes tooth difference transmission through a bevel gear differential device. It has a complex structure, is difficult to design and manufacture, and is difficult to control cost, weight, and accuracy. It is also not suitable for use in joint drives.

[0010] In summary, there is currently a lack of a large transmission ratio reducer that can adapt to all joints of the robot. Utility Model Content

[0011] The technical problem to be solved by the utility model is to provide a face gear tooth difference transmission mechanism, which can realize a wide range of variable speed transmission ratios, thereby adapting to the application requirements of all joints of the robot.

[0012] In order to solve the above technical problems, the technical solution of the face gear tooth difference transmission mechanism of the utility model is:

[0013] It includes a fixed planetary carrier, a non-fixed planetary carrier, a third face gear and a duplex face gear, wherein the fixed planetary carrier is connected to a plurality of fixed planetary cylindrical gears; the non-fixed planetary carrier is located on the inner side or the outer side of the fixed planetary carrier; the non-fixed planetary carrier is connected to a plurality of non-fixed planetary cylindrical gears; the third face gear is meshed with the fixed planetary cylindrical gears and the non-fixed planetary cylindrical gears at the same time; the duplex face gear comprises a first face gear and a second face gear which are coaxially arranged and fixedly connected to each other; the number of teeth of the first face gear and the second face gear are different, thereby forming a difference in the number of teeth; the first face gear of the duplex face gear is meshed with the fixed planetary cylindrical gear; the second face gear of the duplex face gear is meshed with the non-fixed planetary cylindrical gear.

[0014] In another embodiment, the third face gear is fixedly connected to the input shaft, and the non-fixed planet carrier is fixedly connected to the output shaft; or, the non-fixed planet carrier is fixedly connected to the input shaft, and the third face gear is fixedly connected to the output shaft.

[0015] In another embodiment, the third face gear is located at one axial end of the fixed planet carrier and the non-fixed planet carrier; and the duplex face gear is located at the other axial end of the fixed planet carrier and the non-fixed planet carrier.

[0016] In another embodiment, the number of teeth of the first face gear of the duplex face gear is greater than the number of teeth of the second face gear; or the number of teeth of the first face gear of the duplex face gear is less than the number of teeth of the second face gear.

[0017] In another embodiment, the fixed planet carrier is arranged concentrically with the non-fixed planet carrier.

[0018] In another embodiment, the fixed planet carrier, the non-fixed planet carrier, the third face gear and the duplex face gear are coaxially arranged.

[0019] In another embodiment, the axial direction of the fixed planetary cylindrical gear extends along the radial direction of the fixed planet carrier;

[0020] In another embodiment, the axial direction of the non-fixed planetary spur gear extends along the radial direction of the non-fixed planet carrier.

[0021] In another embodiment, the plurality of fixed planetary cylindrical gears are uniformly arranged on the outer side or the inner side of the fixed planet carrier along the circumferential direction;

[0022] In another embodiment, a plurality of non-fixed planetary cylindrical gears are uniformly arranged on the inner side or the outer side of the non-fixed planet carrier along the circumferential direction.

[0023] In another embodiment, the module and the number of teeth of each of the fixed planetary cylindrical gears are equal; and / or the module and the number of teeth of each of the non-fixed planetary cylindrical gears are equal.

[0024] In another embodiment, the fixed planetary cylindrical gear and the non-fixed planetary cylindrical gear have the same module and the same number of teeth.

[0025] In another embodiment, the fixed face gear and the non-fixed face gear mesh with the fixed planetary cylindrical gear and the non-fixed planetary cylindrical gear at the same shaft angle.

[0026] In another embodiment, the fixed planet carrier and the non-fixed planet carrier are hollow structures.

[0027] In another embodiment, the number of the fixed planetary cylindrical gears is more than two;

[0028] In another embodiment, the number of the non-fixed planetary cylindrical gears is more than two.

[0029] The technical effects that can be achieved by the utility model are:

[0030] The utility model realizes tooth difference transmission through double sets of planetary gears and duplex face gears, and its transmission ratio is determined by the number of teeth of the active face gear (i.e., the third face gear), the number of teeth of the inner and outer ring face gears of the duplex face gears (i.e., the first face gear and the second face gear), and the difference in the number of teeth of the inner and outer ring face gears, thereby realizing mechanical transmission with a high transmission ratio.

[0031] The utility model uses two sets of ordinary cylindrical gears as planetary gears, and simultaneously meshes the two sets of planetary gears with double face gears, and uses tooth difference transmission to achieve speed reduction. The utility model not only retains all the advantages of face gear transmission, but also has a simple structure, is easy to design, manufacture and assemble, and is easy to realize a precision reducer product with high precision, high load capacity and long life, and is particularly suitable for robot joint drive.

[0032] The utility model utilizes a double-face gear with a difference in the number of teeth to mesh with the planetary cylindrical gear of the fixed planetary carrier and the planetary cylindrical gear of the non-fixed planetary carrier respectively. The meshing tooth surfaces of the double-face gear can generate driving force for the planetary cylindrical gear of the fixed planetary carrier and the planetary cylindrical gear of the non-fixed planetary carrier, thereby realizing the transmission of force and torque, and driving the non-fixed planetary carrier and the shaft output shaft connected thereto to rotate.

[0033] The utility model can be used as a speed reducer. Compared with the existing speed reducer, the transmission ratio of the utility model is independent of the planetary cylindrical gear, so the appropriate speed reduction ratio can be arbitrarily determined under the condition of the same outer ring planet carrier size. Of course, the utility model can also be used as a speed increasing device.

[0034] The utility model can be used as a precision reducer, using face gear transmission, with high freedom of design of parameters such as the number of teeth, high transmission efficiency, and high cost performance, and can be applied to the fields of robot joint drive, intelligent equipment, etc. Since face gear transmission is a new type of intersecting axis transmission method in which an involute cylindrical gear meshes with a face gear, compared with conventional bevel gear transmission, the transmission system using face gears has many advantages such as small size, light weight, low noise, high load-bearing capacity, high reliability, and long life, and the two face gears with different numbers of teeth can be driven with a tooth difference, so a wide range of transmission ratios can be achieved.

[0035] The utility model can solve the problems of complex structure, difficult process and high cost of RV reducer in the existing precision reducer technology, as well as the problem of limited bearing capacity and life of flexible gears of harmonic reducer, and also solves the problem of small transmission ratio of planetary reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] It should be understood by those skilled in the art that the following description is only intended to schematically illustrate the principles of the present invention, which can be applied in a variety of ways to achieve many different alternative embodiments. These descriptions are only used to illustrate the general principles of the teachings of the present invention and are not intended to limit the utility model concepts disclosed herein.

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present invention and, together with the general description above and the detailed description of the drawings below, are used to explain the principles of the present invention.

[0038] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0039] Figure 1 It is a schematic diagram of the face gear tooth difference transmission mechanism of the utility model; its structure is hollow and compact;

[0040] Figure 2 It is an exploded schematic diagram of the utility model;

[0041] Figure 3 It is a schematic diagram of the assembly of the utility model, in which the driving face gear is not shown;

[0042] Figure 4 It is a schematic diagram of the mechanism of the first embodiment of the utility model;

[0043] Figure 5 It is a schematic diagram of the mechanism of the second embodiment of the utility model;

[0044] Figure 6 It is a schematic diagram of the rotation direction of the utility model.

[0045] Description of reference numerals in the figures:

[0046] 1 is the outer ring planet carrier, 2 is the inner ring planet carrier,

[0047] 3 is a double face gear, 5 is a driving face gear (i.e. the third face gear),

[0048] 21 is the outer ring planetary cylindrical gear, 22 is the inner ring planetary cylindrical gear,

[0049] 31 is the inner ring face gear of the double face gear, 32 is the outer ring face gear of the double face gear,

[0050] 11 is an input shaft, and 12 is an output shaft. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution of the embodiment of the utility model will be clearly and completely described in conjunction with the drawings of the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the described embodiment of the utility model, all other embodiments obtained by ordinary technicians in the field without creative work belong to the scope of protection of the utility model. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meanings understood by people with ordinary skills in the field to which the utility model belongs. The "first", "second" and similar words used in this article do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0052] like Figures 1 to 3 As shown, the face gear tooth difference transmission mechanism of the utility model comprises a coaxially arranged driving face gear 5, a double face gear 3, an inner ring planet carrier 2 and an outer ring planet carrier 1, wherein the inner ring planet carrier 2 is located on the inner side of the outer ring planet carrier 1;

[0053] Preferably, the inner ring planet carrier 2 is arranged concentrically with the outer ring planet carrier 1;

[0054] The driving face gear 5 and the double face gear 3 are respectively located at the axial ends of the inner and outer ring planet carriers 1 and 2;

[0055] The inner ring planet carrier 2 is connected to a plurality of inner ring planetary cylindrical gears 22, and the plurality of inner ring planetary cylindrical gears 22 are evenly arranged on the outer side of the inner ring planet carrier 2 along the circumferential direction, and the axial direction of the inner ring planetary cylindrical gears 22 extends along the radial direction of the inner ring planet carrier 2;

[0056] The outer ring planet carrier 1 is connected to a plurality of outer ring planetary cylindrical gears 21, and the plurality of outer ring planetary cylindrical gears 21 are evenly arranged on the inner side of the outer ring planet carrier 1 along the circumferential direction, and the axial direction of the outer ring planetary cylindrical gears 21 extends along the radial direction of the outer ring planet carrier 1;

[0057] Of course, the inner ring planetary cylindrical gear 22 can also be arranged on the inner side of the inner ring planet carrier 2;

[0058] The outer ring planetary cylindrical gear 21 can also be arranged on the outer side of the outer ring planet carrier 1;

[0059] The number of the inner ring planetary cylindrical gears 22 may be equal to or different from the number of the outer ring planetary cylindrical gears 21;

[0060] The double face gear 3 comprises an inner ring face gear and an outer ring face gear which are coaxially arranged and fixedly connected to each other; the inner ring face gear is located radially inside the outer ring face gear; the inner ring face gear and the outer ring face gear have different numbers of teeth, thereby forming a difference in the number of teeth;

[0061] The number of teeth of the inner ring face gear of the double face gear 3 may be greater than the number of teeth of the outer ring face gear, or may be less than the number of teeth of the outer ring face gear;

[0062] The inner ring planetary cylindrical gear 22 is meshed with the driving face gear 5 and the inner ring face gear 31 of the duplex face gear 3 at the same time;

[0063] The outer ring planetary cylindrical gear 21 is meshed with the driving face gear 5 and the outer ring face gear 32 of the duplex face gear 3 at the same time;

[0064] The inner ring planet carrier 2 and the outer ring planet carrier 1, one of which is used as a fixed planet carrier and the other is used as a non-fixed planet carrier, are fixedly connected to the output shaft 12;

[0065] The non-fixed planet carrier of the present utility model means that the planet carrier is not fixed and can rotate together with the output shaft 12;

[0066] For example, Figure 4 As shown, the outer ring planet carrier 1 is fixedly arranged, and the inner ring planet carrier 2 is fixedly connected to the output shaft 12;

[0067] Or, if Figure 5 As shown, the inner ring planet carrier 2 is fixedly arranged, and the outer ring planet carrier 1 is fixedly connected to the output shaft 12;

[0068] The driving face gear 5 is fixedly connected to the input shaft 11 , and the input shaft 11 can drive the driving face gear 5 to rotate around its rotation axis.

[0069] Preferably, the rotation axis of the driving face gear 5, the rotation axis of the inner ring planet carrier 2, the rotation axis of the outer ring planet carrier 1, and the rotation axis of the double face gear 3 are all on the same axis.

[0070] Preferably, the modules and the number of teeth of each inner ring planetary cylindrical gear 22 are equal.

[0071] Preferably, the modules and the number of teeth of the outer ring planetary cylindrical gears 21 are equal.

[0072] Preferably, the modules and the number of teeth of the inner ring planetary cylindrical gear 22 and the outer ring planetary cylindrical gear 21 are equal.

[0073] The utility model divides the planetary cylindrical gears into two groups, each of which has a planet carrier.

[0074] Preferably, the inner ring face gear and the outer ring face gear mesh with the inner ring planetary cylindrical gear 22 and the outer ring planetary cylindrical gear 21 at the same axis intersection angle; in this embodiment, the axis intersection angle formed by the axis of the inner ring face gear and the axis of the inner ring planetary cylindrical gear 22 is 90 degrees; the axis intersection angle formed by the axis of the outer ring face gear and the axis of the outer ring planetary cylindrical gear 21 is also 90 degrees;

[0075] Of course, the axis angle may also be other degrees, as long as the axis of the inner ring face gear and the inner ring planetary cylindrical gear 22 and the axis of the outer ring face gear and the outer ring planetary cylindrical gear 21 form a meshing relationship respectively.

[0076] Preferably, both the inner ring planet carrier 2 and the outer ring planet carrier 1 are hollow structures, so that the inner ring planet carrier 2 and the outer ring planet carrier 1 have an inner cavity.

[0077] The utility model discloses a double-group planetary gear double-face gear tooth difference transmission method, comprising the following steps:

[0078] The input shaft 11 drives the driving face gear 5 to rotate around its rotation axis; since the fixed planet carrier (e.g., the outer ring planet carrier 1) is fixed, the driving face gear 5 drives the multiple fixed planetary cylindrical gears (i.e., the outer ring planetary cylindrical gear 21) meshing therewith to rotate around their respective rotation axes during the rotation process;

[0079] Since the outer ring planetary cylindrical gear 21 is meshed with the first face gear (i.e., the outer ring face gear 32) of the double face gear 3 at the same time, the outer ring planetary cylindrical gear 21 drives the double face gear 3 to rotate around its rotation axis during the self-rotation process, and the rotation direction of the double face gear 3 is opposite to the rotation direction of the driving face gear 5;

[0080] Since the driving face gear 5 is meshed with the outer ring planetary cylindrical gear 21 and the inner ring planetary cylindrical gear 22 at the same time, the driving face gear 5 drives the outer ring planetary cylindrical gear 21 to rotate while driving the multiple inner ring planetary cylindrical gears 22 to rotate around their respective rotation axes;

[0081] Since the inner ring planetary cylindrical gear 22 is meshed with the second face gear (i.e., the inner ring face gear 31) of the duplex face gear 3, the outer ring face gear 32 of the duplex face gear 3 is meshed with the outer ring planetary cylindrical gear 21, and there is a difference in the number of teeth between the inner ring face gear 31 and the outer ring face gear of the duplex face gear 3, the inner ring planetary cylindrical gear 22 rotates around the rotation axis of the inner ring planet carrier 2 while rotating on its own, thereby realizing the revolution of the inner ring planetary cylindrical gear 22; the revolution of the inner ring planetary cylindrical gear 22 drives the inner ring planet carrier 2 connected thereto to rotate, thereby driving the output shaft 12 to rotate, thereby realizing the reduced speed output.

[0082] Specifically, Figure 6 As shown, since the driving face gear 5 and the outer ring face gear 32 of the duplex face gear 3 are meshed with the outer ring planetary cylindrical gear 21 at the same time, there are:

[0083]

[0084] Wherein, n1 is the rotation speed of the input shaft 11, that is, the rotation speed of the driving face gear 5,

[0085] n2 is the speed of the double face gear 3,

[0086] Z2 is the number of teeth of the face gear that meshes with the double face gear 3 and the planetary cylindrical gear of the fixed planetary carrier (in this embodiment, it is the number of teeth of the outer ring face gear),

[0087] Z1 is the number of teeth of the driving face gear 5;

[0088] The speed of the driving face gear 5 relative to the non-fixed planetary carrier is n1-n3, and the speed of the duplex face gear 3 relative to the non-fixed planetary carrier is n2-n3. Since the driving face gear 5 and the inner ring face gear 31 of the duplex face gear 3 are meshed with the non-fixed planetary cylindrical gear at the same time, we have:

[0089]

[0090] Wherein, n1 is the rotation speed of the input shaft 11, that is, the rotation speed of the driving face gear 5,

[0091] n2 is the speed of the double face gear 3,

[0092] n3 is the speed of the non-fixed planet carrier,

[0093] Z1 is the number of teeth of the driving face gear 5,

[0094] Z3 is the number of teeth of the face gear that meshes with the planetary cylindrical gear of the non-fixed planetary carrier (i.e., the number of teeth of the inner ring face gear);

[0095] The transmission ratio is:

[0096]

[0097] Wherein, n1 is the rotation speed of the input shaft 11, that is, the rotation speed of the driving face gear 5,

[0098] n3 is the speed of the non-fixed planet carrier (the inner ring planet carrier 2 in this embodiment),

[0099] Z2 is the number of teeth of the first face gear (i.e. the number of teeth of the outer ring face gear) that meshes with the planetary cylindrical gear of the fixed planetary carrier.

[0100] Z1 is the number of teeth of the driving face gear 5,

[0101] Z3 is the number of teeth of the second face gear (i.e. the number of teeth of the inner ring face gear) that meshes with the planetary cylindrical gear of the non-fixed planetary carrier by the double face gear 3;

[0102] From the above formula we can see that:

[0103] 1. The transmission ratio of the utility model has nothing to do with the number of teeth of the inner ring planetary cylindrical gear 22 and the outer ring planetary cylindrical gear 21;

[0104] 2. The transmission ratio of the utility model is large; for example, when Z1=97, Z2=101, Z3=99, the transmission ratio i 13 ≈103.08, so the utility model can easily obtain a transmission ratio of more than 100; because the output speed of the commonly used drive motor is high, at least hundreds of revolutions per minute or even thousands of revolutions per minute, and the robot's joints only need to achieve a small range of low-speed rotation, a reducer with a large reduction ratio must be used. The utility model can meet this requirement.

[0105] 3. In the working process of the utility model, the fixed planet carrier is fixed and the non-fixed planet carrier is used as the output part, so the outer ring planetary cylindrical gear 21 only rotates but does not revolve, and the inner ring planetary cylindrical gear 22 only revolves at the same speed as the output shaft 12 while rotating. Therefore, the utility model can avoid the high-speed revolution of the planetary cylindrical gears (including the inner ring planetary cylindrical gear 22 and the outer ring planetary cylindrical gear 21), thereby improving the adaptability of the mechanism;

[0106] 4. Since the transmission ratio of the utility model is large, the revolution speed of the non-fixed planetary cylindrical gear connected to the output shaft 12 is very low compared with the revolution speed of the input shaft 11, so the centrifugal force of the non-fixed planetary cylindrical gear during the revolution process can be ignored, and the mechanism will not be affected by the centrifugal force during operation.

[0107] In addition to being able to easily achieve a wide transmission ratio range, the speed reduction mechanism formed by the utility model also has the following advantages:

[0108] (1) Simple structure and low cost;

[0109] The utility model has few core components and thus a simple structure; the axial float of the cylindrical gear does not affect the transmission of the face gear, and there is no overload problem caused by the cone top overlap error in the bevel gear transmission that can also achieve intersecting axis transmission. No anti-misalignment design is required, so the design and assembly are simple, making it easy to achieve high precision and low cost.

[0110] (2) Compact size;

[0111] The transmission ratio of the utility model is independent of the number of teeth of the inner ring planetary cylindrical gear 22 and the outer ring planetary cylindrical gear 21, so the number of teeth and the size of the inner ring planetary cylindrical gear 22 and the outer ring planetary cylindrical gear 21 can be reduced, making the overall size more compact; furthermore, the driving face gear 5, the double face gear 3, the inner ring planetary carrier 2 and the outer ring planetary carrier 1 can all adopt a hollow ring shape, so a hollow structure can be realized, so that the reducer is in a circular ring shape as a whole, which not only makes itself small in size and light in weight, but also facilitates integration and application, such as Figure 1 As shown, since the utility model is a hollow structure with light weight, the axes of the input shaft 11 and the output shaft 12 of the utility model can extend in any direction.

[0112] (3) Strong bearing capacity, stable transmission and high efficiency;

[0113] The overlap between the face gear and the planetary cylindrical gear of the utility model is high, which can reach more than 2, and the number of teeth meshing at the same time can be further increased by increasing the number of planetary gears, so it is convenient to smoothly transmit strong torque;

[0114] The utility model relies on the meshing gear teeth of the planetary cylindrical gears to achieve power transmission. The meshing point between the inner ring planetary cylindrical gear 22 and the inner ring face gear 31 of the double face gear 3 and the meshing point between the outer ring planetary cylindrical gear 21 and the inner ring face gear 31 of the double face gear 3 are two driving points of the transmission respectively. Since the inner ring face gear 31 and the outer ring face gear of the double face gear 3 are close to each other, the driving points of the transmission are close to each other. Since the utility model uses the gear teeth of the inner and outer ring face gears of the double face gear 3 as the power transmission path, the power transmission path is short, the transmission efficiency of the utility model is high, and it is suitable for large torque and high power transmission.

[0115] (4) It can avoid the influence of the centrifugal force of the planetary cylindrical gears on the mechanism during the transmission process.

[0116] (5) Able to adapt to the application requirements of all joints of the robot;

[0117] Common joints of robots are mainly divided into two categories, namely revolute joints and articulated joints; revolute joints refer to two links connected coaxially, one of which can rotate around its own axis of rotation; articulated joints refer to two links hinged to each other, one of which can rotate around the hinge axis.

[0118] The utility model can not only realize the end face output of the reducer, thereby facilitating the rotational connection between the robot arm connecting rods; it can also conveniently realize the axial face output of the reducer, thereby facilitating the hinged connection between the robot arm connecting rods, and thus can adapt to the application requirements of all joints of the robot.

[0119] In this embodiment, the outer ring planet carrier 1 is used as a fixed planet carrier, and the inner ring planet carrier 2 is used as a non-fixed planet carrier; the outer ring planetary cylindrical gear 21 is a fixed planetary cylindrical gear, and the inner ring planetary cylindrical gear 22 is a non-fixed planetary cylindrical gear;

[0120] Obviously, the inner ring planet carrier 2 can also be used as a fixed planet carrier, in which case the inner ring planetary cylindrical gears 22 are used as fixed planetary cylindrical gears, and the outer ring planetary cylindrical gears 21 are used as non-fixed planetary cylindrical gears.

[0121] As another application of the utility model, the input shaft 11 and the output shaft 12 can be interchanged, and the utility model can be used as a speed increasing mechanism;

[0122] At this time, the inner ring planet carrier 2 or the outer ring planet carrier 1 is connected to the input shaft 11, and the driving face gear 5 is connected to the output shaft 12, so the driving face gear 5 actually plays the role of a driven face gear.

[0123] The utility model double-set planetary gear double-face gear tooth difference transmission method comprises the following steps:

[0124] The input shaft 11 drives the non-fixed planet carrier to rotate around its rotation axis; the rotation of the non-fixed planet carrier drives the non-fixed planetary cylindrical gear connected thereto to rotate around the rotation axis of the non-fixed planet carrier, thereby realizing the orbital revolution of the non-fixed planetary cylindrical gear;

[0125] The non-fixed planetary cylindrical gears are meshed with the second face gear 31 of the double face gear 3. The non-fixed planetary cylindrical gears rotate around their respective rotation axes while revolving, thereby realizing the self-rotation of the non-fixed planetary cylindrical gears.

[0126] At the same time, the first face gear 32 of the double face gear 3 is meshed with the fixed planetary cylindrical gear 21, and there is a difference in the number of teeth between the first face gear and the second face gear of the double face gear 3. In the process of the non-fixed planetary cylindrical gear rotating and revolving at the same time, the non-fixed planetary cylindrical gear drives the double face gear 3 to rotate around its rotation axis; the rotation of the double face gear 3 causes the fixed planetary cylindrical gears to rotate around their respective rotation axes, thereby realizing the rotation of the fixed planetary cylindrical gears;

[0127] The fixed planetary cylindrical gears and the non-fixed planetary cylindrical gears are meshed with the active face gear 5 at the same time. During the self-rotation process, the multiple fixed planetary cylindrical gears drive the meshed active face gear 5 to rotate around its rotation axis. The active face gear 5 drives the output shaft 12 to rotate. The active face gear 5 and the double face gear 3 rotate in opposite directions. The two need to rotate at a higher speed and use their speed difference to balance the revolution of the non-fixed planetary cylindrical gears, thereby achieving increased output.

[0128] Specifically, the transmission ratio i of the input shaft 11 and the output shaft 12 is 31 for:

[0129]

[0130] Wherein, n1 is the rotation speed of the output shaft 12,

[0131] n3 is the speed of the non-fixed planet carrier, that is, the speed of the input shaft 11,

[0132] Z1 is the number of teeth of the driving face gear 5,

[0133] Z2 is the number of teeth of the first face gear of the double face gear 3 meshing with the fixed planetary cylindrical gear,

[0134] Z3 is the number of teeth of the second face gear of the duplex face gear 3 meshing with the non-fixed planetary cylindrical gear.

[0135] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these changes and modifications.

Claims

1. A face gear tooth difference transmission mechanism, It is characterized in that include: A fixed planet carrier, connected with a plurality of fixed planetary cylindrical gears; A non-fixed planet carrier is located inside or outside the fixed planet carrier; the non-fixed planet carrier is connected to a plurality of non-fixed planetary cylindrical gears; a third face gear, meshing with the fixed planetary cylindrical gear and the non-fixed planetary cylindrical gear at the same time; as well as The double face gear comprises a first face gear and a second face gear which are coaxially arranged and fixedly connected to each other; the number of teeth of the first face gear and the second face gear are different, thereby forming a tooth number difference; the first face gear of the double face gear is meshed with the fixed planetary cylindrical gear; the second face gear of the double face gear is meshed with the non-fixed planetary cylindrical gear.

2. The face gear tooth difference transmission mechanism according to claim 1, It is characterized in that The third face gear is fixedly connected to the input shaft, and the non-fixed planet carrier is fixedly connected to the output shaft; or, the non-fixed planet carrier is fixedly connected to the input shaft, and the third face gear is fixedly connected to the output shaft.

3. The face gear tooth difference transmission mechanism according to claim 1, It is characterized in that The third face gear is located at one axial end of the fixed planet carrier and the non-fixed planet carrier; the double face gear is located at the other axial end of the fixed planet carrier and the non-fixed planet carrier.

4. The face gear tooth difference transmission mechanism according to claim 1, It is characterized in that The number of teeth of the first face gear of the duplex face gear is greater than the number of teeth of the second face gear; Alternatively, the number of teeth of the first face gear of the duplex face gear is smaller than the number of teeth of the second face gear.

5. The face gear tooth difference transmission mechanism according to claim 1, It is characterized in that The fixed planet carrier is arranged concentrically with the non-fixed planet carrier.

6. The face gear tooth difference transmission mechanism according to claim 1 or 5, It is characterized in that The fixed planet carrier, the non-fixed planet carrier, the third face gear and the double face gear are coaxially arranged.

7. The face gear tooth difference transmission mechanism according to claim 1, It is characterized in that The axial direction of the fixed planetary cylindrical gear extends along the radial direction of the fixed planet carrier; And / or, the axial direction of the non-fixed planetary spur gear extends along the radial direction of the non-fixed planet carrier.

8. The face gear tooth difference transmission mechanism according to claim 1, It is characterized in that The plurality of fixed planetary cylindrical gears are uniformly arranged on the outer side or the inner side of the fixed planetary carrier along the circumferential direction; And / or, a plurality of non-fixed planetary cylindrical gears are uniformly arranged on the inner side or the outer side of the non-fixed planetary carrier along the circumferential direction.

9. The face gear tooth difference transmission mechanism according to claim 1, It is characterized in that The module and the number of teeth of each of the fixed planetary cylindrical gears are equal; and / or the module and the number of teeth of each of the non-fixed planetary cylindrical gears are equal.

10. The face gear tooth difference transmission mechanism according to claim 1 or 9, It is characterized in that The module and the number of teeth of the fixed planetary cylindrical gear and the non-fixed planetary cylindrical gear are equal.

11. The face gear tooth difference transmission mechanism according to claim 1, It is characterized in that The first face gear and the second face gear mesh with the fixed planetary cylindrical gear and the non-fixed planetary cylindrical gear at the same shaft intersection angle.

12. The face gear tooth difference transmission mechanism according to claim 1, It is characterized in that The fixed planet carrier and the non-fixed planet carrier are hollow structures.

13. The face gear tooth difference transmission mechanism according to claim 1, It is characterized in that The number of the fixed planetary cylindrical gears is more than two; And / or, the number of the non-fixed planetary cylindrical gears is more than two.

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