Reducer

Abstract

The present invention provides a speed reducer, comprising: a driving gear set; a differential gear set, the driving gear set cooperates with the differential gear set to drive the differential gear set to revolve around the axis of the driving gear set while rotating; and a driven gear set, the differential gear set cooperates with the driven gear set so that the rotation and revolution of the differential gear set jointly drive the driven gear set to rotate. The technical solution of the present invention effectively solves the problems of small adjustable range of reduction ratio and low transmission accuracy of the speed reducer in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of reducers, and in particular to a reducer. Background Art

[0002] The reducer is an independent component consisting of a gear transmission, worm transmission, or gear-worm transmission enclosed in a rigid housing. It is often used as a reduction transmission device between the prime mover and the working machine. With the advancement of science and technology, in the field of high-precision automation and robotics, the required reducer has a higher precision, but the current reducers cannot meet the above high-precision technical fields. Summary of the invention

[0003] The main purpose of the present invention is to provide a reducer to solve the problems of small adjustable range of reduction ratio and low transmission accuracy of the reducer in the prior art.

[0004] In order to achieve the above-mentioned purpose, the present invention provides a speed reducer, comprising: a driving gear set; a differential gear set, the driving gear set cooperates with the differential gear set to drive the differential gear set to revolve around the axis of the driving gear set while rotating; and a driven gear set, the differential gear set cooperates with the driven gear set so that the rotation and revolution of the differential gear set jointly drive the driven gear set to rotate.

[0005] Furthermore, the driving gear set includes an input shaft and a driving lever, the driving lever is fixedly mounted on the input shaft, the differential gear set includes a connecting rod, a first differential gear set and a second differential gear set, the connecting rod is fixedly connected to the first differential gear set and the second differential gear set, and the connecting rod is pivotally disposed on the driving lever.

[0006] Further, the first differential gear set includes a first flexible synchronous belt and a plurality of first differential gears, and the first flexible synchronous belt is wrapped around the circumferential outer sides of the plurality of first differential gears.

[0007] Furthermore, the second differential gear set includes a second flexible synchronous belt and a plurality of second differential gears, the plurality of first differential gears are arranged one-to-one corresponding to the second differential gears, the connecting rods are a plurality corresponding to the plurality of first differential gears, and the second flexible synchronous belt is wrapped around the circumferential outer sides of the plurality of second differential gears.

[0008] Further, the driven gear set includes an output shaft and an output gear, the output shaft is fixedly arranged at the center of the output gear, and the output gear cooperates with the second flexible synchronous belt so that the plurality of second differential gears drive the output gear.

[0009] Further, the plurality of second differential gears are evenly located on the circumferential outer side of the output gear.

[0010] Furthermore, the driving gear set also includes a fixed gear, a plurality of first differential gears are evenly arranged on the circumferential outer side of the fixed gear, the first flexible synchronous belt is meshed with the fixed gear, and the input shaft passes through the fixed gear and is rotatably arranged relative to the fixed gear.

[0011] Furthermore, the reducer also includes a fixed bracket, and the fixed gear is fixedly connected to the fixed bracket.

[0012] Further, the driving lever is located between the first differential gear set and the second differential gear set.

[0013] Furthermore, there are multiple driving levers, and the connecting rods are arranged one-to-one correspondingly to the multiple driving levers. The first end of each driving lever is fixedly connected to the input shaft, and the second end of each driving lever has a pivot hole, and each connecting rod is correspondingly inserted into each pivot hole.

[0014] By applying the technical solution of the present invention, the driving gear set transmits the motion to the differential gear set by cooperating with the differential gear set, and the differential gear set then transmits the motion to the driven gear set. The driving gear set drives the differential gear set to rotate while revolving around the axis of the driving gear set, and the differential gear set converts its own rotation and revolution into the rotation of the driven gear set. Such a reducer has a large adjustable range of reduction ratio. The reducer of the technical solution of the present application has high transmission accuracy when the adjustable range of reduction ratio is large. The technical solution of the present invention effectively solves the problems of small adjustable range of reduction ratio and low transmission accuracy of reducers in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 A schematic diagram of the assembly structure of a reducer according to the first embodiment of the present invention is shown;

[0017] Figure 2 Shows Figure 1 An exploded schematic diagram of a reducer; and

[0018] Figure 3 A schematic diagram of the assembly structure of a second embodiment of a reducer according to the present invention is shown.

[0019] The above drawings include the following reference numerals:

[0020] 10. driving gear set; 11. input shaft; 12. driving lever; 13. fixed gear; 20. differential gear set; 21. connecting rod; 22. first differential gear set; 221. first flexible synchronous belt; 222. first differential gear; 23. second differential gear set; 231. second flexible synchronous belt; 232. second differential gear; 30. driven gear set; 31. output shaft; 32. output gear; 40. tensioner; 50. fixed bracket. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] like Figure 1 and Figure 2 As shown, the reducer of the first embodiment includes: a driving gear set 10, a differential gear set 20 and a driven gear set 30. The driving gear set 10 cooperates with the differential gear set 20 to drive the differential gear set 20 to revolve around the axis of the driving gear set 10 while rotating. The differential gear set 20 cooperates with the driven gear set 30 so that the rotation and revolution of the differential gear set 20 jointly drive the driven gear set 30 to rotate.

[0023] By applying the technical solution of this embodiment, the driving gear set 10 transmits the motion to the differential gear set 20 by cooperating with the differential gear set 20, and the differential gear set 20 then transmits the motion to the driven gear set 30. The driving gear set 10 drives the differential gear set 20 to revolve around the axis of the driving gear set 10 while rotating, and the differential gear set 20 converts its own rotation and revolution into the rotation of the driven gear set 30. Such a reducer has a large adjustable range of reduction ratio. The reducer of the technical solution of this embodiment has a high transmission accuracy when the adjustable range of reduction ratio is large. The technical solution of this embodiment effectively solves the problems of small adjustable range of reduction ratio and low transmission accuracy of reducers in the prior art.

[0024] like Figure 1 and Figure 2 As shown, in the technical solution of the first embodiment, the driving gear set 10 includes an input shaft 11 and a driving lever 12, the driving lever 12 is fixedly mounted on the input shaft 11, and the differential gear set 20 includes a connecting rod 21, a first differential gear set 22 and a second differential gear set 23, the connecting rod 21 is fixedly connected to the first differential gear set 22 and the second differential gear set 23, and the connecting rod 21 is pivotally arranged on the driving lever 12. The setting of the driving lever 12 enables the differential gear set 20 to have both an orbital rotation around the axis of the input shaft 11 and an autorotation rotation around its own axis. The setting cost of the driving lever 12 is low, and the processing and installation are relatively convenient.

[0025] like Figure 1 and Figure 2 As shown, in the technical solution of the first embodiment, the first differential gear set 22 includes a first flexible synchronous belt 221 and a plurality of first differential gears 222, and the first flexible synchronous belt 221 surrounds the circumferential outer side of the plurality of first differential gears 222. The first flexible synchronous belt 221 of this embodiment adopts a flexible structure, so that the arrangement position of the first differential gear 222 is relatively flexible. In the technical solution of this embodiment, there are two first differential gears 222, the two first differential gears 222 are at the same distance from the axis of the input shaft 11, and the two first differential gears 222 are evenly arranged on the ring surrounded by the first differential gear 222. The first flexible synchronous belt 221 is a closed ring, and its inner wall is provided with teeth adapted to the first differential gear 222 and the fixed gear 13.

[0026] like Figure 1 and Figure 2 As shown, in the technical solution of the first embodiment, the second differential gear set 23 includes a second flexible synchronous belt 231 and a plurality of second differential gears 232, a plurality of first differential gears 222 are arranged one by one with the second differential gears 232, a plurality of connecting rods 21 are arranged corresponding to the plurality of first differential gears 222, and the second flexible synchronous belt 231 surrounds the circumferential outer side of the plurality of second differential gears 232. The second flexible synchronous belt 231 adopts a flexible structure, so that the arrangement position of the second differential gear 232 is relatively flexible, so that the length of the first flexible synchronous belt 221 and the second flexible synchronous belt 231 can be adjusted as needed to obtain a reduction ratio that meets the requirements.

[0027] like Figure 1 and Figure 2 As shown, in the technical solution of the first embodiment, the driven gear set 30 includes an output shaft 31 and an output gear 32. The output shaft 31 is fixedly arranged at the center of the output gear 32. The output gear 32 cooperates with the second flexible synchronous belt 231 so that the plurality of second differential gears 232 drive the output gear 32. The output gear 32 cooperates with the second flexible synchronous belt 231 so that the revolution and rotation of the second differential gear 232 are transmitted to the output gear 32, and the output gear 32 drives the output shaft 31 to rotate. Similarly, the second flexible synchronous belt 231 is a closed ring, and its inner wall is provided with teeth adapted to the second differential gear 232 and the output gear 32. It is worth noting that the output shaft 31 is arranged on the fixed bracket 50.

[0028] like Figure 1 and Figure 2As shown, in the technical solution of the first embodiment, a plurality of second differential gears 232 are evenly located on the circumferential outer side of the output gear 32. In the technical solution of this embodiment, there are two second differential gears 232, the two second differential gears 232 are at the same distance from the axis of the input shaft 11, and the two second differential gears 232 are evenly arranged on the ring surrounded by the second differential gears 232.

[0029] like Figure 1 and Figure 2 As shown, in the technical solution of the first embodiment, the driving gear set 10 also includes a fixed gear 13, a plurality of first differential gears 222 are evenly arranged on the circumferential outer side of the fixed gear 13, the first flexible synchronous belt 221 is meshed with the fixed gear 13, and the input shaft 11 passes through the fixed gear 13 and is rotatably arranged relative to the fixed gear 13. The arrangement of the fixed gear 13 makes the two ends of the first flexible synchronous belt 221 cooperate with the two first differential gears 222 respectively, and the first flexible synchronous belt 221 in the middle is meshed with the fixed gear 13, so that the first flexible synchronous belt 221 has more meshing points with the fixed gear 13, and the second flexible synchronous belt 231 has more meshing points with the output gear 32. The above structure has more meshing points, so that its transmission accuracy is higher and the transmission is more stable. It is worth noting that the first differential gear set 22 and the second differential gear set 23 are symmetrically distributed, so that the differential gear set 20 is relatively stable when rotating.

[0030] like Figure 1 and Figure 2 As shown, in the technical solution of the first embodiment, the reducer further includes a fixed bracket 50, and the fixed gear 13 is fixedly connected to the fixed bracket 50. Specifically, the fixed bracket 50 and the fixed gear 13 are an integrated structure, so that the processing cost is low and the installation is convenient.

[0031] like Figure 1 and Figure 2 As shown, in the technical solution of this embodiment, the driving lever 12 is located between the first differential gear set 22 and the second differential gear set 23. Such a structure makes the transmission more stable and the structure more solid.

[0032] like Figure 1 and Figure 2 As shown, in the technical solution of this embodiment, there are multiple driving levers 12, and the connecting rods 21 are arranged one by one corresponding to the multiple driving levers 12. The first end of each driving lever 12 is fixedly connected to the input shaft 11, and the second end of each driving lever 12 has a pivot hole, and each connecting rod 21 is correspondingly inserted into each pivot hole. In the technical solution of this embodiment, each driving lever 12 shares the first end, which makes the reducer more stable during operation.

[0033] The reduction ratio of this embodiment can be obtained through the above structure, and the specific calculation method is as follows:

[0034] Assume that the pitch circle circumference of the fixed gear 13 is C1, the pitch circle circumference of the first differential gear 222 is C2, the pitch circle circumference of the second differential gear is C3, and the pitch circle circumference of the output gear 32 is C4.

[0035] When the input shaft 11 rotates one circle, the length of the first flexible synchronous belt 221 passing over the first differential gear 222 is C1, so the number of circles rotated by the first differential gear 222 is:

[0036] (The negative sign indicates the opposite direction of rotation)

[0037] Since the first differential gear 222 and the second differential gear 232 are fixed together by the connecting rod 21, the number of revolutions of the second differential gear 232 is:

[0038]

[0039] At this time, the length of the second flexible synchronous belt 231 passing through the second differential gear 232 is:

[0040] L3=N3×C3

[0041] The final number of revolutions of the output shaft 31 is:

[0042]

[0043] (Note: the plus 1 in the formula is the revolution of the first differential gear set 22 and the second differential gear set 23 driven by the driving lever 12, so the second differential gear set 23 orbits one circle with the input shaft 11).

[0044] Therefore, the final reduction ratio is:

[0045]

[0046] When the first differential gear 222 and the second differential gear 232 are of the same size, that is, C2=C3:

[0047]

[0048] When the pitch circle diameter of the output shaft synchronous wheel is larger than that of the fixed synchronous wheel, the output and input are in the same direction, otherwise they are in opposite directions.

[0049] For example: C1 = 40mm, C2 = 20mm, C3 = 24mm, C4 = 50mm; then the final reduction ratio is:

[0050]

[0051] If C2=C3=20mm, the final reduction ratio is:

[0052]

[0053] like Figure 3 As shown, the difference between the technical solution of the second embodiment and the first embodiment is that there are three first differential gears 222, three second differential gears 232, three connecting rods 21, and three driving levers 12. It is worth noting that in the technical solution of this embodiment, a tensioning wheel 40 can also be provided on the outer surface of the first flexible synchronous belt 221, and a tensioning wheel 40 is also provided on the outer surface of the second flexible synchronous belt 231, so that the first differential gear 222 and the first flexible synchronous belt 221 cooperate more stably, and the second differential gear 232 and the second flexible synchronous belt 231 cooperate more stably. Specifically, there are multiple tensioning wheels 40, and there is a tensioning wheel between each two adjacent first differential gears 222. Not shown in the figure, a tensioning wheel 40 is also provided in the technical solution of the first embodiment.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A reducer, characterized in that: include: A driving gear set (10); A differential gear set (20), wherein the driving gear set (10) cooperates with the differential gear set (20) to drive the differential gear set (20) to rotate on its own while revolving around the axis of the driving gear set (10); A driven gear set (30), wherein the differential gear set (20) cooperates with the driven gear set (30) so that the rotation and revolution of the differential gear set (20) jointly drive the self-rotation of the driven gear set (30); wherein the driving gear set (10) comprises an input shaft (11) and a driving lever (12), wherein the driving lever (12) is fixedly mounted on the input shaft (11), and the differential gear set (20) comprises a connecting rod (21), a first differential gear set (22) and a second differential gear set (23), wherein the connecting rod (21) is fixedly connected to the first differential gear set (22) and the second differential gear set (23), and the connecting rod (21) is pivotally arranged on the driving lever (12).

2. The reducer according to claim 1, characterized in that: The first differential gear set (22) comprises a first flexible synchronous belt (221) and a plurality of first differential gears (222), wherein the first flexible synchronous belt (221) surrounds the circumferential outer sides of the plurality of first differential gears (222).

3. The reducer according to claim 2, characterized in that: The second differential gear set (23) comprises a second flexible synchronous belt (231) and a plurality of second differential gears (232), wherein the plurality of first differential gears (222) and the second The differential gears (232) are arranged in a one-to-one correspondence, the connecting rods (21) are multiple and correspond to the multiple first differential gears (222), and the second flexible synchronous belt (231) surrounds the circumferential outer side of the multiple second differential gears (232).

4. The reducer according to claim 3, characterized in that: The driven gear set (30) comprises an output shaft (31) and an output gear (32), wherein the output shaft (31) is fixedly arranged at the center of the output gear (32), and the output gear (32) cooperates with the second flexible synchronous belt (231) so that the plurality of second differential gears (232) drive the output gear (32).

5. The reducer according to claim 4, characterized in that: The plurality of second differential gears (232) are evenly located outside the output gear (32) in the circumferential direction.

6. The reducer according to claim 2, characterized in that: The driving gear set (10) further comprises a fixed gear (13), a plurality of the first differential gears (222) are evenly arranged on the circumferential outer side of the fixed gear (13), the first flexible synchronous belt (221) is meshed with the fixed gear (13), and the input shaft (11) passes through the fixed gear (13) and is rotatably arranged relative to the fixed gear (13).

7. The reducer according to claim 6, characterized in that: The reducer further comprises a fixed bracket (50), and the fixed gear (13) is fixedly connected to the fixed bracket (50).

8. The reducer according to claim 1, characterized in that: The driving lever (12) is located between the first differential gear set (22) and the second differential gear set (23).

9. The reducer according to claim 1, characterized in that: There are a plurality of driving levers (12), and the connecting rods (21) are arranged one-to-one correspondingly to the plurality of driving levers (12). The first end of each driving lever (12) is fixedly connected to the input shaft (11), and the second end of each driving lever (12) has a pivot hole, and each connecting rod (21) is correspondingly inserted into each pivot hole.

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