Modular high-precision gear box configuration

Abstract

A modular high-precision gearbox configuration (1) is disclosed, comprising at least a first gearbox (2) and a second gearbox (4). The first gearbox (2) includes a rotatable first hollow gear (6), a fixed second hollow gear (8), and at least one double planetary gear. The at least one double planetary gear has a first planetary gear stage and a second planetary gear stage. The first planetary gear stage has at least one first planetary gear (12), and the second planetary gear stage has at least one second planetary gear (14). One first planetary gear (12) of the first planetary gear stage and one second planetary gear (14) of the second planetary gear stage are configured on a planetary gear shaft (10). At least one first planetary gear (12) of the first planetary gear stage meshes with the first hollow gear (6). At least one second planetary gear (14) of the two planetary gear stages meshes with a second hollow gear (8), wherein the first hollow gear (6) is connected to the output section (18); wherein the second gearbox (4) includes a fixed hollow gear (8) for the second hollow gear (8) of the first gearbox (2) and at least one planetary gear disposed at the second planetary gear stage of at least one double planetary gear of the first gearbox (2), wherein, in particular, at least one planetary gear is the second planetary gear (14) of at least one double planetary gear of the first gearbox (2), wherein the second gearbox (4) also includes an input section (M) for driving the planetary gear shaft (10), wherein the input section (M) is centrally or eccentrically disposed relative to the central rotation axis (X) of the gearbox configuration (1).

Description

Technical Field

[0001] This invention relates to a modular high-precision gearbox configuration according to claim 1. Background Technology

[0002] High-precision gearboxes primarily feature coaxially positioned motors, driving the gearbox via a centrally located pinion or sun gear. If an eccentrically positioned motor is required, for example, because the gearbox should have a hollow shaft allowing cables to pass directly through it, the technical solution typically necessitates altering the structure of the centrally driven gearbox, or requiring a more complex input stage. For gearboxes with an eccentrically positioned motor, the required centering position usually necessitates a more complex input stage. In this case, the increased complexity can lead to more components, a more complex gear structure compared to a single spur gear stage, and greater power losses due to additional gear tooth contact, bearings, and an additional, longer, and less efficient power flow. Summary of the Invention

[0003] Therefore, the object of the present invention is to provide a high-precision gearbox configuration that allows for the realization of a high-precision gearbox configuration with both central and eccentric input drives.

[0004] This objective is achieved by the modular high-precision gearbox configuration according to claim 1.

[0005] The modular high-precision gearbox configuration includes at least a first gearbox and a second gearbox. The first gearbox includes a rotatable first hollow gear, a fixed second hollow gear, and at least one double planetary gear. The at least one double planetary gear has a first planetary stage and a second planetary stage. The first planetary stage has at least one first planetary gear, and the second planetary stage has at least one second planetary gear. One first planetary gear of the first planetary stage and one second planetary gear of the second planetary stage are configured on a planetary shaft. The at least one first planetary gear meshes with the first hollow gear, and the at least one second planetary gear meshes with the second hollow gear. Additionally, the first hollow gear is connected to an output support frame.

[0006] The second gearbox includes a fixed hollow gear that serves as the second hollow gear of the first gearbox and at least one planet gear disposed at a second planetary gear stage of at least one double planetary gear of the first gearbox. The at least one planet gear disposed at the second planetary gear stage may be a second planet gear of at least one double planetary gear of the first gearbox. Alternatively, the second planetary gear stage may include two second planet gears on a planetary gear shaft, one serving as a second planet gear of the first gearbox's double planetary gear, and the other serving as at least one planet gear of the second gearbox.

[0007] The second gearbox further includes an input section for driving the planetary gear shafts, wherein the input section is centrally or eccentrically configured relative to the central axis of rotation of the gearbox.

[0008] This configuration allows for the use of a second gearbox, which can be centrally or eccentrically driven in combination with the first gearbox, while the first gearbox remains identical for both drives. Since a portion of the second gearbox is also part of the first gearbox, the changes required to switch between centrally or eccentrically driven configurations are less significant compared to existing solutions. This provides a variably usable gearbox configuration.

[0009] In embodiments where the input or drive unit is eccentrically configured, the input unit may be coupled to an input pinion, which meshes with an input gear. The input gear is configured such that it drives a carrier connected to a planetary gear shaft, thereby driving the planetary gear shaft and thus the output carrier.

[0010] In contrast, in an embodiment where the input section is centrally located, the second gearbox may include a sun gear and a third planetary gear stage, the third planetary gear stage having at least one third planetary gear disposed on the planetary gear shaft, wherein the sun gear meshes with the at least one third planetary gear, and wherein the input section is centrally located and connected to the sun gear.

[0011] In this embodiment, for each planetary gear shaft, a third planetary gear stage is implemented on a planetary gear shaft that already has two planetary gear stages. The third planetary gear of the third planetary gear stage meshes with a centrally positioned sun gear driven by a centrally positioned motor. Therefore, the second gearbox includes a dual planetary gear system, wherein the first planetary gear stage of the dual planetary gear system is the second planetary gear stage of the first gearbox. Thus, the overall arrangement of the high-precision gearbox configuration consists of two dual planetary gearboxes.

[0012] In this centered configuration, the carrier can also be fixed and the second hollow wheel can be rotated.

[0013] According to another embodiment, the ratio of the first hollow gear to the first planetary gear (gear ratio) is greater than the ratio of the second hollow gear to the second planetary gear. For example, the ratio of the first hollow gear to the first planetary gear can be 68 / 24, and the ratio of the second hollow gear to the second planetary gear can be 68 / 26. This ratio can improve the efficiency of the gearbox configuration.

[0014] The gearbox configuration may include one or more planetary gear shafts, particularly two, three, or four planetary gear shafts, each having a first planetary gear stage, a second planetary gear stage, and a third planetary gear stage. Utilizing more than one planetary gear shaft allows load distribution across more than one shaft, thereby providing a longer shaft service life.

[0015] In this load-split configuration, where more than one planetary gear shaft is used and therefore more than one planetary gear per planetary stage, only one planetary gear shaft, or at least fewer than the total number of planetary gear shafts, can be driven. This can offer advantages in terms of reducing components and thus complexity, weight, and friction. This, in turn, can improve efficiency. Furthermore, using more than one planetary gear shaft provides the opportunity to utilize backlash elimination, as described below.

[0016] In another embodiment where the gearbox configuration includes at least two third planetary gears in the third planetary gear stage (i.e., at least two planetary gear shafts, each having one third planetary gear in the third planetary gear stage), the third planetary gears of the third planetary gear stage can be arranged opposite each other in the same plane. When the third planetary gears do not interfere with each other, they can be positioned in the same plane. In particular, when more than two third planetary gears are used, i.e., more than two planetary gear shafts, the third planetary gears may interfere when they are in the same plane (e.g., in the case of four planetary gear shafts), and two planetary gears positioned on opposite sides can be located in a different plane than the other two planetary gears. Therefore, third planetary gears arranged adjacent to each other are arranged in different planes.

[0017] To avoid interference between the third planetary gears, another possibility is to extend the sun gear from the input side to the output side. Then, a portion of the third planetary gears of the third planetary gear stage can be configured on the input side, and another portion of the third planetary gears of the third planetary gear stage can be configured on the output side. Specifically, in the case of a four-planetary gear shaft, the two planetary gears opposite each other in the third planetary gear stage can be located on the actual input stage side of the gearbox configuration, and the remaining (or other) planetary gears opposite each other can be located on the actual output stage side of the gearbox configuration. Different planetary gear arrangements are also possible; for example, all planetary gears can be located on the output side.

[0018] To reduce backlash, planetary gears can be preloaded. For example, the gearing of the first planetary gear on a planetary gear shaft can be preloaded clockwise to engage with the gearing of the first hollow gear. Furthermore, the gearing of the second planetary gear on a planetary gear shaft can be preloaded counterclockwise to engage with the gearing of the second hollow gear.

[0019] Alternatively, or as an alternative, the gears of the two opposing third planetary gears can be preloaded in a clockwise direction to engage with the gear of the sun gear. Furthermore, the gears of the remaining (or additional) two opposing third planetary gears can be preloaded in a counter-clockwise direction to engage with the gear of the sun gear.

[0020] The modular gearbox configuration offers a combination of a dual planetary gear structure (first gearbox) and another gear structure (second gearbox). In the dual planetary gear structure (first gearbox), each first and second planetary gear meshes with a hollow gear (for the gearbox described herein, this is considered the master gear module (MGM), which remains constant regardless of whether it is centrally driven or eccentrically driven). In the other gear structure (second gearbox), a (virtual) planetary gear meshes with an internal / hollow gear, and a third planetary gear meshes with a pinion / sun gear (for the gearbox described herein, this is considered the input gear module (IGM)). The second gearbox is either a dual planetary gear structure (in the case of a centrally driven gearbox configuration) or an open single planetary gear gearbox (in the case of an eccentrically driven gearbox configuration).

[0021] Simultaneously, the virtual planetary gears are part of the first and second gearboxes as described above. Therefore, the second planetary gear of the MGM and the virtual planetary gear of the IGM are identical components. The same applies to the carrier; that is, the carrier of the MGM is also the carrier of the IGM. The same applies to the planetary gear shafts; that is, the planetary gear shaft of the MGM is also the planetary gear shaft of the IGM. In another exemplary embodiment, the second planetary gear of the MGM and the virtual planetary gear of the IGM can be implemented as two separate planetary gears, both of which are part of the same planetary gear stage (i.e., the second planetary gear stage).

[0022] This offers the following advantages: gearboxes driven eccentrically and centrally can be implemented with the same master gear module (i.e., the same MGM reduction ratio, the same size, and the same interface).

[0023] Further preferred embodiments are defined in the dependent claims, as well as in the specification and drawings. Therefore, elements described or shown in combination with other elements may exist alone or in combination with other elements without departing from the scope of protection.

[0024] Preferred embodiments of the invention are described below with reference to the accompanying drawings, which are merely exemplary and not intended to limit the scope of protection. The scope of protection is defined only by the appended claims. Attached Figure Description

[0025] Figure 1 A schematic diagram of the modular high-precision gearbox configuration according to the first embodiment;

[0026] Figure 2 : A schematic diagram of the modular high-precision gearbox configuration according to the second embodiment;

[0027] Figure 3 (i.e., including) Figure 3a and Figure 3b ):according to Figure 2 Top view and partial cross-sectional view of the first alternative to the modular high-precision gearbox configuration;

[0028] Figure 4 (i.e., including) Figure 4a and Figure 4b ):according to Figure 2 Top view and partial cross-sectional view of the second alternative to the modular high-precision gearbox configuration; and

[0029] Figure 5 (i.e., including) Figure 5a and Figure 5b ):according to Figure 2 Top view and partial cross-sectional view of the third alternative to the modular high-precision gearbox configuration.

[0030] In the following text, elements that are the same or have similar functions are indicated by the same reference numerals. Detailed Implementation

[0031] Figure 1 A modular high-precision gearbox configuration 1 with a first gearbox 2 and a second gearbox 4 is shown. Figure 1 In this case, the second gearbox 4 is an open gearbox. The first gearbox 2 includes a rotatable first hollow gear 6 and a fixed second hollow gear 8. The first gearbox 2 also includes a planetary gear shaft 10, on which a first planetary gear 12 (representing a first planetary gear stage) and a second planetary gear 14 (representing a second planetary gear stage) are mounted to form a double planetary gear. The planetary gear shaft 10 is supported by planetary gear shaft bearings 16 and 22. The gears of the first planetary gear 12 mesh with the gears of the first hollow gear 6, and the gears of the second planetary gear 14 mesh with the gears of the second hollow gear 8.

[0032] Furthermore, the first hollow wheel 6 is connected to the output section 18. The output section 18 is supported by the support frame bearing 20. The output section 18 is positioned on the central rotation axis X.

[0033] The second gearbox 4 includes a fixed hollow gear 8, which is also part of the first gearbox 2. Furthermore, the second gearbox 4 includes planetary gears 14 disposed on planetary gear shafts 10, and both planetary gears 14 and planetary gear shafts 10 are part of the first gearbox 2.

[0034] The planetary gear shaft 10 is supported on one side of the second gearbox 4 via a planetary gear shaft bearing 22, and is also part of the first gearbox 2. In such a way... Figure 1 In the illustrated embodiment, the gearbox configuration 1 is eccentrically driven by the motor M. In this case, the motor or input unit M is connected to the input pinion 24. The input pinion 24 meshes with the input gear 26, which is connected to the input support frame 28. The input support frame 28, supported by the support frame bearing 30, is correspondingly connected to the planetary gear shaft bearing 22.

[0035] Since a portion of the first gearbox 2 and a portion of the second gearbox 4 are identical components, this provides a simple way to configure gearbox configuration 1, which can be used with, for example, Figure 1 It can be used with the eccentrically configured input section shown, and can also be used with, for example, Figure 2 The input section with the eccentric configuration shown is used together, which will be described below.

[0036] With input pinion 24 and input gear 26 Figure 1 Compared to the implementation method, Figure 2 In this embodiment, the second gearbox 4 includes a third planetary gear 32 (representing a third planetary gear stage), which is also disposed on the planetary gear shaft 10. The third planetary gear 32 meshes with a sun gear 34, which is connected to and driven via the input unit M.

[0037] The sun gear 34 is centrally positioned on the central axis of rotation X, together with the input unit M. In this embodiment, both the first gearbox 2 and the second gearbox 4 include double planetary gears, wherein the second planetary gear 14 (i.e., the second planetary gear stage) of the first gearbox 2 is also the first planetary gear 14 of the second gearbox 4. As can be seen, the same basic configuration (especially the same first gearbox 2) can be used with the input unit M, which is centrally or eccentrically positioned.

[0038] Despite Figure 2The diagram shows only one planetary gear shaft 10 with one third planetary gear 32, but the second gearbox 4 may include more than one planetary gear shaft 10, and therefore more than one third planetary gear 32 in the third planetary gear stage. Thus, the number of planetary gear shafts 10 can be more than one, such as two, three, or four (or even more), and some examples of these configurations are shown in Figures 3 through 5 below. More than one planetary gear shaft 10 can be used, for example, to distribute loads among the planetary gear shafts 10, thereby increasing the service life of the entire gearbox configuration 1.

[0039] Figure 3a and Figure 3b An example with two planetary gear shafts 10-1 and 10-2 is shown. As can be seen, the two planetary gear shafts 10-1 and 10-2 are configured opposite each other relative to the sun gear 34. On each planetary gear shaft 10-1 and 10-2, a third planetary gear 32-1 and 32-2 are configured in a third planetary gear stage. Although not shown, the planetary gear shafts 10-1 and 10-2 also include a first planetary gear stage and a second planetary gear stage, wherein each planetary gear shaft 10-1 and 10-2 includes one planetary gear for each planetary gear stage. Figure 3a cross-sectional view Figure 3b As can be seen from this, the third planetary gears 32-1 and 32-2 can be configured in the same plane because they do not interfere with each other.

[0040] When using four planetary gear shafts 10-1, 10-2, 10-3, and 10-4, the corresponding third planetary gears 32-1, 32-2, 32-3, and 32-4 of the third planetary gear stage may interfere. For example, in... Figure 4a As can be seen, the third planetary gears 32-1, 32-2, 32-3, and 32-4 overlap. To avoid interference between the third planetary gears 32-1, 32-2, 32-3, and 32-4, they can therefore be arranged in different planes. For example... Figure 4b As shown, two opposing third planetary gears 32-1 and 32-3 are arranged in the same plane, while two other opposing planetary gears 32-2 and 32-4 are arranged in different planes relative to the third planetary gears 32-1 and 32-3. This provides the advantage that the third planetary gears do not interfere with each other because the opposing third planetary gears 32-1 and 32-3 are arranged in different planes from the other third planetary gears 32-2 and 32-4.

[0041] Another possibility is to configure the two third planetary gears 32-1 and 32-3 at the input stage of gearbox configuration 1, and configure the remaining third planetary gears 32-2 and 32-4 at the output stage of gearbox configuration 1, such as... Figure 5a and Figure 5bAs shown. In this case, the sun gear 34 can extend from the input side (i.e., from the input section M) to the output side, and the third planetary gear stage is divided into two parts. In addition, other arrangements not shown are also possible.

[0042] Because of this gearbox configuration, a second gearbox can be used, which can be centrally or eccentrically driven in combination with the first gearbox, while the first gearbox remains identical for both drives. Since the first gearbox does not require any changes when switching between the centrally or eccentrically driven configurations, the overall change required in the gearbox configuration is smaller compared to existing solutions. This provides a gearbox configuration with variable availability.

[0043] Figure Labels

[0044] 1. Modular high-precision gearbox configuration

[0045] 2 First Gearbox

[0046] 4 Second Gearbox

[0047] 6 First hollow wheel

[0048] 8 Second hollow wheel

[0049] 10 Planetary gear axles

[0050] 12 First Planetary Wheel

[0051] 14 Second Planetary Wheel

[0052] 16 Planetary gear shaft bearings

[0053] 18 Output Section

[0054] 20 Bearing Frame

[0055] 22 Planetary gear shaft bearings

[0056] 24 Input pinion

[0057] 26 Input gear

[0058] 28 Support frame

[0059] 30 Bearing Frame

[0060] 32 Third Planetary Wheel

[0061] 34. Sun Wheel

[0062] M Motor / Input Section

[0063] X-axis of rotation

Claims

1. A modular high-precision gearbox configuration (1), comprising at least a first gearbox (2) and a second gearbox (4), wherein, The first gearbox (2) includes a rotatable first hollow gear (6), a fixed second hollow gear (8), and at least one double planetary gear. The at least one double planetary gear has a first planetary stage and a second planetary stage. The first planetary stage has at least one first planetary gear (12), and the second planetary stage has at least one second planetary gear (14). One first planetary gear (12) of the first planetary stage and one second planetary gear (14) of the second planetary stage are disposed on a planetary gear shaft (10). At least one first planetary gear (12) of the first planetary stage meshes with the first hollow gear (6), and at least one second planetary gear (14) of the second planetary stage meshes with the second hollow gear (8). The first hollow gear (6) is connected to the output section (18). The second gearbox (4) includes a fixed hollow gear (8) for the second hollow gear (8) of the first gearbox (2) and at least one planet gear disposed at the second planet gear stage of at least one double planet gear of the first gearbox (2), wherein the at least one planet gear is the second planet gear (14) of at least one double planet gear of the first gearbox (2), wherein the second gearbox (4) further includes an input section (M) for driving the planet gear shaft (10), wherein the input section (M) is centrally or eccentrically disposed relative to the central rotation axis (X) of the gearbox configuration (1), The second gearbox (4) further includes meshing input pinion (24) and input gear (26), wherein the input gear (26) is configured to drive a carrier (28) connected to the planetary gear shaft (10), and the input section (M) is eccentrically configured and connected to the input pinion (24), or The second gearbox (4) further includes a sun gear (34) and a third planetary gear stage, the third planetary gear stage having at least one third planetary gear (32) disposed on the planetary gear shaft (10), wherein the sun gear (34) meshes with the at least one third planetary gear (32), wherein the input section (M) is centrally disposed and connected to the sun gear (34) to enable switching between a centrally disposed drive and an eccentrically disposed drive.

2. The modular high-precision gearbox configuration according to claim 1, characterized in that, The ratio of the first hollow wheel (6) to the first planetary wheel (12) is greater than the ratio of the second hollow wheel (8) to the second planetary wheel (14).

3. The modular high-precision gearbox configuration according to claim 1 or 2, characterized in that, The gearbox configuration (1) includes one or more planetary gear shafts (10), each planetary gear shaft having a first planetary gear stage, a second planetary gear stage and a third planetary gear stage.

4. The modular high-precision gearbox configuration according to claim 1 or 2, characterized in that, The gearbox configuration (1) includes at least two third planetary gears (32) in the third planetary gear stage, wherein the third planetary gears (32) arranged opposite to each other are arranged in the same plane.

5. The modular high-precision gearbox configuration according to claim 4, characterized in that, The third planetary gears (32) are arranged adjacent to each other in different planes.

6. The modular high-precision gearbox configuration according to claim 4, characterized in that, The sun gear (34) extends from the input side to the output side, wherein a portion of the third planet gear (32) of the third planet gear stage is disposed on the input side and a portion of the third planet gear (32) of the third planet gear stage is disposed on the output side.

7. The modular high-precision gearbox configuration according to claim 1 or 2, characterized in that, The first planetary gear (12), the second planetary gear (14) and the third planetary gear (32) are preloaded to reduce backlash.

8. The modular high-precision gearbox configuration according to claim 1 or 2, characterized in that, The gearbox configuration (1) includes two, three or four planetary gear shafts (10), each planetary gear shaft having a first planetary gear stage, a second planetary gear stage and a third planetary gear stage.

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