A high speed ratio, high load-bearing, ultra-thin precision reduction device

Abstract

The present invention relates to a high-speed ratio, high-load ultra-thin precision reduction device, which is characterized by: an input support seat, a pin gear housing and a mounting plate constitute a housing part, the three are fixedly connected by screws, and pin gear pins are evenly installed on the inner ring of the pin gear housing; the planet carrier is supported in the housing by two output support bearings; the input gear shaft is supported and matched with the inner hole of the planet carrier by two input support bearings; the three eccentric gear shafts are composed of a gear part located in the middle, a bearing mounting part located at both ends and two eccentric outer circular parts arranged oppositely, and the gear part is meshed with the gear part of the input gear shaft; the three eccentric gears are respectively installed in three groups of bearing mounting holes on the planet carrier through support bearings located at both ends; two cycloid wheels are arranged on both sides of the gear parts of the three eccentric gear shafts, and are respectively rotatably matched with the eccentric outer circular parts on both sides of the three eccentric gear shafts through three driving holes; the outer rings of the two cycloid wheels are meshed with the pin gear pins. The present invention shortens the axial dimension and can meet the high-speed adaptability requirements.

Description

Technical Field

[0001] The invention belongs to the field of precision mechanical transmission, and in particular relates to a high-speed ratio, high-load, ultra-thin precision reduction device. Background Art

[0002] In recent years, as equipment has developed towards intelligence, unmanned operation and autonomy, high-reliability precision reduction devices with unmanned equipment stations, AGV drive platforms, underwater unmanned vehicles and special robots as the main application scenarios have become a bottleneck problem in development. Higher and higher requirements are placed on the transmission accuracy, energy density, impact resistance, volume and life of the reduction device itself. From the current mainstream transmission form in the industry, planetary or harmonic transmission is mainly used in the field of unmanned equipment station drive, but the shortcomings are also very obvious. Planetary transmission is the most mature, but its own axial dimension is too long, the transmission accuracy is the lowest, and the speed ratio is small. Although the harmonic drive has obvious volume advantages, its overload capacity is limited and its reliability is poor. Especially for high-precision operating conditions with a speed ratio of >150Nm, overload impact resistance >3 times the rated torque, and transmission accuracy <1 arc minute.

[0003] Cycloid planetary reducers (RV reducers) have the most obvious advantages in terms of high speed ratio, strong overload and high-precision transmission. However, existing reducers of this type have problems such as long axial size, heavy weight, poor high-speed adaptability and high high-speed noise. They are not suitable for application scenarios such as unmanned equipment stations, AGV drive platforms, underwater unmanned vehicles and special robots. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a high-speed ratio, high-load, ultra-thin precision reduction gear that can shorten the axial dimension, reduce the weight, and meet the requirements of high-speed adaptability.

[0005] The above-mentioned object of the present invention is achieved by the following technical solutions:

[0006] A high-speed ratio, high-load, ultra-thin precision reduction device, characterized in that it includes an input gear shaft, an eccentric gear shaft, a planet carrier, a cycloid wheel, a pinion pin, a pinion housing, an input support seat, and a mounting plate;

[0007] The input support seat, the pinion housing and the mounting plate constitute the outer shell of the reduction gear, and the three are fixedly connected in sequence by screws, wherein the inner ring of the pinion housing is evenly installed with pinion pins along the circumferential direction; the planetary carrier is the power output part of the reduction gear, which is rotatably supported in the outer shell of the reduction gear through two output support bearings, and three groups of bearing mounting holes are evenly arranged on the planetary carrier along the circumferential direction; the input gear shaft is the power input part of the reduction gear, which forms a rotation support fit with the inner hole of the planetary carrier through two input support bearings; the input gear shaft adopts a two-part assembly form, the outer part is provided with an inner hole with a keyway for connecting the input shaft of an external drive motor, and a gear part is provided in the middle part of the inner part; there are three eccentric gear shafts, each of which consists of a gear located in the middle The planetary frame is composed of a part, bearing mounting parts at both ends and two eccentric outer circular parts between the bearing mounting parts and the gear part at both ends, the two eccentric outer circular parts are arranged 180 degrees relative to each other, and the gear parts of the three eccentric gear shafts are meshed with the gear part of the input gear shaft; the three eccentric gears are rotatably mounted in three groups of bearing mounting holes on the planetary frame through support bearings mounted on the bearing mounting parts at both ends; the cycloid wheel consists of two pieces, and three driving holes are evenly distributed along the circumferential direction on the two cycloid wheels, and a driving sleeve is fastened and installed in each driving hole, the two cycloid wheels are arranged on both sides of the gear parts of the three eccentric gear shafts, and form a relatively rotatable fit with the eccentric outer circular parts on both sides of the three eccentric gear shafts through the three driving holes; the outer rings of the two cycloid wheels are meshed with the pinion pins mounted on the pinion housing.

[0008] Further: the planet carrier is composed of two left and right parts coaxially connected by screws; a bearing mounting platform is respectively arranged on the outer circumferential surface of the left part and the right part of the planet carrier, and an output support bearing is respectively installed on the two bearing mounting platforms.

[0009] Furthermore: an input end lip seal ring is installed between the outer ring of the outer side of the input gear shaft and the inner hole of the input support seat, an output end lip seal ring is installed between the right side outer ring of the planetary carrier and the inner hole of the mounting plate, and an output sealing cover is fastened and installed in the right end inner hole of the planetary carrier on the outside of the right end of the input gear shaft.

[0010] Furthermore: the supporting bearings installed on the bearing mounting parts at both ends of the three eccentric gears all adopt symmetrically arranged double angular contact bearings.

[0011] The present invention has the following advantages and positive effects:

[0012] The present invention is based on the transmission principle of the cycloid planetary reducer and has the following advantages compared with the existing RV reducer:

[0013] 1. The present invention adopts a structural form in which the eccentric gear shaft is placed in the housing to realize the integrated design of the first-stage planetary gear and the crank shaft, and changes the original gear cantilever support to two-end support, thereby increasing the support stiffness, reducing the high-speed vibration of the high-speed gear, playing a role in noise reduction, and meeting the high-speed applicability.

[0014] 2. The present invention integrates the cycloid part and the planetary part without increasing the size of the cycloid part. On the basis of the planetary cycloid reducer, the axial dimension is further shortened, achieving a lightweight design. The structural size of the whole machine can be reduced by more than 30%, and the weight can be reduced by more than 20%.

[0015] 3. The present invention abandons the previous design method of open input end of planetary cycloid reducer and adopts the closed motor direct connection method, which is conducive to reducing the axial size and reducing the design difficulty of external connection.

[0016] 4. The present invention adopts the transmission parameter design method of the transmission principle of the cycloid planetary reducer, which can achieve the requirements of large speed ratio and high load.

[0017] 5. The appearance of the present invention can be flattened and rectangularized to reduce the volume.

[0018] In summary, the present invention adopts a two-stage composite transmission mode of planetary transmission + cycloid transmission, optimizes the transmission path, shortens the axial dimension, reduces the weight of the whole machine, and at the same time, ensures a large speed ratio and meshing strength of the overall transmission. At the same time, the end of the device adopts a symmetrical double angular contact bearing support mode to ensure the stability and bending strength of the whole machine's motion output. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the transmission principle diagram of the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the present invention;

[0021] Figure 3 This is an appearance diagram of the present invention. Figure 1 ;

[0022] Figure 4 This is an appearance diagram of the present invention. Figure 2 .

[0023] In the figure, 1-input support bearing; 2-input gear shaft; 3-cycloid wheel; 4-eccentric gear shaft; 5-pin gear pin 6-input support seat; 7-pin gear housing; 8-mounting plate; 9-planet carrier; 10-output support bearing; 11-output end lip seal ring 12-output sealing cover; 13-input end lip seal ring. DETAILED DESCRIPTION

[0024] The structure of the present invention is further described below with reference to the accompanying drawings and by way of examples. It should be noted that the present examples are descriptive rather than restrictive.

[0025] A high speed ratio, high load, ultra-thin precision reduction gear, see Figure 1-4 , mainly including input gear shaft 2, eccentric gear shaft 4, planet carrier 9, cycloid wheel 3, pin gear pin 5, pin gear housing 7, input support seat 6, and mounting plate 8.

[0026] The input support seat is an outer disc seat, and the input support seat, the pin gear housing and the mounting plate constitute the outer shell of the reduction device, and the three parts are fixed together by screws. Among them, pin gear pins are evenly installed in the inner ring of the pin gear housing along the circumferential direction.

[0027] The input gear shaft is a power input part of the reduction gear, and is assembled in two parts. The outer part is provided with an inner hole with a keyway, which is used to connect the input shaft of the external drive motor to realize the power input of the reduction gear. A bearing mounting part is provided at each end of the inner part, and a gear part is provided in the middle of the inner part. The gear part is used to mesh with the tooth part of the eccentric gear shaft, and a cycloidal wheel mounting part for accommodating a cycloidal wheel is provided between the gear part and the bearing mounting parts on both sides.

[0028] The input gear shaft is integrally mounted at the center of the reducer housing and is rotatably supported in the inner hole of the planet carrier through two input support bearings 1 mounted on the bearing mounting parts on both sides.

[0029] The planetary carrier is the power output part of the reduction gear, and the planetary carrier is composed of two left and right parts connected coaxially by screws. A bearing mounting platform is provided on the outer circumferential surface of the left and right parts of the planetary carrier, and an output support bearing 10 is installed on each of the two bearing mounting platforms. The two output support bearings form a rotation support fit with the reducer housing, and a cycloid wheel installation space is provided between the two output support bearings; three groups of bearing mounting holes evenly distributed along the circumference are aligned on the left and right parts of the planetary carrier.

[0030] There are three eccentric gear shafts, each of which is composed of a gear portion located in the middle, a bearing mounting portion located at both ends, and two eccentric outer circumferential portions located between the bearing mounting portion and the gear portion at both ends, and the two eccentric outer circumferential portions are arranged 180 degrees opposite to each other. The gear portions of the three eccentric gear shafts are meshed with the gear portion of the input gear shaft.

[0031] The three eccentric gears are rotatably mounted in three sets of bearing mounting holes on the planet carrier through support bearings mounted on the bearing mounting parts at both ends. The support bearings at both ends preferably use symmetrically arranged double angular contact bearings to ensure output bending resistance and operation stability.

[0032] The cycloid wheels are composed of two pieces, and three driving holes are evenly distributed along the circumferential direction on the two cycloid wheels. A driving sleeve is fastened and installed in each driving hole. The two cycloid wheels are arranged on both sides of the gear parts of the three eccentric gear shafts, and form a relatively rotatable fit with the eccentric outer circle parts on both sides of the three eccentric gear shafts through the three driving holes; the outer rings of the two cycloid wheels are meshed with the needle tooth pins installed on the needle tooth housing.

[0033] In addition to the above main technical features, in order to prevent oil leakage of the reduction device, an input end lip seal ring 13 is installed between the outer ring of the outer side of the input gear shaft and the inner hole of the input support seat, an output end lip seal ring 11 is installed between the right side outer ring of the planetary carrier and the inner hole of the mounting plate, and an output sealing cover 12 is fastened and installed in the right end inner hole of the planetary carrier on the outside of the right end of the input gear shaft.

[0034] The working principle of this high speed ratio, high load-bearing ultra-thin precision reduction device is:

[0035] The input gear shaft is connected to the external power drive, and the input gear shaft rotates. The eccentric gear shaft contacts the input gear shaft 2 through gears, driving the eccentric gear shaft to rotate. When the eccentric gear shaft rotates, it drives the cycloid wheel to revolve along the rotation center of the reducer device. In order to ensure the stability of the eccentric operation of the cycloid wheel, two 180° arrangements are used. When the cycloid wheel moves, it will engage with the pin pin in a cycloid meshing manner. Under the action of the contact force, the cycloid wheel will rotate in the opposite direction. The reverse rotation of the cycloid wheel will act on the three sets of eccentric gear shafts 4 at the same time, driving the eccentric gear shaft 4 to revolve in the opposite direction. Since the eccentric gear shaft is installed on the planetary carrier, it will eventually drive the planetary carrier to rotate in the opposite direction, and finally realize the motion output of the reduction device.

[0036] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A high speed ratio, high load-bearing, ultra-thin precision reduction gear, characterized by: It includes an input gear shaft, an eccentric gear shaft, a planet carrier, a cycloid wheel, a pin gear pin, a pin gear housing, an input support seat, and a mounting plate; The input support seat, the pinion housing and the mounting plate constitute the outer shell of the reduction gear, and the three are fixedly connected in sequence by screws, wherein the inner ring of the pinion housing is evenly installed with pinion pins along the circumferential direction; the planetary carrier is the power output part of the reduction gear, which is rotatably supported in the outer shell of the reduction gear through two output support bearings, and three groups of bearing mounting holes are evenly arranged on the planetary carrier along the circumferential direction; the input gear shaft is the power input part of the reduction gear, which forms a rotation support fit with the inner hole of the planetary carrier through two input support bearings; the input gear shaft adopts a two-part assembly form, the outer part is provided with an inner hole with a keyway for connecting the input shaft of an external drive motor, and a gear part is provided in the middle part of the inner part; there are three eccentric gear shafts, each of which consists of a gear located in the middle The planetary frame is composed of a part, bearing mounting parts at both ends and two eccentric outer circular parts between the bearing mounting parts and the gear part at both ends, the two eccentric outer circular parts are arranged 180 degrees relative to each other, and the gear parts of the three eccentric gear shafts are meshed with the gear part of the input gear shaft; the three eccentric gears are rotatably mounted in three groups of bearing mounting holes on the planetary frame through support bearings mounted on the bearing mounting parts at both ends; the cycloid wheel consists of two pieces, and three driving holes are evenly distributed along the circumferential direction on the two cycloid wheels, and a driving sleeve is fastened and installed in each driving hole, the two cycloid wheels are arranged on both sides of the gear parts of the three eccentric gear shafts, and form a relatively rotatable fit with the eccentric outer circular parts on both sides of the three eccentric gear shafts through the three driving holes; the outer rings of the two cycloid wheels are meshed with the pinion pins mounted on the pinion housing.

2. The high speed ratio, high load-bearing, ultra-thin precision reduction gear according to claim 1 is characterized in that: The planet carrier is composed of left and right parts coaxially connected by screws; a bearing mounting platform is respectively arranged on the outer circumferential surface of the left part and the right part of the planet carrier, and an output support bearing is respectively installed on the two bearing mounting platforms.

3. The high speed ratio, high load-bearing, ultra-thin precision reduction gear according to claim 1 is characterized in that: An input end lip seal ring is installed between the outer ring of the outer side of the input gear shaft and the inner hole of the input support seat, an output end lip seal ring is installed between the right outer ring of the planet carrier and the inner hole of the mounting plate, and an output seal cover is fastened and installed in the right end inner hole of the planet carrier on the outside of the right end of the input gear shaft.

4. The high speed ratio, high load-bearing, ultra-thin precision reduction gear according to claim 1, characterized in that: The supporting bearings installed on the bearing mounting parts at both ends of the three eccentric gears all adopt symmetrically arranged double angular contact bearings.

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