A rolling star-wheel reducer with an inner gear in the form of a multi-segmented gear wheel

Abstract

The application discloses a rolling movable tooth speed reducer with multi-section fan-shaped gear inner gear, which comprises a first-stage planetary speed reducer assembly arranged between two shock absorbers, realizes the overlap of axial space, further comprises an eccentric assembly, the main body of which is a planet carrier, two eccentric cylindrical surfaces are prepared on the planet carrier, and two shock absorbers are supported by two groups of eccentric bearings respectively, further comprises a movable tooth carrier assembly, the movable tooth carrier comprises a movable tooth carrier front part, a movable tooth carrier middle part and a movable tooth carrier rear part, further comprises a group of inner gear assemblies, the group of inner gear assemblies comprises a front inner gear assembly and a rear inner gear assembly, the front and rear inner gear assemblies are respectively composed of a group of fan-shaped gear sections, so that the inner gear can be processed by a similar method as the outer gear, thereby reducing the processing difficulty of the inner gear, and further comprises two groups of movable tooth assemblies installed in two circles of radial rectangular grooves of the movable tooth carrier, each group of movable tooth assemblies is composed of multiple rows of rollers in radial contact, and rolling contact can be realized between the movable tooth assembly and the inner gear and the shock absorber.

Description

Technical Field

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

[0002] Cycloid RV reducers and harmonic reducers are widely used in precision reducers for industrial robots. Harmonic reducers have lower load-bearing strength and stiffness than RV reducers and require higher material performance. Their lifespan decreases significantly with age.

[0003] Compared with RV reducers or harmonic reducers, movable tooth reducers have the advantages of strong load-bearing capacity, high rigidity and long life. They have the potential to replace and surpass RV and harmonic reducers. However, in order to obtain a larger reducer ratio, it is necessary to add a first-stage planetary reducer device. However, in order to reduce sliding friction, the rollers of the movable tooth reducer proposed in the early stage adopt an axial multi-row structure, which increases the overall length of the movable tooth reducer and reduces the volume advantage of the movable tooth reducer. In addition, the existing movable tooth reducers often have high requirements on processing accuracy, the internal gear has a small diameter, the grinding process is difficult, and the processing efficiency is low. Therefore, there is an urgent need for a rolling movable tooth reducer whose internal gear is a multi-segment sector gear to solve the above problems. Summary of the Invention

[0004] The present invention provides a rolling movable tooth reducer with a multi-segment sector gear as its internal gear, which can reuse space for transmission, is easy to process and has high working efficiency, so as to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a rolling movable tooth reducer whose internal gear is a multi-stage sector gear, comprising: a first-stage planetary reducer assembly and a second-stage movable tooth reducer assembly, wherein:

[0006] The first-stage planetary reducer assembly includes a sun gear connected to the output shaft of the motor, a planetary carrier integrated with the eccentric shaft, and a set of planetary gears installed in the hollow area of ​​the planetary carrier; the planetary reducer assembly is placed between the two rows of shock wave generators to provide the eccentric shaft with rotational motion after the first-stage reduction;

[0007] The second-stage movable tooth reducer assembly includes an eccentric shaft assembly, a movable tooth carrier assembly, an internal gear assembly, and two rings of movable tooth assemblies installed in the radial rectangular grooves of the movable tooth carrier assembly. The eccentric shaft assembly and the movable tooth carrier assembly are supported by two journal bearings installed at both ends of the eccentric shaft. The movable tooth carrier assembly and the inner gear ring assembly are supported by two rows of angular contact support bearing rolling assemblies.

[0008] Each movable tooth assembly comprises a plurality of rows of roller assemblies, wherein one row of roller assemblies contacts the shock wave generator, and one row of roller assemblies contacts the gear teeth of the internal gear; and

[0009] An internal gear assembly containing multi-lobed sector gear segments, wherein the internal gear is divided into multiple sector segments along the circumferential direction and connected to the internal gear mounting plate through positioning pins and connecting screws to form a front inner ring gear assembly and a rear inner ring gear assembly respectively.

[0010] Preferably, the center of the planetary wheel is fixed by a core shaft, and a bearing is installed between the core shaft and the planetary wheel.

[0011] Preferably, the movable tooth rack assembly includes a movable tooth rack front piece, a movable tooth rack middle piece and a movable tooth rack rear piece, and the movable tooth rack front piece, the movable tooth rack middle piece and the movable tooth rack rear piece are connected by connecting screws, wherein the movable tooth rack front piece, the movable tooth rack middle piece and the movable tooth rack rear piece are provided with the same number of movable tooth rectangular through holes, and a group of movable tooth components are provided in each movable tooth rectangular through hole.

[0012] Preferably, the movable tooth rack assembly has two circles of radial rectangular grooves, each rectangular groove includes two roller working surfaces and two end faces for limiting the axial transmission of the movable tooth assembly, wherein the two rectangular groove end faces closest to the two circles of radial grooves are proximal faces, and the other two are distal faces, and the movable tooth rack front part, the movable tooth rack rear part and the movable tooth rack middle part are all combined at the two distal faces to ensure that the roller working surface on each rectangular groove is on one part.

[0013] Preferably, the front inner gear ring assembly and the rear inner gear ring assembly are positioned by steel balls and stoppers, and both the front inner gear ring assembly and the rear inner gear ring assembly include a bearing outer ring, an inner gear ring and an inner gear ring mounting plate.

[0014] Preferably, support bearing rolling assemblies are installed between the front inner gear ring assembly and the front piece of the movable gear rack, and between the rear inner gear ring assembly and the rear piece of the movable gear rack.

[0015] Preferably, the support bearing rolling assembly is a cross roller bearing located in the middle of the movable gear rack or two rows of angular contact bearings located at both ends.

[0016] Preferably, the movable tooth assembly includes two rows of roller assemblies, one row of roller assemblies includes a lower core shaft, a lower middle roller is sleeved at the center of the lower core shaft, and lower side rollers are coaxially installed at both ends of the lower core shaft, wherein a lower roller bearing is installed between the lower middle roller and the lower core shaft, and the other row of roller assemblies includes an upper core shaft, upper side rollers are coaxially installed at both ends of the upper core shaft, and upper roller bearings are installed between the upper side roller and the upper core shaft.

[0017] Compared with the prior art, the present invention has the following beneficial effects: in the present invention, the planetary reducer assembly is placed between two rows of shock wave generators, and the eccentric shaft is cleverly used to realize the first-stage transmission. At the same time, the axial space occupied by the rollers at both ends of the movable teeth is used to realize axial overlap, thereby adding a stage of planetary reducer without increasing the axial length of the reducer, and reducing the axial length of the reducer.

[0018] In the present invention, the internal gear is mainly composed of multiple sector segments spliced ​​together along the circumferential direction, so that the internal gear can be processed using a method similar to that of the external gear, thereby reducing processing difficulty and improving processing efficiency.

[0019] In the present invention, the movable gear frame adopts a structure in which the radial groove side of the movable gear frame is split, so that all radial grooves can be machined on a movable gear frame middle piece, and the amount of groove grinding can be greatly reduced and the difficulty of axial groove matching can be lowered. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0021] In the attached figure:

[0022] Figure 1 This is an axial cross-sectional view of the movable tooth reducer of the present invention;

[0023] Figure 2 This is a right side view of the movable tooth reducer of the present invention;

[0024] Figure 3 is a cross-sectional view of a planetary reducer assembly of the present invention;

[0025] Figure 4 is a cross-sectional view of the movable tooth rack of the present invention;

[0026] Figure 5 This is a cross-sectional view of the movable gear rack axis of the present invention;

[0027] Figure 6 is a cross-sectional view of the movable tooth assembly of the present invention;

[0028] Figure 7 This is a cross-sectional view of the movable tooth reducer portion BB of the present invention;

[0029] Figure 8 This is a cross-sectional view of the AA section of the movable tooth reducer of the present invention;

[0030] Figure 9 is an end view of the internal gear assembly of the present invention;

[0031] Figure 10 is a cross-sectional view of the internal gear shaft of the present invention;

[0032] Figure 11 This is a cross-sectional view of a movable tooth reducer with a centrally located main bearing according to the present invention;

[0033] Numbers in the figure: 1. First planetary reducer assembly; 101. Sun gear; 102. Planet carrier; 104. Planet gear; 105. Bearing; 106. Mandrel; 2. Right shock wave bearing retaining ring; 3. Journal bearing; 4. Eccentric shaft end seal ring; 5. Journal bearing gland; 6. Active gear rack assembly; 601. Active gear rack front piece; 602. Active gear rack middle piece; 603. Active gear rack rear piece; 604. Connecting screw; 7. Support bearing rolling assembly; 8. Internal gear assembly; 801. Front bearing outer ring; 802. Front inner gear ring; 80 3. Front inner gear ring mounting plate; 804. Rear inner gear ring mounting plate; 805. Rear inner gear ring; 806. Steel ball; 807. Rear bearing outer ring; 808. First connecting screw; 809. Positioning pin; 810. Second connecting screw; 9. Movable tooth assembly; 901. Lower side roller; 902. Lower core shaft; 903. Roller bearing; 904. Lower middle roller; 905. Upper core shaft; 906. Upper roller bearing; 907. Upper side roller; 10. Shockwave; 11. Spacer sleeve for shockwave; 12. Shockwave bearing. DETAILED DESCRIPTION

[0034] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0035] Example: Figure 1-Figure 2 ,as well as Figure 11 As shown, a rolling movable tooth reducer includes a first planetary reducer assembly 1, a right shock wave bearing retaining ring 2, a journal bearing 3, an eccentric shaft end seal ring 4, a journal bearing gland 5, a movable tooth carrier assembly 6, a support bearing rolling assembly 7, an internal gear assembly 8, a movable tooth assembly 9, a shock wave generator 10, a shock wave generator spacer sleeve 11, and a shock wave generator bearing 12;

[0036] Among them, reference Figure 3 , which is a cross-sectional view of a planetary reducer assembly in a movable tooth reducer; the first planetary reducer assembly includes a sun gear 101 connected to the output shaft of the motor and a planet carrier 102 integrated with the eccentric shaft, and a set of planetary gears 104 installed in the hollow area of ​​the planet carrier; Figure 3As shown, the outermost ring is the movable gear rack middle piece 602, wherein the planetary reducer assembly is placed between the two rows of shock wave generators 10, and the area between the two eccentric journals of the eccentric shaft is fully utilized to form a planetary rack and support 2-3 planetary gears to achieve the first stage of reduction. This stage of transmission utilizes the space near the middle of both ends of the movable gear assembly and is also used as the support space of the core shaft of the planetary gear, achieving axial space overlap, thereby adding a stage of planetary reducer without increasing the axial length of the reducer, effectively reducing the axial length of the reducer; wherein, the center of the planetary gear 104 is fixed by the core shaft 106, and a bearing 105 is installed between the core shaft and the planetary gear;

[0037] refer to Figure 4 and Figure 5 , which are cross-sectional views and axial cross-sectional views of the movable gear rack, the movable gear rack includes a front movable gear rack member 601, an intermediate movable gear rack member 602, and a rear movable gear rack member 603, and the front movable gear rack member, the intermediate movable gear rack member, and the rear movable gear rack member are connected by connecting screws 604, wherein the front movable gear rack member 601, the intermediate movable gear rack member 602, and the rear movable gear rack member 603 are provided with the same number of movable tooth rectangular through holes, and each movable tooth rectangular through hole is provided with a group of movable tooth components 9;

[0038] The movable tooth rack assembly has two circles of radial rectangular grooves, each of which contains two roller working surfaces and two end surfaces for limiting the axial transmission of the movable tooth assembly. The two rectangular groove end surfaces closest to the two circles of radial grooves are proximal end surfaces, and the other two are distal end surfaces. The movable tooth rack front piece 601, the movable tooth rack middle piece 602, and the movable tooth rack rear piece 603 are all connected at the two distal end surfaces to ensure that the roller working surfaces on each rectangular groove are on a single part. This allows all radial grooves to be machined on a single movable tooth rack middle piece. Compared with the existing structure of splitting the groove from the middle, this can significantly reduce the amount of groove grinding and reduce the difficulty of axial groove matching.

[0039] refer to Figure 6 The figure shows a cross-sectional view of the movable tooth assembly. In this embodiment, the movable tooth assembly 9 includes two rows of movable tooth mechanisms in contact with each other, the first row of movable tooth mechanisms is in contact with the shock wave generator, and the second row of movable tooth mechanisms is in contact with the gear teeth of the internal teeth; wherein, the first row of movable tooth mechanisms includes a lower core shaft 902, a lower middle roller 904 is sleeved at the center of the lower core shaft 902, and lower side rollers 901 are coaxially installed at both ends of the lower core shaft 902, wherein a roller bearing 903 is installed between the lower middle roller and the lower core shaft; the second row of movable tooth mechanisms includes an upper core shaft 905, upper side rollers 907 are coaxially installed at both ends of the upper core shaft 905, and an upper roller bearing 906 is installed between the upper side roller 907 and the upper core shaft 905.

[0040] The internal gear 8, the internal gear assembly 8 is mainly composed of multiple sector segments along the circumferential direction, refer to Figure 7 The figure shows the BB section of the movable tooth reducer. The internal gear in the figure is composed of three independent sector segments. Figure 8 The figure shows the AA section of the movable tooth reducer. The actual number of segments can be adjusted between 2 and 4 sector structures according to actual conditions.

[0041] refer to Figure 9-10 The figure shows an end view of the internal gear assembly and a cross-sectional view of the internal gear shaft, wherein the internal gear assembly includes a front inner ring gear assembly and a rear inner ring gear assembly along its axial direction, the front inner ring gear assembly and the rear inner ring gear assembly are positioned by a steel ball 806 and a stopper or with the help of an external device, and the front inner ring gear assembly and the rear inner ring gear assembly each include a bearing outer ring, an inner ring gear and an inner ring gear mounting plate;

[0042] That is, reference Figure 7 As shown, it includes a front bearing outer ring 801, a front inner gear ring 802, a front inner gear ring mounting plate 803, a rear inner gear ring mounting plate 804, a rear inner gear ring 805, and a rear bearing outer ring 807; and each structure is fixed by a positioning pin 809, a first connecting screw 808, and a second connecting screw 810. Among them, a support bearing rolling assembly 7 is installed between the front inner gear ring assembly and the front part of the movable gear rack, and between the rear inner gear ring assembly and the rear part of the movable gear rack. The support bearing rolling assembly 7 is a cross roller bearing located in the middle of the movable gear rack or two rows of angular contact bearings at both ends and other bearing assemblies with similar functions.

[0043] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A rolling movable tooth reducer whose internal gear is a multi-segment sector gear, characterized in that: include: The first stage planetary reducer assembly and the second stage movable tooth reducer assembly, wherein: The first-stage planetary reducer assembly includes a sun gear connected to the output shaft of the motor, a planetary carrier integrated with the eccentric shaft, and a set of planetary gears installed in the hollow area of ​​the planetary carrier; the planetary reducer assembly is placed between the two rows of shock wave generators to provide the eccentric shaft with rotational motion after the first-stage reduction; The second-stage movable tooth reducer assembly includes an eccentric shaft assembly, a movable tooth carrier assembly, an internal gear assembly, and two rings of movable tooth assemblies installed in the radial rectangular grooves of the movable tooth carrier assembly. The eccentric shaft assembly and the movable tooth carrier assembly are supported by two journal bearings installed at both ends of the eccentric shaft. The movable tooth carrier assembly and the inner gear ring assembly are supported by two rows of angular contact support bearing rolling assemblies. Each movable tooth assembly comprises a plurality of rows of roller assemblies, wherein one row of roller assemblies contacts the shock wave generator, and one row of roller assemblies contacts the gear teeth of the internal gear; and An internal gear assembly containing multi-lobed sector gear segments, wherein the internal gear is divided into multiple sector segments along the circumferential direction and connected to the internal gear mounting plate through positioning pins and connecting screws to form a front inner ring gear assembly and a rear inner ring gear assembly respectively.

2. The rolling movable tooth reducer with a multi-segment sector gear as claimed in claim 1, characterized in that: The center of the planetary gear is fixed by a core shaft, and a bearing is installed between the core shaft and the planetary gear.

3. The rolling movable tooth reducer with a multi-segment sector gear as claimed in claim 1, characterized in that: The movable tooth rack includes a front piece, a middle piece and a rear piece, and the front piece, the middle piece and the rear piece are connected by connecting screws, wherein the front piece, the middle piece and the rear piece are provided with the same number of movable tooth rectangular through holes, and each movable tooth rectangular through hole is provided with a group of movable tooth components.

4. The rolling movable tooth reducer with a multi-segment sector gear as claimed in claim 3, characterized in that: The movable tooth rack assembly has two circles of radial rectangular grooves, each rectangular groove includes two roller working surfaces and two end surfaces for limiting the axial transmission of the movable tooth assembly, wherein the two rectangular groove end surfaces closest to the two circles of radial grooves are proximal surfaces, and the other two are distal surfaces. The movable tooth rack front part, the movable tooth rack rear part and the movable tooth rack middle part are all combined at the two distal surfaces to ensure that the roller working surface on each rectangular groove is on one part.

5. The rolling movable tooth reducer with a multi-segment sector gear as claimed in claim 4, characterized in that: The front inner gear ring assembly and the rear inner gear ring assembly are positioned by means of steel balls and stoppers, and both the front inner gear ring assembly and the rear inner gear ring assembly include a bearing outer ring, an inner gear ring and an inner gear ring mounting plate.

6. The rolling movable tooth reducer with a multi-segment sector gear as claimed in claim 5, characterized in that: Support bearing rolling assemblies are installed between the front inner gear ring assembly and the front piece of the movable gear rack, as well as between the rear inner gear ring assembly and the rear piece of the movable gear rack.

7. The rolling movable tooth reducer with a multi-segment sector gear as claimed in claim 6, characterized in that: The supporting bearing rolling assembly is a cross roller bearing located in the middle of the movable gear rack or two rows of angular contact bearings located at both ends.

8. The rolling movable tooth reducer with a multi-segment sector gear as claimed in claim 1, characterized in that: The movable tooth assembly includes two rows of roller assemblies, one row of roller assemblies includes a lower core shaft, a lower middle roller is sleeved at the center of the lower core shaft, and lower side rollers are coaxially installed at both ends of the lower core shaft, wherein a lower roller bearing is installed between the lower middle roller and the lower core shaft, and the other row of roller assemblies includes an upper core shaft, upper side rollers are coaxially installed at both ends of the upper core shaft, and an upper roller bearing is installed between the upper side roller and the upper core shaft.

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