Composite satellite speed reducer and implementation method thereof

Abstract

The invention discloses a composite satellite speed reducer and an implementation method thereof and belongs to the technical field of mechanical equipment. The composite satellite speed reducer comprises a shell assembly, and a support assembly and a gear assembly are arranged in the shell assembly; the gear assembly is arranged on the support assembly. The gear assembly comprises a sun gear, a first planet gear component, a second planet gear component, a satellite gear and a gear ring. Wherein the sun gear is meshed with the first planet gear component; the first planet wheel component is meshed with the second planet wheel component and the satellite wheel. The first planet gear component is meshed with the first planet gear component, the second planet gear component is meshed with the satellite gear, the satellite gear is meshed with the gear ring for output, the first planet gear component and the second planet gear component form a duplex planet gear structure through overall meshing of gears, a duplex pinion is meshed with an adjacent duplex large gear at the same time, and then the satellite gear is added to form multi-layer meshing transmission. And the output torque is improved while the meshing tooth number and the speed ratio are increased.

Description

Technical Field

[0001] The present invention belongs to the technical field of speed reducers, and specifically refers to a new type of composite satellite speed reducer and its implementation method. Background Art

[0002] Planetary speed reducers are widely used industrial products that can reduce the speed of motors while increasing the output torque. Planetary speed reducers can be used as supporting components in industries such as lifting, excavation, transportation, and construction.

[0003] In the prior art, when a traditional speed reducer is connected to a motor, an additional mounting plate is required, resulting in a large number of parts, structural redundancy, and reduced overall reliability and strength; the multi-stage transmission design (such as multi-stage planetary gears in series) significantly increases the volume, with low internal space utilization rate, and a long transmission chain leads to large cumulative errors and obvious vibrations.

[0004] The single-stage speed ratio range of traditional planetary speed reducers is relatively small, and a large speed ratio needs to be achieved through multi-stage series, but this will cause a sharp increase in volume, making it difficult to meet the requirements of compact scenarios. The power distribution is unreasonable, the number of meshing teeth of the gears is small, resulting in insufficient output torque, and the wear of each tooth is fast, with a short precision retention time, and it cannot be adapted to high-load or high-precision scenarios.

[0005] Therefore, there is an urgent need to propose a new type of speed reducer to solve the above problems and make its performance meet the requirements for applications in fields such as robots and aerospace. Summary of the Invention

[0006] In view of the above situation, to overcome the defects of the prior art, the embodiments of the present invention provide a composite satellite speed reducer and its implementation method to solve the above technical problems.

[0007] The technical solution adopted in the embodiments of the present invention is as follows: A composite satellite speed reducer includes a housing assembly, and a bracket assembly and a gear assembly are arranged inside the housing assembly; the gear assembly is arranged on the bracket assembly; The gear assembly includes a sun gear, a first planetary gear member, a second planetary gear member, a satellite gear, and a ring gear; Among them, the sun gear meshes with the first planetary gear member; the first planetary gear member meshes with the second planetary gear member and the satellite gear respectively; the second planetary gear member meshes with the satellite gear, and the satellite gear meshes with the ring gear for output.

[0008] Further, the first planetary gear member includes a first double-connected large gear and a first double-connected small gear, and the second planetary gear member includes a second double-connected large gear and a second double-connected small gear; The first double-row large gear is respectively meshed with the corresponding sun gear and the second double-row small gear, the satellite gear is respectively meshed with the corresponding second double-row small gear and the first double-row small gear, and the second double-row large gear is meshed with the corresponding first double-row small gear.

[0009] Further, the number of the first planetary gear members is three, the number of the second planetary gear members and the satellite gears is six each, and the first planetary gear members, the second planetary gear members and the satellite gears are all arranged at equal intervals; The first planetary gear members, the second planetary gear members and the satellite gears are all arranged on the same circular orbit.

[0010] Further, the axes of the plurality of second planetary gear members are distributed in a hexagonal shape centered on the axis of the sun gear, and the axes of the plurality of satellite gears are distributed in a hexagonal shape centered on the axis of the sun gear.

[0011] Further, the housing assembly includes a machine base, a chassis and a machine cover. The machine base is connected to the chassis, and the machine cover is connected to the chassis; the ring gear and the bracket assembly are respectively connected to the machine base.

[0012] Further, the bracket assembly includes a front bracket, a middle bracket and a rear bracket. The middle bracket is detachably connected to the front bracket and the rear bracket respectively; The front bracket is connected to the machine base, and the sun gear, the first planetary gear members and the second planetary gear members are respectively connected to the front bracket and the rear bracket; The satellite gears are arranged on the middle bracket, and the rear bracket is used to close the rear end of the bracket assembly and jointly form a closed transmission cavity with the machine base and the chassis.

[0013] Further, a motor is provided in the housing assembly. The motor includes a rotor, a stator and a motor shaft. The stator is fixedly arranged in the housing assembly. The rotor is connected to the motor shaft to drive the rotation of the motor shaft, and the motor shaft is connected to the sun gear.

[0014] Further, the sun gear is connected to the bracket assembly through a circlip and a bearing. The machine base and the bracket assembly are connected through a bearing. The first planetary gear members and the second planetary gear members are respectively connected to the bracket assembly through bearings. A self-rotating bearing is arranged on the satellite gear.

[0015] Further, the total reduction ratio is calculated by the following formula: i = Z 一大 / Z 太阳 × Z 二大 / Z 一小 × Z 圈 / Z 卫 + 1; In the formula, Z 太阳is the number of teeth of the sun gear, Z 一大 is the number of teeth of the first double-row large gear, Z 一小 is the number of teeth of the first double-row small gear, Z 二大 is the number of teeth of the second double-row large gear, Z 卫 is the number of teeth of the satellite gear, Z 圈 is the number of teeth of the ring gear.

[0016] Furthermore, the present invention also provides an implementation method of a compound satellite speed reducer, including the following steps: Connect the front bracket and the machine base through bearings and then install the oil seal, and then install the ring gear at the corresponding position; Install the satellite gear with a self-rotating bearing to the corresponding position through a cylindrical pin, and then connect the middle bracket to the front bracket with screws after aligning the corresponding positions; Install the first planetary gear component and the second planetary gear component at the corresponding positions and then place the rear bracket, and connect the rear bracket and the middle bracket with screws; Install the sun gear and install the snap ring, install the corresponding bearing to the corresponding position of the chassis, and then connect the chassis and the machine base with screws; Install the motor at the corresponding position inside the chassis, connect the motor shaft to the sun gear, and then install the machine cover and connect it to the chassis with screws.

[0017] The beneficial effects achieved by the present invention with the above structure are as follows: (1) Through the overall meshing of gears, the present invention forms a double-row planetary gear structure with the first planetary gear component and the second planetary gear component, enabling the double-row small gear to mesh with the adjacent double-row large gear simultaneously, and then adding satellite gears to form a multi-layer meshing transmission, increasing the number of meshing teeth, increasing the speed ratio, and improving the output torque at the same time.

[0018] (2) The present invention shares a single overall bracket for two groups of double-row planetary gear components and satellite gears, and a single ring gear to shorten the transmission chain and reduce the cumulative error between each transmission chain.

[0019] (3) The present invention adopts a planetary mechanism, with a lower assembly difficulty and more convenient subsequent maintenance and replacement of parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional cross-sectional view of any angle of the embodiment of the present invention; Figure 2 is a three-dimensional cross-sectional view of another angle of the embodiment of the present invention; Figure 3 is a cross-sectional view of the embodiment of the present invention; Figure 4 is the transmission principle diagram of the embodiment of the present invention; Figure 5Schematic diagram of the first-stage transmission according to an embodiment of the present invention; Figure 6 Schematic diagram of the second-stage transmission according to an embodiment of the present invention; Figure 7 Schematic diagram of the third-stage transmission according to an embodiment of the present invention; Figure 8 Cross-sectional view of the bracket assembly according to an embodiment of the present invention; Figure 9 Left view according to an embodiment of the present invention; Figure 10 Right view according to an embodiment of the present invention.

[0021] In the figure: 11 - Machine base; 12 - Machine case; 13 - Machine cover; 21 - Front bracket; 22 - Middle bracket; 23 - Rear bracket; 31 - Sun gear; 32 - First planetary gear member; 33 - Second planetary gear member; 34 - Satellite gear; 35 - Ring gear; 141 - Rotor; 142 - Stator; 143 - Motor shaft; 311 - Snap ring; 321 - First double-connected large gear; 322 - First double-connected small gear; 331 - Second double-connected large gear; 332 - Second double-connected small gear; 341 - Cylindrical pin.

[0022] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0024] In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0025] As Figures 1-10 shown, the present invention provides a compound satellite speed reducer, including a housing assembly, and a bracket assembly and a gear assembly are arranged inside the housing assembly; the gear assembly is arranged on the bracket assembly; The gear assembly includes a sun gear 31, a first planetary gear member 32, a second planetary gear member 33, a satellite gear 34, and a ring gear 35; Among them, the sun gear 31 meshes with the first planetary gear member 32; the first planetary gear member 32 meshes with the second planetary gear member 33 and the satellite gear 34 respectively; the second planetary gear member 33 meshes with the satellite gear 34, and the satellite gear 34 meshes with the ring gear 35 for output. Through the overall meshing of the gears, the first planetary gear member 32 and the second planetary gear member 33 form a double planetary gear structure, enabling the double planetary gears to mesh with the adjacent double planetary gears simultaneously, and then adding satellite gears to form a multi-layer meshing drive, increasing the number of meshing teeth, increasing the speed ratio, and improving the output torque at the same time.

[0026] In a further embodiment of this embodiment, the first planetary gear member 32 includes a first double planetary gear 321 and a first double planetary pinion 322, and the second planetary gear member 33 includes a second double planetary gear 331 and a second double planetary pinion 332; The first double planetary gear 321 meshes with the corresponding sun gear 31 and the second double planetary pinion 332 respectively, the satellite gear 34 meshes with the corresponding second double planetary pinion 332 and the first double planetary pinion 322 respectively, and the second double planetary gear 331 meshes with the corresponding first double planetary pinion 322.

[0027] In a further embodiment of this embodiment, the number of the first planetary gear members 32 is three, the number of the second planetary gear members 33 and the satellite gears 34 is six each, and the first planetary gear members 32, the second planetary gear members 33, and the satellite gears 34 are all arranged at the same interval; The first planetary gear members 32, the second planetary gear members 33, and the satellite gears 34 are all arranged on the same circular orbit.

[0028] In a further embodiment of this embodiment, the housing assembly includes a machine base 11, a chassis 12, and a machine cover 13. The machine base 11 is connected to the chassis 12, and the machine cover 13 is connected to the chassis 12; the ring gear 35 and the bracket assembly are respectively connected to the machine base 11.

[0029] In a further embodiment of this embodiment, the bracket assembly includes a front bracket 21, a middle bracket 22, and a rear bracket 23. The middle bracket 22 is detachably connected to the front bracket 21 and the rear bracket 23 respectively; The front bracket 21 is connected to the machine base 11, and the sun gear 31, the first planetary gear member 32, and the second planetary gear member 33 are respectively connected to the front bracket 21 and the rear bracket 23; The satellite gear 34 is arranged on the middle bracket 22, and the rear bracket 23 is used to close the rear end of the bracket assembly and jointly form a closed transmission cavity with the machine base 11 and the chassis 12.

[0030] In a further embodiment of the present embodiment, a motor is provided inside the housing assembly. The motor includes a rotor 141, a stator 142, and a motor shaft 143. The stator 142 is fixedly arranged inside the housing assembly. The rotor 141 is connected to the motor shaft 143 to drive the rotation of the motor shaft 143, and the motor shaft 143 is connected to the sun gear 31.

[0031] In a further embodiment of the present embodiment, the sun gear 31 is connected to the bracket assembly through a circlip 311 and a bearing. The machine base 11 is connected to the bracket assembly through a bearing. The first planetary gear member 32 and the second planetary gear member 33 are respectively connected to the bracket assembly through bearings. A self-rotating bearing is provided on the satellite gear 34.

[0032] In a further embodiment of the present embodiment, the total reduction ratio is calculated by the following formula: i = Z 一大 / Z 太阳 ×Z 二大 / Z 一小 ×Z 圈 / Z 卫 + 1; In the formula, Z 太阳 is the number of teeth of the sun gear, Z 一大 is the number of teeth of the first double gear large gear, Z 一小 is the number of teeth of the first double gear small gear, Z 二大 is the number of teeth of the second double gear large gear, Z 卫 is the number of teeth of the satellite gear, Z 圈 is the number of teeth of the ring gear.

[0033] It should be noted that: The sun gear 31 meshes with the first double gear large gear 321 to drive the rotation of the first double gear small gear 322, realizing the first deceleration and torque increase; The first double gear small gear 322 meshes with the second double gear large gear 331 to drive the rotation of the second double gear small gear 332, realizing the second deceleration and torque increase; The second double gear small gear 332 meshes with the satellite gear 34, realizing the third deceleration and torque increase; Finally, the satellite gear 34 meshes with the ring gear 35, realizing the fourth deceleration and torque increase. There are a total of four decelerations and four torque increases. This compound satellite gear has only one gear bracket and one ring gear, realizing four torque increases and three speed changes in a single-stage transmission structure. The axes between the second planetary gear member 33 and the satellite gear 34 are distributed in a hexagonal shape, and their overall gears are simultaneously disengaged and engaged.

[0034] Among them, a single sun gear 31 meshes with three first double-row large gears 321 for the first torque increase; six second double-row large gears 331 simultaneously mesh with three adjacent first double-row small gears 322, with six overlapping teeth for the second torque increase; six planet gears 34 simultaneously mesh with six adjacent second double-row small gears 332, with six overlapping teeth for the third torque increase; finally, six planet gears 34 mesh with the ring gear 35 for the fourth torque increase. In the prior art, the structural strength of the planetary gear meshing part is weak. In the present invention, the overlapping teeth are increased by more than one time to strengthen the structural strength of the meshing part.

[0035] Taking the plane where the first double-row large gear 321 is located as the first layer, the plane where the second double-row large gear 331 is located as the second layer, and the plane where the planet gear 34 is located as the third layer, the disengaging and engaging teeth are increased proportionally from the first layer to the third layer. During the three-speed torque increase of the three layers, the disengaging and engaging teeth can reach 3, 6, and 12 respectively.

[0036] Among them, in the first layer, one sun gear 31 can disengage and engage with three first planetary gear components 32 simultaneously, and the disengaging and engaging teeth reach 3. In the second layer, three first double-row small gears 322 can disengage and engage with six second planetary gear components 33 simultaneously, and the disengaging and engaging teeth reach 6. In the third layer, the central positions of the planet gears 34 are distributed in an equilateral hexagon. The planet gears 34 are distributed adjacent to the second double-row small gears 332, and the two are disengaged and engaged simultaneously as a whole. Each planet gear 34 is simultaneously disengaging and engaging with two adjacent second double-row small gears 332, and the disengaging and engaging teeth reach 12.

[0037] Through the above scheme, the meshing teeth remain unchanged, the number of gears is reduced, but the torque increase times are increased, which is beneficial to power splitting during torque transmission and avoiding stress concentration, making the total torque increase by more than one time.

[0038] As Figure 4 shown, the axes of the second planetary gear components 33 and the planet gears 34 are distributed in a hexagon respectively. The gears are disengaged and engaged simultaneously as a whole. At the same time, due to the hexagonal structure, the gears are distributed in a bilateral and meshing manner in pairs, with stable transmission, uniform force distribution on the gears, and greater torque transmission.

[0039] To solve the problem that the speed ratio range of the existing gear reducer is small, the speed ratio of the present invention can reach 2-3 times that of the traditional planetary reducer with the same volume.

[0040] To solve the problem that the torque of the existing gear reducer is small: the internal space utilization rate of this reducer is high, the gears are disengaged and engaged simultaneously as a whole, and the output torque is greatly increased.

[0041] To solve the problem that the internal space of the existing gear reducer cannot be fully utilized: the structure of this reducer is more compact and reasonable, and the volume is reduced by half.

[0042] To solve the problem of low strength of existing gear reducers: The gears of this reducer are integrally disengaged and engaged, and multiple gears are meshed bilaterally, which can further split the power of the gear reducer and increase the structural strength of the reducer.

[0043] To solve the problem of short precision retention time of existing high-end reducers: The tooth ring of traditional reducers has fewer meshing opportunities, while the planetary gears have more meshing opportunities, and the planetary gears will be damaged first. In this reducer, the two groups of planetary gears and satellite gears have equal meshing opportunities with the tooth ring, reducing the wear probability of unit teeth and increasing the gear precision retention time.

[0044] To solve the problems of low power conversion rate and impact of existing reducers, the planetary bracket of this reducer rotates at a low speed and operates smoothly, taking a key step for the application of the new composite satellite reducer to the joints of medical robots and humanoid robots.

[0045] Furthermore, the embodiment of the present invention also provides an implementation method of a composite satellite reducer, including the following steps: Connect the front bracket 21 and the machine base 11 through a bearing and then install the oil seal, and then install the tooth ring 35 at the corresponding position; Install the satellite gear 34 with a self-rotating bearing to the corresponding position through the cylindrical pin 341, and then connect the middle bracket 22 to the front bracket 21 with screws at the corresponding position; Install the first planetary gear member 32 and the second planetary gear member 33 at the corresponding positions and then place the rear bracket 23, and connect the rear bracket 23 and the middle bracket 22 with screws; Install the sun gear 31 and install the snap ring 311, install the corresponding bearing at the corresponding position of the chassis 12, and then connect the chassis 12 and the machine base 11 with screws; Install the motor at the corresponding position inside the chassis 12, connect the motor shaft 143 with the sun gear 31, and then install the machine cover 13 and connect it to the chassis 12 with screws.

[0046] Among them, the connection between the front bracket 21 and the machine base 11 through a bearing can support the relative rotational movement between the front bracket 21 and the machine base 11, and bear the radial load (such as the radial force generated by gear meshing) and possible slight axial load.

[0047] The satellite gear 34 is provided with a self-rotating bearing to support the self-rotation movement of the satellite gear 43, so that it can rotate around its own axis during meshing and bear the radial load from the meshing of the satellite gear 34 with the second double-connected pinion 332 and the tooth ring 35.

[0048] A bearing is provided at the connection between the sun gear 31 and the chassis 12 to support the rotating shaft of the sun gear, bear the radial load when the sun gear 31 meshes with the first double-row large gear 321, and transmit the input torque of the motor.

[0049] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0050] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention.

[0051] The above describes the present invention and its implementation manners. This description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. Generally speaking, if those of ordinary skill in the art are inspired by it and, without departing from the creative purpose of the embodiments of the present invention, design similar structural manners and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of the present invention.

Claims

1. A composite satellite reducer, comprising a housing assembly, characterized in that: A bracket assembly and a gear assembly are provided inside the housing assembly; the gear assembly is provided on the bracket assembly; The gear assembly includes a sun gear, a first planet gear component, a second planet gear component, a satellite gear and a ring gear; Wherein, the sun gear is meshed with the first planetary gear component; the first planetary gear component is meshed with the second planetary gear component and the satellite gear respectively; the second planetary gear component is meshed with the satellite gear, and the satellite gear is meshed with the ring gear for output.

2. A composite satellite reducer as claimed in claim 1, characterized in that: The first planetary gear member includes a first double-linked large gear and a first double-linked pinion gear, and the second planetary gear member includes a second double-linked large gear and a second double-linked pinion gear; The first duplex large gear is meshed with the corresponding sun gear and the second duplex pinion respectively, the satellite gear is meshed with the corresponding second duplex pinion and the first duplex pinion respectively, and the second duplex large gear is meshed with the corresponding first duplex pinion.

3. A composite satellite reducer as claimed in claim 2, characterized in that: The number of the first planetary gear components is three, the number of the second planetary gear components and the number of the satellite wheels are six, and the first planetary gear components, the second planetary gear components and the satellite wheels are arranged at the same distance; The first planetary gear components, the second planetary gear components and the satellite gears are all arranged in the same circular orbit.

4. A composite satellite reducer as claimed in claim 3, characterized in that: The axes of the plurality of second planetary gear components are divided into hexagonal sections with the axis of the sun gear as the center, and the axes of the plurality of satellite gears are divided into hexagonal sections with the axis of the sun gear as the center.

5. A composite satellite reducer as claimed in claim 1, characterized in that: The housing assembly comprises a base, a chassis and a cover, wherein the base is connected to the chassis, and the cover is connected to the chassis; the gear ring and the bracket assembly are respectively connected to the base.

6. A composite satellite reducer as claimed in claim 1, characterized in that: The bracket assembly comprises a front bracket, a middle bracket and a rear bracket, wherein the middle bracket is detachably connected to the front bracket and the rear bracket respectively; The front bracket is connected to the machine base, and the sun gear, the first planetary gear component and the second planetary gear component are connected to the front bracket and the rear bracket respectively; The satellite wheels are arranged on the middle bracket, and the rear bracket is used to close the rear end of the bracket assembly to form a closed transmission cavity together with the base and the chassis.

7. A composite satellite reducer as claimed in claim 1, characterized in that: A motor is arranged in the housing assembly, and the motor comprises a rotor, a stator and a motor shaft. The stator is fixedly arranged in the housing assembly, and the rotor is connected to the motor shaft to drive the operation of the motor shaft, and the motor shaft is connected to the sun gear.

8. A composite satellite reducer as claimed in claim 3, characterized in that: The sun gear is connected to the bracket assembly through a retaining spring and a bearing, the base is connected to the bracket assembly through a bearing, the first planetary gear component and the second planetary gear component are respectively connected to the bracket assembly through bearings, and the satellite gear is provided with a rotation bearing.

9. A composite satellite reducer as claimed in claim 3, characterized in that: The total reduction ratio is calculated by the following formula: and=With 一大 / WITH 太阳 ×Z 二大 / WITH 一小 ×Z 圈 / WITH 卫 +1; In the formula, Z 太阳 is the number of teeth of the sun gear, Z 一大 is the number of teeth of the first double gear, Z 一小 is the number of teeth of the first duplex pinion, Z 二大 is the number of teeth of the second double gear, Z 卫 is the number of teeth of the satellite gear, Z 圈 is the number of teeth on the ring gear.

10. A method for implementing a composite satellite reducer, characterized in that: The following steps are involved: Connect the front bracket to the base through the bearing and install the oil seal, then install the gear ring at the corresponding position; Install the satellite wheel with the auto-bearing bearing to the corresponding position through the cylindrical pin, and then connect the middle bracket to the front bracket through screws after the middle bracket is in the corresponding position; Install the first planetary gear component and the second planetary gear component at corresponding positions, then place the rear bracket, and connect the rear bracket to the middle bracket by screws; Install the sun gear and the retaining ring, install the corresponding bearing to the corresponding position of the chassis, and then connect the chassis to the base with screws; Install the motor at the corresponding position in the chassis, connect the motor shaft to the sun gear, then install the cover and connect it to the chassis with screws.

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