Planetary reducer based on sine teeth

Abstract

The invention provides a planetary reducer based on sine teeth. The planetary reducer comprises a left planet carrier, a right planet carrier, an output end cover, a gear ring, a planet wheel set and an input shaft. The left planet carrier and the right planet carrier are installed at the two ends of the gear ring respectively. The left planet carrier and the right planet carrier are fixed through a connecting shaft; the input shaft penetrates through a right planet carrier inner hole of the right planet carrier and extends into a gear ring inner hole of the gear ring, and a circle of gear ring inner teeth are arranged on the inner wall of the gear ring inner hole; the planet wheel set is located in an inner hole of the gear ring, the planet wheel set comprises a plurality of planet wheels, and planet wheel outer teeth of the planet wheels are meshed with the input shaft outer teeth and the gear ring inner teeth respectively; the outer contours of the gear ring inner teeth, the planet wheel outer teeth and the input shaft outer teeth are sine tooth contours. The planetary reducer solves the problems that an existing planetary reducer is small in bearing capacity and cannot meet the requirement for heavy load of the planetary reducer.

Description

Technical Field

[0001] The present invention relates to the technical field of speed reducers, and in particular to a planetary speed reducer based on sinusoidal teeth. Background Art

[0002] With the continuous development of science and technology, large-scale reducers are showing a trend towards compactness and heavy-duty development, and planetary reducers are no exception. At present, planetary reducers have been widely used in many industries such as industrial robots, aerospace, new energy equipment, and engineering machinery, which puts forward requirements for planetary reducers such as compact structure and large load-bearing capacity. Although patent CN2022229163045 proposes a compact planetary reducer structure, which gives the reducer the characteristic of compactness, it cannot meet the current requirements of various industries for heavy-duty planetary reducers, nor can it meet the requirements for more compact axial direction. Therefore, it is of great significance to carry out research on planetary reducers with stronger load-bearing capacity and compactness. Summary of the Invention

[0003] In response to the above-mentioned problem that the existing planetary reducer has a small load-bearing capacity and cannot meet the heavy-load requirements for the planetary reducer, a planetary reducer based on sine teeth is provided, in which the outer teeth of the planetary gears, the inner teeth of the ring gear, and the outer teeth of the input shaft (sun gear) are designed as sinusoidal tooth profiles, which greatly increases the overall load-bearing capacity of the reducer; the connecting shaft plays a supporting and connecting role, reducing the axial dimension; the technical solution of the present invention has a strong load-bearing capacity and a compact structure, the gears run smoothly when meshing in and out, and the impact vibration is small, which is particularly suitable for heavy-load and compact occasions.

[0004] The technical means adopted in the present invention are as follows:

[0005] A planetary reducer based on sinusoidal teeth, comprising a left planet carrier, a right planet carrier, an output end cover, a ring gear, a planetary gear set and an input shaft;

[0006] The left planet carrier and the right planet carrier are respectively mounted on both ends of the ring gear; the output end cover is fixedly mounted on the left planet carrier;

[0007] The left planet carrier and the right planet carrier are fixed via a connecting shaft;

[0008] The input shaft passes through the right planetary carrier inner hole of the right planetary carrier and extends into the gear ring inner hole of the gear ring, and the inner wall of the gear ring inner hole is provided with a circle of gear ring inner teeth;

[0009] The planetary gear set is located in the inner hole of the ring gear, and the planetary gear set includes multiple planetary gears. Each of the planetary gears is installed on the outside of one of the connecting shafts through the inner hole of the planetary gear, and the outer teeth of the planetary gears are respectively engaged with the outer teeth of the input shaft and the inner teeth of the ring gear; the outer profiles of the inner teeth of the ring gear, the outer teeth of the planetary gears and the outer teeth of the input shaft are all sinusoidal tooth profiles.

[0010] Furthermore, the parametric equation f(x0, y0) of the curve corresponding to the sinusoidal tooth profile in the plane rectangular coordinate system is:

[0011]

[0012] Among them, z1 is the number of teeth of the sinusoidal tooth profile; r1 is the radius of the sinusoidal tooth profile pitch circle; is the angular position coordinate of the sinusoidal tooth profile; a is the tooth height coefficient.

[0013] Furthermore, an internal spline structure is provided on the inner wall of the inner hole of the output end cover; the output end cover is fixed to the left planetary carrier by a plurality of evenly distributed screws, and the output end cover shaft shoulder of the output end cover is located in the left planetary carrier inner hole of the left planetary carrier for radial fixation.

[0014] Furthermore, the input shaft is axially provided with a first shaft segment, a second shaft segment, a third shaft segment, a fourth shaft segment and a fifth shaft segment with different diameters; the first shaft segment is provided with an external spline structure; the third shaft segment and the fifth shaft segment are respectively installed in the left planetary carrier inner hole of the left planetary carrier and the right planetary carrier inner hole of the right planetary carrier through a deep groove ball bearing III, and the deep groove ball bearing III is axially fixed by a retaining spring II; the external teeth of the input shaft are provided on the fourth shaft segment.

[0015] Furthermore, the left planetary carrier shoulder of the left planetary carrier and the right planetary carrier shoulder of the right planetary carrier are respectively installed in the inner hole of the gear ring through a deep groove ball bearing I, and the deep groove ball bearing I can radially fix the left planetary carrier shoulder and the right planetary carrier shoulder.

[0016] Furthermore, both ends of the connecting shaft are fixedly connected to the left planetary carrier and the right planetary carrier through M-shaped hexagonal screws respectively.

[0017] Furthermore, the planetary gear is mounted on the corresponding connecting shaft through two deep groove ball bearings II installed in parallel in the inner hole of the planetary gear, and is axially fixed by using retaining springs I on both sides of the two deep groove ball bearings II.

[0018] Furthermore, the planetary gears in the planetary gear set can rotate around the corresponding connecting shaft and revolve around the input shaft.

[0019] Furthermore, the ring gear is fixedly connected to the motor via a plurality of evenly distributed screws.

[0020] Furthermore, a sealing ring is installed between the left planetary carrier and the inner hole of the gear ring.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] The planetary reducer based on sinusoidal teeth provided by the present invention sets the first section of the input shaft (sun gear) as an external spline and the inner hole of the output end cover as an internal spline, so that the overall input and output engagement of the reducer is smoother; the outer teeth of the planetary gears of the planetary gear set, the inner teeth of the ring gear of the gear ring, and the outer teeth of the input shaft (sun gear) are sinusoidal tooth profiles, so that the reducer can better transmit in a heavy-load environment; the connecting shaft plays a dual role: connection and positioning, reducing the overall axial size of the reducer and achieving compactness of the axial size.

[0023] Based on the above reasons, the present invention can be widely promoted in the field of planetary reducers. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] Figure 1 This is a schematic diagram of the transmission principle of the planetary reducer based on sine teeth according to the present invention.

[0026] Figure 2 This is a schematic cross-sectional view of the planetary reducer based on sinusoidal teeth according to the present invention.

[0027] Figure 3 This is a structural schematic diagram of the left planetary carrier of the present invention.

[0028] Figure 4 This is a schematic diagram of the output end cover structure of the present invention.

[0029] Figure 5 This is a schematic diagram of the gear ring structure of the present invention.

[0030] Figure 6 This is a schematic diagram of the planetary gear structure of the present invention.

[0031] Figure 7 This is a schematic structural diagram of the input shaft (sun gear) of the present invention.

[0032] Figure 8 This is a structural schematic diagram of the right planetary carrier of the present invention.

[0033] In the figure: 1. Left planetary carrier; 101. Inner hole of left planetary carrier; 102. Shoulder of left planetary carrier; 2. Output end cover; 201. Inner hole of output end cover; 202. Shoulder of output end cover; 3. Seal ring; 4. Ring gear; 401. Inner teeth of ring gear; 402. Inner hole of ring gear; 5. Deep groove ball bearing I; 6. Circlip I; 7. Deep groove ball bearing II; 8. Connecting shaft; 9. Deep groove ball bearing III; 10. Planetary gear set; 1001. Inner hole of planetary gear; 1002. Outer teeth of planetary gear; 11. Input shaft; 1101. First shaft section; 1102. Second shaft section; 1103. Third shaft section; 1104. Fourth shaft section; 1105. Fifth shaft section; 12. Circlip II; 13. Right planetary carrier; 1301. Inner hole of right planetary carrier; 1302. Shoulder of right planetary carrier. DETAILED DESCRIPTION

[0034] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0037] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0038] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0039] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0040] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0041] Example 1

[0042] like Figure 1-8 As shown, the present invention provides a planetary reducer based on sine teeth, comprising a left planet carrier 1, a right planet carrier 13, an output end cover 2, a ring gear 4, a planetary gear set 10 and an input shaft (sun gear) 11;

[0043] The left planet carrier 1 and the right planet carrier 13 are respectively mounted on both ends of the ring gear 4; the output end cover 2 is fixedly mounted on the left planet carrier 1;

[0044] The left planet carrier 1 and the right planet carrier 13 are fixed by a connecting shaft 8;

[0045] The input shaft 11 passes through the right planetary carrier inner hole 1301 of the right planetary carrier 13 and extends into the ring gear inner hole 402 of the ring gear 4. The inner wall of the ring gear inner hole 402 is provided with a circle of ring gear inner teeth 401;

[0046] The planetary gear set 10 is located in the inner hole 402 of the ring gear. The planetary gear set 10 includes multiple planetary gears, each of which is installed on the outside of one of the connecting shafts 8 through the planetary gear inner hole 1001, and the planetary gear outer teeth 1002 of the planetary gears are respectively engaged with the outer teeth of the input shaft 11 and the inner teeth 401 of the ring gear; the outer profiles of the inner teeth 401 of the ring gear, the outer teeth 1002 of the planetary gears and the outer teeth of the input shaft 11 are all sinusoidal tooth profiles.

[0047] Furthermore, the parametric equation f(x0, y0) of the curve corresponding to the sinusoidal tooth profile in the plane rectangular coordinate system is:

[0048]

[0049] Among them, z1 is the number of teeth of the sinusoidal tooth profile; r1 is the radius of the sinusoidal tooth profile pitch circle; is the angular position coordinate of the sinusoidal tooth profile; a is the tooth height coefficient.

[0050] Furthermore, an internal spline structure is provided on the inner wall of the output end cover inner hole 201 on the output end cover 2, and the output mechanism can be fixedly connected to the planetary reducer by performing a spline connection with the internal spline structure; the output end cover 2 is fixedly mounted on the left planetary carrier 1 by a plurality of evenly distributed screws, and the output end cover shaft shoulder 202 of the output end cover 2 is located in the left planetary carrier inner hole 101 of the left planetary carrier 1 for radial fixation.

[0051] Furthermore, the input shaft 11 is axially provided with a first shaft segment 1101, a second shaft segment 1102, a third shaft segment 1103, a fourth shaft segment 1104 and a fifth shaft segment 1105 with different diameters; the first shaft segment 1101 is provided with an external spline structure for spline matching with the output end of the motor; the third shaft segment 1103 and the fifth shaft segment 1105 are respectively installed in the left planetary carrier inner hole 101 of the left planetary carrier 1 and the right planetary carrier inner hole 1301 of the right planetary carrier 13 through a deep groove ball bearing III9, and the deep groove ball bearing III9 can radially fix the third shaft segment 1103 and the fifth shaft segment 1105, and the deep groove ball bearing III9 is axially fixed by a retaining spring II12; the external teeth of the input shaft 11 are arranged on the fourth shaft segment 1104.

[0052] Furthermore, the left planetary carrier shoulder 102 of the left planetary carrier 1 and the right planetary carrier shoulder 1302 of the right planetary carrier 13 are respectively installed in the inner hole 402 of the gear ring through a deep groove ball bearing I5, and the deep groove ball bearing I5 can radially fix the left planetary carrier shoulder 102 and the right planetary carrier shoulder 1302.

[0053] Furthermore, both ends of the connecting shaft 8 are fixedly connected to the left planetary carrier 1 and the right planetary carrier 13 by M10 hexagon socket screws respectively.

[0054] Furthermore, the planetary gear is mounted on the corresponding connecting shaft 8 through two deep groove ball bearings II7 installed in parallel in the planetary gear inner hole 1001, and is axially fixed by retaining springs I6 on both sides of the two deep groove ball bearings II7; the connecting shaft 8 not only supports the planetary gear set 10, but also connects the left planetary carrier 1, the right planetary carrier 13 and the output end cover 2, thereby achieving compact axial dimensions while ensuring the transmission load-bearing capacity.

[0055] Furthermore, the planetary gears in the planetary gear set 10 can rotate around the corresponding connecting shaft 8 and revolve around the input shaft 11 .

[0056] Furthermore, the ring gear 4 is fixedly connected to the motor via a plurality of evenly distributed screws.

[0057] Furthermore, a sealing ring 3 is installed between the left planetary carrier 1 and the inner hole 402 of the gear ring for achieving sealing.

[0058] The planetary reducer based on sinusoidal teeth in this embodiment has the following overall dimensions: outer diameter 300 mm, total length 158.5 mm; the outer profiles of the planetary gear outer teeth 1002, the ring gear inner teeth 401, and the outer teeth of the input shaft 11 are all sinusoidal tooth profiles; the theoretical parameters of the planetary transmission are shown in Table 1 below:

[0059] Table 1 Structural theoretical parameters (sun gear and planet gear)

[0060]

[0061]

[0062] The working principle of the present invention is as follows: the motor drives the input shaft 11 to rotate through the spline, which will drive the planetary gear set 10 to revolve around the input shaft 11. During the movement, the planetary gear set 10 engages with the ring gear 4, and the planetary gear set 10 rotates on its own. During this process, the ring gear 4 remains fixed. The rotation of the planetary gear set 10 will drive the left planetary carrier 1 and the right planetary carrier 13 to rotate. The left planetary carrier 1 can drive the output end cover 2 to output through the spline.

[0063] Compared to the prior art, the planetary reducer based on sinusoidal teeth proposed in this invention features a planetary gear set that simultaneously rotates around the input shaft (sun gear). The multiple planetary gears enhance the reducer's structural compactness. The first section of the input shaft (sun gear) is designed with external splines, while the inner hole of the output end cap is designed with internal splines. This design ensures greater stability during the overall meshing of the input and output. Under conditions of output torque, the reducer can withstand large axial loads and moments while maintaining precision stability and high contact stiffness, thereby ensuring the prototype's stable operation. Notably, the external teeth of the planetary gears of the planetary gear set, the internal teeth of the ring gear, and the external teeth of the input shaft (sun gear) all have sinusoidal tooth profiles, a characteristic that enables the reducer to exhibit excellent transmission performance under heavy loads. The connecting shaft plays multiple important roles, including supporting and connecting functions, effectively reducing the overall axial dimensions of the reducer, thereby achieving a compact reducer structure. From the perspective of connection and positioning, it ensures the accuracy and stability of power transmission and precisely determines the relative position relationship between various components. At the same time, by rationally reducing the axial dimension, it creates conditions for the compact design of the reducer within a limited space.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A planetary reducer based on sinusoidal teeth, characterized in that: It comprises a left planetary carrier (1), a right planetary carrier (13), an output end cover (2), a ring gear (4), a planetary gear set (10) and an input shaft (11); The left planet carrier (1) and the right planet carrier (13) are respectively mounted on both ends of the ring gear (4); the output end cover (2) is fixedly mounted on the left planet carrier (1); The left planet carrier (1) and the right planet carrier (13) are fixed via a connecting shaft (8); The input shaft (11) passes through the right planetary carrier inner hole (1301) of the right planetary carrier (13) and extends into the gear ring inner hole (402) of the gear ring (4); the inner wall of the gear ring inner hole (402) is provided with a circle of gear ring inner teeth (401); The planetary gear set (10) is located in the inner hole (402) of the gear ring, and the planetary gear set (10) includes a plurality of planetary gears, each of which is mounted on the outside of one of the connecting shafts (8) through the planetary gear inner hole (1001), and the planetary gear outer teeth (1002) of the planetary gears are respectively engaged with the outer teeth of the input shaft (11) and the inner teeth (401) of the gear ring; and the outer profiles of the inner teeth (401) of the gear ring, the outer teeth (1002) of the planetary gears and the outer teeth of the input shaft (11) are all sinusoidal tooth profiles.

2. The planetary reducer based on sinusoidal teeth according to claim 1, characterized in that: The parametric equation f(x0, y0) of the curve corresponding to the sinusoidal tooth profile in the plane rectangular coordinate system is: Among them, z1 is the number of teeth of the sinusoidal tooth profile; r1 is the radius of the sinusoidal tooth profile pitch circle; is the angular position coordinate of the sinusoidal tooth profile; a is the tooth height coefficient.

3. The planetary reducer based on sinusoidal teeth according to claim 1, characterized in that: An inner spline structure is provided on the inner wall of the output end cover inner hole (201) on the output end cover (2); the output end cover (2) is fixedly mounted on the left planetary carrier (1) by a plurality of evenly distributed screws, and the output end cover shaft shoulder (202) of the output end cover (2) is located in the left planetary carrier inner hole (101) of the left planetary carrier (1) for radial fixation.

4. The planetary reducer based on sinusoidal teeth according to claim 1, characterized in that: The input shaft (11) is axially provided with a first shaft section (1101), a second shaft section (1102), a third shaft section (1103), a fourth shaft section (1104) and a fifth shaft section (1105) having different diameters; the first shaft section (1101) is provided with an external spline structure; the third shaft section (1103) and the fifth shaft section (1105) are respectively mounted on the left planetary carrier inner hole (101) of the left planetary carrier (1) and the right planetary carrier inner hole (1301) of the right planetary carrier (13) through a deep groove ball bearing III (9); the deep groove ball bearing III (9) is axially fixed by a retaining ring II (12); the external teeth of the input shaft (11) are arranged on the fourth shaft section (1104).

5. The planetary reducer based on sinusoidal teeth according to claim 1, characterized in that: The left planetary carrier shoulder (102) of the left planetary carrier (1) and the right planetary carrier shoulder (1302) of the right planetary carrier (13) are respectively mounted on the inner hole (402) of the gear ring through a deep groove ball bearing I (5), and the deep groove ball bearing I (5) can radially fix the left planetary carrier shoulder (102) and the right planetary carrier shoulder (1302).

6. The planetary reducer based on sinusoidal teeth according to claim 1, characterized in that: Both ends of the connecting shaft (8) are fixedly connected to the left planetary carrier (1) and the right planetary carrier (13) via M10 hexagon socket screws, respectively.

7. The planetary reducer based on sinusoidal teeth according to claim 1, characterized in that: The planetary gear is mounted on the corresponding connecting shaft (8) through two deep groove ball bearings II (7) installed in parallel in the inner hole (1001) of the planetary gear, and is axially fixed by using retaining springs I (6) on both sides of the two deep groove ball bearings II (7).

8. The planetary reducer based on sinusoidal teeth according to claim 1, characterized in that: The planetary gears in the planetary gear set (10) are capable of rotating around the corresponding connecting shaft (8) and revolving around the input shaft (11).

9. The planetary reducer based on sinusoidal teeth according to claim 1, characterized in that: The gear ring (4) is fixedly connected to the motor via a plurality of evenly distributed screws.

10. The planetary reducer based on sinusoidal teeth according to claim 1, characterized in that: A sealing ring (3) is installed between the left planetary carrier (1) and the inner hole (402) of the gear ring.

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