Speed reduction device, valve device and robot

Abstract

A speed reducer comprises a first gear ring, a second gear ring and a planetary gear. The speed reduction device comprises an input component, and the planetary gear is installed on the input component. The planetary gear comprises a first gear ring meshing part and a second gear ring meshing part, the first gear ring meshing part is meshed with the first gear ring, and the second gear ring meshing part is meshed with the second gear ring; the number of teeth of the first gear ring is defined as a, the number of teeth of the second gear ring is defined as b, the value of a-b is larger than or equal to 1, the number of the planetary gears is larger than the value of a-b, the number of meshing parts of the first gear ring and the planetary gears and the number of meshing parts of the second gear ring and the planetary gears are increased, and the bearing capacity of the speed reducer is improved.

Description

Technical Field

[0001] The present invention relates to the field of transmission technology, and in particular to a speed reduction device, a valve device and a robot. Background Art

[0002] Speed ​​reducers can be used in transmission systems to change torque and rotational speed. A typical harmonic speed reducer consists of an outer gear, an inner gear, and a flexible gear. The inner gear drives the flexible gear, which deforms and meshes with the outer gear, generating torque. However, flexible gears are more difficult to machine than typical rigid gears and have relatively poor load-bearing capacity. Summary of the Invention

[0003] One object of the present application is to provide a deceleration device, a valve device and a robot that can improve the carrying capacity.

[0004] One embodiment of the present application provides a reduction gear device, including a first ring gear, a second ring gear and planetary gears; the reduction gear device includes an input component, and the planetary gears are installed on the input component; the planetary gears include a first ring gear meshing portion and a second ring gear meshing portion, the first ring gear meshing portion meshes with the first ring gear, and the second ring gear meshing portion meshes with the second ring gear; the number of teeth of the first ring gear is defined as a, the number of teeth of the second ring gear is defined as b, the value of ab is greater than or equal to 1, and the number of the planetary gears is greater than the value of ab.

[0005] In the reduction gear provided by the embodiments of the present application, the number of planetary gears is greater than the value of ab, which increases the meshing locations between the first and second ring gears and the planetary gears, thereby improving the load-bearing capacity of the reduction gear. Furthermore, the planetary gears are mounted on the input member, which reduces the overall backlash of the reduction gear compared to a scheme in which the sun gear meshes and drives the planetary gears.

[0006] One embodiment of the present application provides a valve device, which includes the above-mentioned deceleration device, the valve device including a motor, a valve body and a valve core, the motor is directly or indirectly connected to the input component, the first ring gear is rigidly connected to the valve body or is an integral structure, the second ring gear can rotate relative to the valve body, the deceleration device includes an output component, the output component is rigidly connected to the second ring gear or is an integral structure, and the output component is directly or indirectly connected to the valve core.

[0007] One embodiment of the present application provides a robot comprising the above-mentioned deceleration device.

[0008] In the reduction gear and robot provided by the embodiments of this application, the number of planetary gears exceeds the value of a, thereby increasing the meshing locations between the first and second ring gears and the planetary gears, thereby improving the load-bearing capacity of the reduction gear. Furthermore, the planetary gears are mounted on the input component, which reduces the overall backlash of the reduction gear compared to a scheme in which the sun gear meshes with the planetary gears. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of the deceleration device of the present application is shown;

[0010] Figure 2 Shown Figure 1 Schematic diagram of the exploded structure of the deceleration device shown;

[0011] Figure 3 Shown Figure 2 A schematic diagram of the structure of the planetary gear of the reduction gear shown at an angle;

[0012] Figure 4 Shown Figure 1 The schematic diagram of the structure of the reduction gear shown is at an angle;

[0013] Figure 5 Shown Figure 4 The cross-sectional structural diagram of the deceleration device shown is along line AA;

[0014] Figure 6 Shown Figure 4 A partially enlarged structural diagram of the planetary gear of the reduction gear shown;

[0015] Figure 7 Shown Figure 2 A schematic diagram of the three-dimensional structure of the input component of the reduction gear device shown;

[0016] Figure 8 A schematic cross-sectional structural diagram of an embodiment of the valve device of the present application is shown.

[0017] Reference numerals

[0018] 100. Speed ​​reduction device; 101. First ring gear; 102. Second ring gear; 103. Input component; 113. Main body; 123. Planetary shaft; 133. Center shaft; 143. Second hole; 153. Keyway; 173. Rib; 183. Side surface; 104. Planetary gear; 114. First hole; 124. First ring gear meshing portion; 134. Second ring gear meshing portion; 144. End surface; 154. Sequence mark; 164. First planetary gear; 174. Second planetary gear; 184. Third planetary gear; 194. Fourth planetary gear; 195. Fifth planetary gear; 105. Output component; 200. Valve device; 21. Motor; 22. Valve body; 24. Valve core. DETAILED DESCRIPTION

[0019] The embodiments are described in detail below with reference to the accompanying drawings.

[0020] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is described in further detail below in conjunction with the accompanying drawings and specific embodiments. In this article, relational terms such as "first" and "second" are only used to distinguish one component with the same name from another, and do not necessarily require or imply that there is any actual relationship or order between these components. It should be noted that the "limited connection" in this application includes snap-on connection, hinged connection, etc., and the "fixed connection" in this application includes threaded connection, welding, bonding, vulcanization fixation, riveting, insert injection molding, interference fit, etc.

[0021] like Figure 1-Figure 7 As shown, the reduction gear 100 includes a first ring gear 101, a second ring gear 102, and at least two planetary gears 104, which are mounted on an input component 103. The planetary gears 104 include a first ring gear meshing portion 124 and a second ring gear meshing portion 134. The first ring gear meshing portion 124 and the second ring gear meshing portion 134 are rigidly connected or integrally formed. "Rigid connection" in this application refers to a connection method in which the relative position and orientation of the two connected components remain unchanged. The first ring gear meshing portion 124 meshes with the first ring gear 101, and the second ring gear meshing portion 134 meshes with the second ring gear 102. The input component 103 can drive the planetary gears 104 to rotate and revolve. Specifically, as the input component 103 rotates, the planetary gears 104 slowly rotate while revolving. The planetary gears 104 roll over the first ring gear 101 and the second ring gear 102, causing the second ring gear 102 to rotate relative to the first ring gear 101, thereby achieving the effect of reducing speed and increasing torque.

[0022] The number of teeth on the first ring gear 101 is defined as a, the number of teeth on the second ring gear 102 is defined as b, and the value of ab is greater than or equal to 1. The number of planetary gears 104 is greater than the value of ab. This increases the meshing points between the first ring gear 101, the second ring gear 102, and the planetary gears 104, thereby improving the load-bearing capacity of the reduction gear 100 and ensuring a more even load distribution. For example, when the number of planetary gears is two, the torque-bearing capacity of the reduction gear 100 is improved and more stable compared to a reduction gear 100 with only a single planetary gear or only a single eccentric gear.

[0023] Furthermore, the present invention directly utilizes input component 103 for power input, eliminating the need for a sun gear. Compared to solutions that drive planetary gears 104 by meshing a sun gear with the planetary gears 104, this reduces primary gear backlash, thereby reducing the overall backlash of the reduction gear 100. Furthermore, more space can be left inside the reduction gear 100, making it easier to pass electronic circuits through when the reduction gear 100 is used in a robot, and also facilitating the installation of a spindle for data collection.

[0024] In this embodiment, the value of ab is 1. At the same transmission ratio, the module of each ring gear and gear in the reduction gear 100 of this application is approximately twice the module of an existing two-tooth differential harmonic reducer. This reduces the difficulty of manufacturing the first ring gear 101, the second ring gear 102, and the planetary gears 104 in the reduction gear 100, and improves the strength of the teeth. In other embodiments, the value of ab may be 2 or 3.

[0025] In this embodiment, the first and second ring gear meshing portions 124 and 134 have the same number of teeth. The first ring gear 101 is a fixed gear, and the second ring gear 102 is a moving gear. Therefore, the speed ratio i of the reduction gear 100 is -b, meaning that for every orbital revolution of the planetary gear 104, the second ring gear 102 rotates one tooth. Furthermore, since the value of ab is 1, a wider range of reduction ratios is available. For example, within the reduction ratio range of -30 to -150, there are 119 selectable reduction ratios, namely, -31, -32, -33, -34, ... -80, -81, ... -147, -148, and -149, arranged in an arithmetic progression. Both the first and second ring gears 101 and 102 are internal gears, while the planetary gears 104 are external gears. Planetary gears 104 are located inside the first and second ring gears 101 and 102, thus reducing the size of the reduction gear 100. In other embodiments, the first ring gear 101 and the second ring gear 102 may also be external gears.

[0026] like Figure 1-Figure 7As shown, in this embodiment, the planetary gears 104 are rotationally symmetrically distributed with respect to the rotation axis of the input member 103. The rotation axis of the input member 103 is indicated by S1 in the figure and defines the axial direction of the reduction gear 100. The axial direction of the reduction gear 100 is aligned with the rotation axis of the input member 103. The number of teeth on the second ring gear 102 is an integer multiple of the number of planetary gears 104. This ensures that the forces exerted on the second ring gear 102 by the planetary gears 104 are more symmetrical, reducing the eccentric force on the second ring gear 102.

[0027] In this embodiment, the centerlines of the first and second ring gear meshing portions 124, 134 coincide or substantially coincide, and the first and second ring gear meshing portions 124, 134 are arranged axially along the reduction gear 100. A reference plane is defined, perpendicular to the centerlines of the planetary gears 104. For at least one planetary gear 104, the projections of the teeth of the first and second ring gear meshing portions 124, 134 on the reference plane are offset by an angle greater than zero, defined as the tooth offset angle. Setting the tooth offset angle compensates for tooth spacing, enabling tighter meshing of the planetary gears 104 with the first and second ring gears 101, 102.

[0028] Specifically, the number of planetary gears 104 is defined as N, and each planetary gear 104 includes a first planetary gear 164, a second planetary gear 174 to an Nth planetary gear. Figure 4 、 Figure 6 As shown, the staggered angle between the first ring gear meshing portion 124 and the second ring gear meshing portion 134 of the first planetary gear 164 is 0. Starting from the first planetary gear 164, along the circumference of the reduction gear 100, the first planetary gear 164, the second planetary gear 174 to the Nth planetary gear are arranged in sequence in a clockwise or counterclockwise direction. The staggered tooth angle of the kth planetary gear 104 is defined as Ck. Wherein, n is the number of teeth of the first gear ring meshing portion 124 or the second gear ring meshing portion 134, which can compensate for the difference in the number of teeth of the first gear ring 101 and the second gear ring 102, so that the planetary gear 104 can mesh more tightly with the first gear ring 101 and the second gear ring 102. Figure 6 The second planetary gear 174 is taken as an example. Figure 4Taking the reduction gear 100 in FIG. 1 as an example, the number of planetary gears 104 is 5, the number of teeth of the first ring gear 101 is 91, the number of teeth of the second ring gear 102 is 90, and the number of teeth of the first ring gear meshing portion 124 and the second ring gear meshing portion 134 are both 29. Then, the staggered tooth angle of the second planetary gear 174 is approximately 2.48°, the staggered tooth angle of the third planetary gear 184 is approximately 4.96°, the staggered tooth angle of the fourth planetary gear 194 is approximately 7.44°, and the staggered tooth angle of the fifth planetary gear 195 is approximately 9.93°. In addition, the staggered angle between the first ring gear meshing portion 124 and the second ring gear meshing portion 134 of the first planetary gear 164 is 0, which can facilitate the processing of the first planetary gear 164. In other embodiments, the staggered angle between the first ring gear meshing portion 124 and the second ring gear meshing portion 134 of the first planetary gear 164 may not be 0. The staggered tooth angle of the first planetary gear 164 is defined as C1, and the staggered tooth angle of the kth planetary gear is defined as Ck. Then,

[0029] The number of planetary gears 104 is greater than or equal to 4 and less than or equal to 7. This further improves the stability of the reduction gear 100 while leaving sufficient space for the arrangement of the planetary gears 104 and preventing the diameter of the planetary gears 104 from being too small. The number of teeth on the planetary gears 104 is greater than 15, which improves the transmission performance of the planetary gears 104 and allows more teeth of the planetary gears 104 to mesh with the first ring gear 101 and the second ring gear 102.

[0030] like Figure 2 、 Figure 3 、 Figure 4 As shown, the planetary gears 104 include end portions 144, each of which includes a distinguishable sequence marking 154. This can enhance the identification of each planetary gear 104 during assembly, facilitating the sequential installation of each planetary gear 104 in the reduction gear 100. For example, the end portions 144 of the planetary gears 104 may be provided with depressions shaped like "01," "02," "03," etc., or with a varying number of depressions or projections to indicate the sequence.

[0031] like Figure 2-Figure 5As shown, the input component 103 includes a main body 113 and a planetary shaft 123. The planetary shaft 123 is fixedly connected to or integral with the main body 113. The planetary gear 104 has a first hole 114, with at least a portion of the planetary shaft 123 located in the first hole 114. The planetary gear 104 is rotatable about the planetary shaft 123. The input component 103 includes a central axis 133. The input component 103 is rotatable about the central axis 133. The planetary shafts 123 are evenly distributed around the central axis 133. The central axis 133 is fixedly connected to or integral with the main body 113. Along the axial direction of the reduction gear 100, the planetary shafts 123 and the central axis 133 protrude from the same side of the main body 113. This improves the space utilization of the reduction gear 100 and reduces its volume. The central axis 133 receives torque, thereby driving the main body 113.

[0032] like Figure 5 、 Figure 7 As shown, the central axis portion 133 has a second hole 143, which extends along the axial direction of the reduction gear 100 and has openings on both end surfaces of the central axis portion 133. When the reduction gear 100 is applied to a robot, the second hole 143 can facilitate the passage of electronic circuits and can also facilitate the installation of a core shaft to collect data.

[0033] like Figure 5 、 Figure 7 As shown, the main body 113 is close to the output component 105 relative to the planetary gear 104, and the main body 113 includes a first side portion 183 and a convex rib 173. The side portion 183 faces the output component 105, and the convex rib 173 protrudes from the side portion 183 toward the output component 105. The convex rib 173 is annular. Along the radial direction of the reduction gear 100, the radial dimension of the convex rib 173 is smaller than the radial dimension of the side portion 183. The convex rib 173 can contact and slide with the output component 105. Compared with the side portion 183 directly contacting the output component 105, the use of the convex rib 173 with a relatively small radial dimension can reduce the friction between the main body 113 and the output component 105.

[0034] like Figure 5 、 Figure 2 As shown, the central shaft portion 133 has a keyway 153, which is recessed in one axial end face of the central shaft portion 133. The radial outer periphery of the central shaft portion 133 is cylindrical or quasi-cylindrical. The keyway 153 extends inward from the outer periphery of the central shaft portion 133 and is connected to the second hole 143. The keyway 153 can facilitate transmission connection with other transmission components.

[0035] In some embodiments, as Figure 8As shown, the reduction gear 100 can be applied to a valve device 200. The valve device 200 includes the reduction gear 100, a motor 21, a valve body 22, and a valve core 24. The motor 21 is directly or indirectly connected to the input component 103. The valve body 22 has a receiving cavity in which at least a portion of the valve core 24 is located. The first ring gear 101 is rigidly connected to or integral with the valve body 22, and the second ring gear 102 is rotatable relative to the valve body 22. The reduction gear 100 includes an output component 105, which is rigidly connected to or integral with the second ring gear 102 and directly or indirectly connected to the valve core 24. Thus, the motor 21 drives the input component 103, which in turn drives the valve core 24 to rotate or move, thereby achieving valve opening and closing or flow regulation. During this process, the relatively small torque of the motor 21 is converted into a relatively large torque of the output component 105. In this embodiment, the output component 105 may include a valve stem.

[0036] In some embodiments, the deceleration device 100 can be applied to a robot, particularly to the joints of the robot.

[0037] It should be noted that the above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although this specification has described the present invention in detail with reference to the above embodiments, it should be understood by those skilled in the art that the present invention can still be modified or replaced by equivalents, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A reduction gear (100), comprising a first ring gear (101), a second ring gear (102) and a planetary gear (104); The reduction gear (100) includes an input component (103), and the planetary gear (104) is mounted on the input component (103); The planetary gear (104) includes a first ring gear meshing portion (124) and a second ring gear meshing portion (134), wherein the first ring gear meshing portion (124) meshes with the first ring gear (101), and the second ring gear meshing portion (134) meshes with the second ring gear (102); The number of teeth of the first gear ring (101) is defined as a, the number of teeth of the second gear ring (102) is defined as b, the value of ab is greater than or equal to 1, and the number of the planetary gears (104) is greater than the value of ab.

2. The reduction gear according to claim 1, characterized in that: The number of teeth of the first gear ring meshing portion (124) is the same as the number of teeth of the second gear ring meshing portion (134); the first gear ring meshing portion (124) and the second gear ring meshing portion (134) are rigidly connected or have an integrated structure; the first gear ring (101) is a fixed wheel; the second gear ring (102) is a driven wheel; the input component (103) can drive the planetary gear (104) to rotate and revolve; and the value of ab is 1.

3. The deceleration device according to claim 2, characterized in that: A reference plane is defined, the reference plane being perpendicular to the center line of the planetary gear (104), wherein in at least one of the planetary gears (104), the first gear ring meshing portion (124) and the second gear ring meshing portion (134) are arranged along the axial direction of the reduction gear, and the projections of the teeth of the first gear ring meshing portion (124) and the teeth of the second gear ring meshing portion (134) on the reference plane are staggered by an angle greater than zero, and the angle is defined as a tooth stagger angle.

4. The reduction gear according to claim 3, characterized in that: The planetary gears (104) are distributed in rotational symmetry with respect to the rotation axis of the input component (103), and the number of teeth of the second ring gear (102) is an integer multiple of the number of the planetary gears (104).

5. The reduction gear according to claim 3 or 4, characterized in that: The number of the planetary gears (104) is defined as N, and each of the planetary gears (104) includes a first planetary gear (164), a second planetary gear (174) to an Nth planetary gear. The staggered tooth angle of the first planetary gear (164) is defined as C1. Starting from the first planetary gear (164), along the circumference of the reduction gear (100), the first planetary gear (164), the second planetary gear (174) to the Nth planetary gear are sequentially arranged in a clockwise or counterclockwise direction. The staggered tooth angle of the kth planetary gear is defined as Ck. k=2, 3...N, wherein n is the number of teeth of the first gear ring meshing portion (124) or the second gear ring meshing portion (134); Alternatively, the staggered angle between the first ring gear meshing portion (124) and the second ring gear meshing portion (134) of the first planetary gear (164) is 0, and starting from the first planetary gear (164), along the circumference of the reduction gear (100), the first planetary gear (164), the second planetary gear (174) to the Nth planetary gear are arranged in a clockwise or counterclockwise order, and the staggered tooth angle of the kth planetary gear is defined as Ck. k=2, 3...N, wherein n is the number of teeth of the first gear ring meshing portion (124) or the second gear ring meshing portion (134).

6. The reduction gear according to claim 5, characterized in that: The planetary gears (104) include end face portions (144), and the end face portions (144) of the respective planetary gears (104) include sequence marks (154) that can be distinguished from each other.

7. The deceleration device according to any one of claims 1 to 6, characterized in that: The input component (103) includes a main body (113) and a planetary shaft (123), the planetary shaft (123) is fixedly connected to the main body (113) or is an integral structure, the planetary gear (104) has a first hole (114), at least a portion of the planetary shaft (123) is located in the first hole (114), and the planetary gear (104) is capable of rotating around the planetary shaft (123); The input component (103) includes a central axis portion (133), the input component (103) is capable of rotating around the central axis portion (133), the planetary axis portions (123) are evenly distributed around the central axis portion (133), the central axis portion (133) is fixedly connected to the main body portion (113) or is an integral structure, and along the axial direction of the reduction gear (100), the planetary axis portions (123) and the central axis portion (133) protrude from the same side of the main body portion (113).

8. The reduction gear according to claim 7, characterized in that: The central shaft portion (133) has a second hole (143), and the second hole (143) extends along the axial direction of the reduction gear (100) and has openings at both end surfaces of the central shaft portion (133).

9. The reduction gear according to claim 7, characterized in that: The reduction gear (100) includes an output component (105), the output component (105) is rigidly connected to the second ring gear (102) or is an integral structure, the main body (113) is close to the output component (105) relative to the planetary gear (104), the main body (113) includes a first side surface (183) and a convex rib (173), the side surface (183) faces the output component (105), the convex rib (173) protrudes from the side surface (183) toward the output component (105), along the radial direction of the reduction gear (100), the radial dimension of the convex rib (173) is smaller than the radial dimension of the side surface (183), and the convex rib (173) can contact and slide with the output component (105).

10. The reduction gear according to claim 8, characterized in that: The central shaft portion (133) has a keyway (153), and the keyway (153) is recessed in an axial end face of the central shaft portion (133). The radial outer periphery of the central shaft portion (133) is cylindrical or quasi-cylindrical. The keyway (153) extends inward from the outer periphery of the central shaft portion (133) and is connected to the second hole (143).

11. A valve device, comprising a reduction gear (100) according to any one of claims 1 to 10, wherein the valve device (200) comprises a motor (21), a valve body (22) and a valve core (24), wherein the motor (21) is directly or indirectly connected to the input component (103), the first ring gear (101) is rigidly connected to the valve body (22) or is an integral structure, and the second ring gear (102) is capable of rotating relative to the valve body (22), and the reduction gear (100) comprises an output component (105), the output component (105) is rigidly connected to the second ring gear (102) or is an integral structure, and the output component (105) is directly or indirectly connected to the valve core (24).

12. A robot comprising the deceleration device (100) according to any one of claims 1 to 10.

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