Speed reducer

Abstract

The invention discloses a speed reducer, which relates to the technical field of transmission structures, and comprises a seat body, the ring surface enveloping worm part and the helical gear part are installed on the base body, the ring surface enveloping worm part comprises a first shaft part and a helical tooth part arranged on the first shaft part, the helical gear part comprises a second shaft part and a helical tooth part arranged on the second shaft part, and the helical tooth part is meshed with the helical tooth part. According to the technical scheme, the technical problem that an existing speed reducer is poor in bearing capacity can be solved.

Description

Technical Field

[0001] This invention relates to the field of transmission structure technology, and in particular to a speed reducer. Background Technology

[0002] A speed reducer is a type of gear reducer that uses a gear structure to reduce speed. However, current speed reducers have the following problems:

[0003] 1. Smaller speed reducers have relatively weaker load-bearing capacity;

[0004] 2. The reducer has a relatively simple function, with only one input end and one output end. Summary of the Invention

[0005] In order to solve at least one of the above-mentioned technical problems, the object of the present invention is to provide a speed reducer.

[0006] To achieve the above objectives, the speed reducer proposed in this invention includes:

[0007] seat body;

[0008] The circumferential worm gear portion and the helical gear portion are mounted on the base. The circumferential worm gear portion includes a first shaft portion and a helical gear portion disposed on the first shaft portion. The helical gear portion includes a second shaft portion and a helical gear portion disposed on the second shaft portion. The helical gear portion meshes with the helical gear portion.

[0009] In one embodiment, when multiple speed reducers are configured, the first shaft portions of two adjacent speed reducers can be connected in a transmission manner.

[0010] In one embodiment, at least one end of the first shaft portion is located outside the seat body.

[0011] In one embodiment, at least one end of the second shaft is fixed with a transition portion, and the second shaft is configured to form a channel structure extending along its axis.

[0012] In one embodiment, the adapter includes a first connecting plate and a connecting shaft connected to each other, wherein the first connecting plate is fixed to the second shaft by means of screws;

[0013] Alternatively, the adapter may include a second connecting plate, which is fixed in place by means of screws, and the second shaft portion may form a channel structure.

[0014] In one embodiment, the helical gear portion and the annular envelope worm portion have an engagement entry point and an engagement exit point. The line connecting the engagement entry point and the axis of the gear portion is L1, and the line connecting the engagement exit point and the axis of the gear portion is L2. The included angle between L1 and L2 ranges from 20° to 60°.

[0015] In one embodiment, the module of the helical gear portion ranges from 0.2 mm to 5 mm;

[0016] The center distance between the helical gear section and the annular envelope worm section is 3mm to 80mm;

[0017] The pressure angle of the circumferential envelope worm gear section is 10° to 30°.

[0018] In one embodiment, the reducer further includes an adjusting sleeve and an adjusting member installed on the base. The adjusting sleeve has a notch and an eccentric hole. The adjusting sleeve is sleeved on the worm gear portion of the annulus through the eccentric hole. The notch is provided at the location of the helical tooth portion.

[0019] The adjusting member can drive the adjusting sleeve to rotate along its own axis and adjust the distance between the annular envelope worm gear portion and the helical gear portion through the eccentric hole.

[0020] In one embodiment, the base is provided with a mounting hole configured with the adjusting member, and the adjusting member is sleeved in the first groove configured with the adjusting member;

[0021] The adjusting components are configured in two sets, and the two sets of adjusting components are respectively located on both sides of the axis of the annular envelope worm gear portion;

[0022] Both sets of adjustment components are threadedly connected to the mounting holes and abut against the wall of the first groove.

[0023] In one embodiment, the adjusting member includes an adjusting part and a pushing part. The adjusting part is threadedly connected to the mounting hole and pushes the pushing part to abut against the wall of the first groove.

[0024] The technical solution of the present invention adopts an annular envelope worm gear part, which has an annular surface. The tooth surface of the gear part forms a conjugate curved surface during its envelope process, increasing more contact points and contact area, so that the load can be distributed at multiple points or multiple locations, reducing the occurrence of local concentration, thereby improving the load-bearing capacity of the transmission structure, and thus solving the technical problem that the load-bearing capacity of the small-sized reducer in the prior art is relatively weak. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of a structure of a speed reducer according to an embodiment of the present invention;

[0027] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0028] Figure 3 for Figure 1 Cross-sectional view of the speed reducer;

[0029] Figure 4 for Figure 1 A schematic diagram of an application scenario for a speed reducer;

[0030] Figure 5 for Figure 4 A schematic diagram of the second shaft section in the speed reducer;

[0031] Figure 6 for Figure 1 A schematic diagram of an embodiment of the adjusting sleeve and adjusting component in a speed reducer;

[0032] Figure 7 This is a schematic diagram of the structure of an embodiment of the second shaft portion in the speed reducer provided by the present invention;

[0033] Figure 8 for Figure 7 Cross-sectional view of the speed reducer.

[0034] Explanation of icon numbers:

[0035] 100. Base; 110. Mounting hole;

[0036] 200. Circumferentially enclosing worm gear section; 210. First shaft section; 220. Helical gear section;

[0037] 300. Helical gear section; 310. Second shaft section; 311. Channel structure; 320. Helical gear section;

[0038] 400, Adjusting sleeve; 410, First groove; 420, Eccentric hole; 430, Notch;

[0039] 500. Adjusting component; 510. Adjusting part; 520. Pushing part;

[0040] 600, Adapter; 610, First connecting plate; 620, Connecting shaft; 630, Second connecting plate.

[0041] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0043] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0044] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0045] This invention proposes a speed reducer.

[0046] Please see Figure 1 , Figure 2In one embodiment of the present invention, the reducer includes: a base 100 and an annular enveloping worm gear portion 200 and a helical gear portion 300 mounted on the base 100. The annular enveloping worm gear portion 200 includes a first shaft portion 210 and a helical gear portion 220 disposed on the first shaft portion 210. The helical gear portion 300 includes a second shaft portion 310 and a helical gear portion 320 disposed on the second shaft portion 310. The helical gear portion 220 meshes with the helical gear portion 320. It should be noted that when the reducer includes the annular enveloping worm gear portion 200 and the helical gear portion 300, this structure allows for a relatively small size compared to ordinary gear reducers. Furthermore, it is understood that, for reducers of the same size, the reducer of this application also has a higher reduction ratio. It should also be noted that the worm gear part 200 with an annular envelope has an annular surface, and the tooth surface of the gear part forms a conjugate curved surface during its envelope process, increasing more contact points and contact area, so that the load can be distributed at multiple points or in multiple places, reducing the occurrence of local concentration, thereby improving the load-bearing capacity of the transmission structure, and thus solving the technical problem that the load-bearing capacity of small-sized reducers in the prior art is relatively weak.

[0047] Furthermore, in some embodiments, the helical tooth portion and the second shaft portion, and the helical tooth portion and the first shaft portion, are both configured as an integrally formed structure. Of course, in some embodiments, the second shaft portion and the helical tooth portion can be keyed together, and similarly, the helical tooth portion and the first shaft portion can also be keyed together.

[0048] It is understandable that when the reducer in this application is applied to humanoid robots, it can meet the requirement that the joint parts (finger joints, wrist joints, etc.) of the humanoid robot have a compact structure while increasing the load-bearing capacity, thereby improving the applicability of the humanoid robot, such as carrying heavy objects.

[0049] Furthermore, it should be noted that in this embodiment, the first shaft portion 210 can receive external power, thereby transmitting the power to the helical gear portion 220. The helical gear portion 220 then drives the helical gear portion 320, and finally, the power is output outward from the second shaft portion 310. It can be understood that the output end is located at the second shaft portion 310; that is, power is input through the first shaft portion 210, then decelerated by the helical gear portion 220 and the helical gear portion 320, and finally output outward from the second shaft portion 310. Further, in some embodiments, the first shaft portion 210 and the helical gear portion 220 are integrally formed, and the second shaft portion 310 and the helical gear portion 320 are integrally formed. However, this design is not limited to this; in some embodiments, the second shaft portion 310 and the helical gear portion 320 can be connected by a detachable structure.

[0050] Furthermore, in some embodiments, the tooth tip surface of the helical tooth portion 320 is a plane. It should be noted that when the tooth tip surface of the helical tooth portion 320 is a plane, the contact area between the helical tooth portion 320 and the helical tooth portion 220 can be effectively increased. Compared with the tooth tip surface being an arc surface, it can be understood that increasing the contact area can further improve the load-bearing capacity of the reducer.

[0051] To further improve the function of the speed reducer, in one embodiment, reference is made to... Figure 3 When multiple reducers are configured, the first shaft portions 210 of two adjacent reducers can be connected in a transmission manner. It is understood that when multiple reducers are configured, one reducer can simultaneously receive power input and transmit power to another reducer. In this case, the reducer not only has the function of reducing power output but also the function of transmitting power. It is understood that in this scenario, the load-bearing requirements for the reducer are relatively high. The reducer in this application uses a ring-enclosed worm gear portion 200 and a helical gear portion 300 in cooperation, which can improve the load-bearing capacity of the reducer. This allows the reducer in this application to not only reduce the input power output but also transmit power to another reducer, further improving the function of the reducer. It is understood that in this embodiment, one end of the first shaft 210 is used to receive power and the other end is used to transmit power. The first shafts 210 of two adjacent reducers can be connected by a coupling or other transmission components. The coupling can be a universal coupling. When a universal coupling is used, multiple reducers can be arranged not along a straight line, but along an arc.

[0052] In one embodiment, reference Figure 2 At least one end of the first shaft portion 210 is located outside the seat body 100. It should be noted that the first shaft portion 210 has two ends. In some embodiments, both ends of the first shaft portion 210 can be located outside the seat body 100. When both ends of the first shaft portion 210 are located outside the seat body 100, it is convenient to connect two adjacent reducers through a coupling.

[0053] In one embodiment, reference Figure 1 , Figure 4 , Figure 5 , Figure 7 , Figure 8The second shaft portion 310 has an adapter portion 600 connected to its end. The adapter portion 600 is used for mounting external equipment. When the second shaft portion 310 rotates, it synchronously drives the adapter portion 600 to rotate. When the external equipment is mounted on the adapter portion 600, the adapter portion 600 rotates while simultaneously driving the external equipment to rotate. Furthermore, the second shaft portion 310 is constructed with a channel structure 311 extending along its axis. It should be noted that the channel structure 311 passes through both ends of the second shaft portion 310. When the external equipment is mounted on the adapter portion 600, the relevant wiring harness in the external equipment can pass through the reducer via the channel structure 311.

[0054] Furthermore, the adapter 600 can be configured in various ways; in one embodiment, refer to... Figure 1 , Figure 4 , Figure 5 The adapter 600 includes a first connecting plate 610 and a connecting shaft 620 connected to each other. The first connecting plate 610 is connected to the second shaft 310 by screw fastening. The connecting shaft 620 and the first connecting plate 610 can be integrally formed or fixed by screw fastening. It should be noted that the connecting shaft 620 is used for the installation of external equipment. In this case, when the external equipment and the reducer are assembled and a shaft connection is required, the adapter 600 can adopt the structure of this embodiment.

[0055] In one embodiment, reference Figure 7 , Figure 8 The adapter 600 includes a second connecting plate 630, which is connected by screws. The second connecting plate is used for the installation of external equipment. When the external equipment is assembled with the reducer and the connecting plate needs to be used for connection, the adapter 600 can adopt the structure of this embodiment. It should be further noted that when the adapter 600 is configured as the second connecting plate 630, the second connecting plate 630 can be a disc structure or a ring-shaped disc structure. When a ring-shaped disc structure is used, the wiring harness of the external equipment can pass through the reducer through the channel structure 311 of the second shaft portion 310 and the second connecting plate 630.

[0056] In one embodiment, the end of the second shaft portion 310 may be provided with a mounting groove instead of a transition portion 600. In this case, the external device is fixed to the second shaft portion 310 by bolts. When the second shaft portion 310 rotates, it can drive the external device to rotate. Specifically, the bolts pass through the external device and are then threadedly connected to the mounting groove, thereby fixing the external device to the second shaft portion 310. In this embodiment, the second shaft portion 310 may be constructed with a channel structure 311 extending along its axis according to actual needs.

[0057] In one embodiment, reference Figure 2 The helical gear 300 and the annular envelope worm gear 200 have an engagement point and an engagement point. The line connecting the engagement point and the axis of the gear is L1, and the line connecting the engagement point and the axis of the gear is L2. The included angle between L1 and L2 is between 20° and 60°. It should be noted that within the included angle range of 20° to 60°, a larger number of meshing teeth can be ensured to guarantee the contact area and improve the load-bearing capacity. If the angle is less than 20°, the number of meshing teeth will be relatively small, resulting in a reduced contact area and a relatively weaker load-bearing capacity. If the angle is greater than 60°, there may be a problem of tooth jamming. At the same time, for transmission structures with small module and small size, the tooth height of the gear may be too small, causing the gear to fail to mesh with the annular envelope worm gear 200. Meanwhile, by limiting the included angle between the engagement and disengagement points of the toroidal worm gear and the gear to a range of 20° to 60°, the number of teeth simultaneously engaged and the contact area are significantly increased, improving the meshing overlap and load distribution uniformity. This results in a substantial increase in the load-bearing capacity of the transmission structure without increasing the structural dimensions. Furthermore, in some embodiments, the included angle between L1 and L2 can also be 30° to 60°, 40° to 60°, 50° to 60°, or 55° to 60°. It should be noted that as the minimum angle range gradually increases, the minimum load-bearing capacity of the reducer gradually increases.

[0058] In one embodiment, the module of the helical gear 300 ranges from 0.2mm to 5mm. It should be noted that the pitch circle and number of teeth of the helical gear are calculated based on the module range of the helical gear and the reduction ratio required by the user. In this embodiment, the number of heads of the annular worm gear is 1, but this design is not limited to this. In some embodiments, the number of heads of the annular worm gear can be 2, 3, etc., and the specific selection is confirmed based on actual use. The center distance between the gear part and the annular worm gear part is from 3mm to 80mm. It should be noted that in some embodiments, within this range, the size of the transmission structure can be relatively small, and the load-bearing capacity of the transmission structure can be improved under the action of the annular worm gear. The center distance between the helical gear 300 and the annular worm gear part can be 5mm, 10mm, 20mm, 30mm, 40mm, 50mm, or 60mm, and the center distance between the gear part 200 and the annular worm gear part 100 is adjusted according to different product sizes. Furthermore, the pressure angle of the annular worm gear section is between 10° and 30°. By controlling the pressure angle of the annular worm gear between 10° and 30°, the problem of insufficient load-bearing capacity caused by an excessively small pressure angle is avoided, while the situation of a sharp increase in axial force and a decrease in efficiency caused by an excessively large pressure angle is prevented. This achieves a balance between force transmission efficiency, structural reliability, and miniaturization, significantly improving the overall performance of the transmission system in high-dynamic and space-constrained application scenarios. At the same time, when the included angle between L1 and L2 is between 40° and 60°, a larger meshing arc length can be achieved between the annular worm gear section and the gear section, ensuring meshing accuracy and further improving load distribution.

[0059] Furthermore, in some embodiments, the pressure angle can be 15°, 20°, 25°, etc. When the pressure angle is 15°, the angle between the sliding velocity direction and the applied force is gentler, resulting in less impact during engagement or disengagement. When the pressure angle is 20°, the load distribution is more uniform compared to a 15° pressure angle. When the pressure angle is 25°, the load-bearing capacity is further improved. It is understandable that a smaller pressure angle can be chosen when quiet operation is required, while a larger pressure angle can be chosen when a certain load requirement is needed.

[0060] In one embodiment, reference Figure 5 , Figure 6The reducer also includes an adjusting sleeve 400 and an adjusting member 500 mounted on the base 100. The adjusting sleeve 400 has a notch 430 and an eccentric hole 420. The adjusting sleeve 400 is fitted onto the annular envelope worm gear portion 200 through the eccentric hole 420. The notch 430 is located at the helical gear portion 220. The adjusting member 500 can drive the adjusting sleeve 400 to rotate along its own axis and adjust the distance between the annular envelope worm gear portion 200 and the helical gear portion 300 through the eccentric hole 420. It should be noted that adjusting the distance between the annular envelope worm gear portion 200 and the helical gear portion 300 can adjust the meshing area between them. When the distance between them increases, the meshing area decreases relatively, and when the distance between them decreases, the meshing area increases relatively. Additionally, the adjusting sleeve 400 also serves to reduce the impact of assembly errors, making the reducer transmission more stable. It should be noted that a bearing is provided between the adjusting sleeve 400 and the annular envelope worm gear portion 200. In some embodiments, when the reducer is not equipped with the adjusting sleeve 400, a bearing is provided between the annular envelope worm gear portion 200 and the base 100. Similarly, it can be understood that a bearing is also provided between the helical gear portion 300 and the base 100.

[0061] In one embodiment, reference Figure 5 , Figure 6 The base 100 is provided with mounting holes 110 configured with the adjusting member 500, and the adjusting sleeve 400 is disposed in the first groove 410 where the adjusting member 500 is disposed. The adjusting member 500 is configured in two sets, with each set located on opposite sides of the axis of the circumferentially enclosing worm gear portion 200. Both sets of adjusting members 500 are threadedly connected to the mounting holes 110 and abut against the groove wall of the first groove 410. Further, each set of adjusting members 500 may consist of one or two members. It is understandable that when the adjusting member 500 is configured in two sets, the mounting hole 110 and the first groove 410 are also configured in two sets. Further, in some embodiments, the adjusting member 500 can be configured as an adjusting bolt, which is threadedly connected to the mounting hole 110, thereby pushing against the groove wall of the first groove 410. By adjusting the positions of the two sets of adjusting members 500, the adjusting sleeve 400 can be adjusted, causing the adjusting sleeve 400 to rotate, thereby adjusting the axial position of the eccentric hole 420, and thus achieving the purpose of adjusting the axis of the circumferentially enclosing worm gear portion 200, thereby achieving the purpose of adjusting the distance between the circumferentially enclosing worm gear portion 200 and the helical gear portion 300. Specifically, during the adjustment process, one set of adjusting members 500 can be further screwed into the mounting hole 110 a certain distance, and the other set of adjusting members 500 can be screwed out a certain distance, at which point the adjusting members 500 can rotate.

[0062] In one embodiment, reference Figure 5 , Figure 6 The adjusting member 500 includes an adjusting part 510 and a pushing part 520. The adjusting part 510 is threadedly connected to the mounting hole 110 and pushes the pushing part 520 so that the pushing part 520 abuts against the groove wall of the first groove 410. Immediately, when the adjusting member 500 adopts this structure, vibration transmission to the adjusting part 510 is reduced, decreasing the possibility of vibration causing the adjusting member 500 to rotate, thereby reducing the possibility of the position of the adjusting sleeve 400 changing during the use of the reducer. It is understood that the adjusting part 510 and the pushing part 520 are two separate components. In this case, vibration is transmitted through the groove wall of the first groove 410 to the pushing part 520, and then from the pushing part 520 to the adjusting part 510. Since the adjusting part 510 and the pushing part 520 are only in abutting relationship, some vibration is lost during transmission. Compared to when the adjusting part 510 and the pushing part 520 are integrally formed, vibration transmission is reduced.

[0063] In some embodiments, reference Figure 3 The seat 100 has an internal mounting cavity, in which the adjusting sleeve 400, the helical tooth 220, and the helical tooth 320 are all located. The first shaft 210 and the second shaft 310 can be placed on the outside of the seat 100. It can be understood that the mounting cavity has multiple openings on the surface of the seat 100, and multiple openings allow the first shaft 210 and the second shaft 310 to be placed on the outside of the seat 100.

[0064] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A speed reducer characterized by, The application relates to a speed reducer, which comprises a seat body, a torus enveloping worm part and a helical gear part mounted on the seat body, the torus enveloping worm part comprising a first shaft part and a helical tooth part arranged on the first shaft part, the helical gear part comprising a second shaft part and a helical tooth part arranged on the second shaft part, and the helical tooth part being engaged with the helical tooth part. When the speed reducer is configured in multiple, the first shaft parts in two adjacent speed reducers are drivingly connected. At least one end of the first shaft part is located outside the seat body.

2. The speed reducer of claim 1, wherein At least one end of the second shaft part is fixedly arranged with an adapter part, and the second shaft part is configured to form a channel structure extending along the axis thereof.

3. The speed reducer of claim 1, wherein The adapter part comprises a first connecting disc and a connecting shaft, and the first connecting disc is fixedly arranged with the second shaft part through screw locking.

4. The speed reducer of claim 1, wherein Alternatively, the adapter part comprises a second connecting disc, and the second connecting disc is fixedly arranged through screw locking.

5. The speed reducer of claim 4, wherein The helical gear part and the torus enveloping worm part have an engagement entry point and an engagement exit point, the line between the engagement entry point and the axis of the gear part is L1, the line between the engagement exit point and the axis of the gear part is L2, and the included angle between L1 and L2 ranges from 20 DEG to 60 DEG. The modulus of the helical gear part ranges from 0.2 mm to 5 mm.

6. The speed reducer of claim 1, wherein The center distance between the helical gear part and the torus enveloping worm part ranges from 3 mm to 80 mm.

7. The speed reducer of claim 6, wherein The pressure angle of the torus enveloping worm part ranges from 10 DEG to 30 DEG. The speed reducer further comprises an adjusting sleeve and an adjusting part mounted on the seat body, the adjusting sleeve is provided with a notch and an eccentric hole, the adjusting sleeve is sleeved on the torus enveloping worm part through the eccentric hole, and the notch is arranged at the position of the helical tooth part; The adjusting part can drive the adjusting sleeve to rotate along the axis thereof, and adjust the distance between the torus enveloping worm part and the helical gear part through the eccentric hole.

8. The speed reducer of claim 1, wherein The seat body is provided with a mounting hole configured with the adjusting part, and the adjusting sleeve is arranged in a first groove body configured with the adjusting part. The adjusting part is configured in two groups, and the two groups of adjusting parts are arranged on the two sides of the axis of the torus enveloping worm part.

9. The speed reducer of claim 8, wherein The two groups of adjusting parts are threadedly connected to the mounting hole and abut against the groove wall of the first groove body. The adjusting part comprises an adjusting part and a pushing part, the adjusting part is threadedly connected to the mounting hole and pushes the pushing part to abut against the groove wall of the first groove body. ​ 10. The speed reducer of claim 9, wherein ​

Images