Composite push rod type oscillating tooth speed reducer with double uniform load structures

Abstract

The invention relates to the field of speed reducers, and discloses a composite push rod type oscillating tooth speed reducer with a double uniform load structure, which comprises a wave exciter assembly, an oscillating tooth frame assembly, an inner gear ring assembly and a plurality of composite push rod type oscillating tooth assemblies. The oscillating tooth assembly comprises a deformable push rod made of a low-elasticity-modulus material, a first semicircular groove and a second semicircular groove are formed in the two ends of the deformable push rod respectively and used for containing tooth top and tooth bottom roller pins to form a double-arc-surface sliding pair, the side face of the deformable push rod and an oscillating tooth frame radial groove form plane sliding contact, and friction loss is remarkably reduced. Linear contact rolling friction is formed between the roller pins, the tooth shape of the inner gear ring and the outer ring of the shock wave device, and the transmission efficiency is improved. The inner gear ring is of a thin-wall steel annular tooth profile and engineering plastic base body composite structure, controllable radial elastic deformation is generated under the action of meshing force of the multiple movable teeth, and second heavy loads are evenly distributed. According to the design, high-precision, high-efficiency and low-cost precision speed reduction transmission is realized through cooperation of material elastic deformation and a structure.

Description

Technical Field

[0001] This invention relates to the field of speed reducer technology, and in particular to a composite push rod type live gear speed reducer with a dual load-sharing structure. Background Technology

[0002] Joint reducers are core components of current humanoid robots and robotic dogs, with a single humanoid robot containing 40-50 main joint reducers. However, existing joint reducers either have large clearances and low precision, or poor impact resistance and short service life, necessitating the development of joint reducer products with higher overall cost-effectiveness.

[0003] The main joint reducers currently used in the development of humanoid robots include planetary reducers, harmonic reducers, and planetary roller screws, as well as the recently emerging micro cycloidal reducers.

[0004] Harmonic reducers convert the sliding motion of live teeth into the deformation of flexible gears, significantly reducing the number of parts. However, the deformation process involves significant stress, limiting the size of the flexible gear teeth. This is the fundamental reason why harmonic reducers have a large number of teeth and a high reduction ratio. The advantage is that torque can be amplified many times through a single reduction stage, resulting in a very high reduction ratio. The disadvantages are that the flexible gears have very thin walls and small teeth, making them prone to skipping. Typically, only 20-30% of the teeth are engaged, and the gears primarily experience line contact and sliding friction, resulting in very low transmission efficiency, generally around 70%. Furthermore, the transmission process in humanoid robots is prone to breakage due to robot falls, posing a safety risk.

[0005] Planetary reducers offer high transmission efficiency, but each planetary gear is quite large, and each reducer typically accommodates only 3-5 planetary gears. The number of teeth simultaneously transmitting loads is relatively small, resulting in low system rigidity. Single-stage reduction ratios in planetary reducers are only 3-10, with only 3 planetary gears per stage, leading to low load-bearing capacity and poor rigidity. Achieving higher reduction ratios requires 2-3 stages of planetary reducers connected in series, resulting in large size, difficulty in weight control, and generally large transmission backlashes, typically exceeding 3-15 arcminutes. This is highly detrimental to improving joint precision and achieving robot lightweighting.

[0006] The cycloidal pinwheel reducer has a simple structure, but it suffers from excessive pressure angles in the cycloidal gear and output rod, which significantly limits its load-bearing capacity.

[0007] Planetary roller screws have high load-bearing capacity, but they are large in size, difficult to manufacture, and have high manufacturing costs, so there is a need to develop alternative reducer structures.

[0008] As a potential technology beyond the aforementioned solutions, the live gear reducer theoretically combines the compact structure of a harmonic reducer with the high rigidity of a planetary transmission by discretizing the flexure in a continuous drive into multiple independent "live teeth." For example, the miniature live gear reducer developed by Wittenstein GmbH in Germany improves the contact between the shock cam and the live teeth to "approximate surface contact" by introducing a slipper structure, thus enhancing performance (see patent number RU2757102C2). However, the contact area of ​​this solution is still limited, and the complex structure between the live teeth, internal teeth, and slipper places extreme demands on the machining and assembly precision of the overall components, especially the internal gear ring and live teeth, leading to a significant increase in manufacturing costs. Other solutions employing multi-layer, multi-rolling-body designs, while solving the friction problem with pure rolling contact, introduce a large number of tiny parts, resulting in high assembly complexity and difficulty in reducing manufacturing costs.

[0009] In summary, the main contradiction in current mainstream small-size reducer technology lies in the inability to achieve low-cost, mass-produced manufacturing while ensuring high load capacity and long service life. This contradiction largely stems from the method of achieving "load sharing." Load sharing means that all transmission teeth simultaneously and evenly distribute the load. Traditional load sharing relies on extremely high component precision, which in turn leads to a sharp increase in cost. Therefore, how to achieve or even surpass the transmission efficiency, load capacity, and service life of existing technologies while significantly reducing the requirements for machining and assembly precision, thereby reducing manufacturing costs, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0010] The objective of this invention is to propose a composite pusher-type movable gear reducer with a dual load-sharing structure. This improves the near-surface contact sliding friction state in the Wittenstein movable gear reducer to the surface contact sliding friction state inside the movable gear in this invention. It also improves the contact between the movable gear and the outside (shock generator and internal gear) to a line contact rolling friction state. At the same time, the elastic materials of the movable gear pusher and the internal gear are used to make the force on each movable gear more uniform, achieving multiple load sharing. This reduces the requirements for machining accuracy and significantly reduces manufacturing costs.

[0011] The technical solution of the present invention is: a composite push rod type live gear reducer with a dual load-sharing structure, including a shock wave assembly, a live gear frame assembly, an internal gear ring, and a plurality of live gear assemblies disposed in the live gear frame assembly to realize the connection between the internal gear ring and the shock wave assembly; The live tooth assembly is configured to generate elastic deformation when subjected to transmission load in order to compensate for errors between multiple transmission components and achieve uniform distribution of the first heavy load. The internal gear ring is configured to undergo radial elastic deformation under working load to achieve a uniform distribution of the second heavy load that works in conjunction with the live gear assembly.

[0012] Preferably, the movable tooth assembly includes a movable tooth push rod, which is arranged radially along the movable tooth frame assembly and forms a planar sliding contact with a radial groove on the movable tooth frame assembly; The live tooth push rod is at least partially made of a low elastic modulus material to undergo radial compressive deformation of the live tooth frame assembly under working load.

[0013] Preferably, the movable tooth assembly further includes movable tooth tip rollers and movable tooth root rollers, making the movable tooth assembly a composite structure; The live tooth tip roller and the live tooth bottom roller are respectively disposed at both ends of the live tooth push rod in the radial direction of the live tooth frame assembly; The two ends of the movable tooth push rod are respectively provided with a first semi-circular groove and a second semi-circular groove to accommodate the movable tooth top roller and the movable tooth bottom roller. The live tooth top roller and the live tooth bottom roller respectively form arc surface sliding contact with the first semi-circular groove and the second semi-circular groove. The live tooth top roller and the live tooth bottom roller respectively form a line rolling contact with the internal gear ring and the shock wave assembly.

[0014] Preferably, the movable tooth push rod has movable tooth baffle structures on both sides along the axial direction of the movable tooth root roller and the movable tooth tip roller, which restrict the movement of the movable tooth root roller and the movable tooth tip roller, and are used to restrict the axial movement of the movable tooth tip roller and the movable tooth root roller.

[0015] Preferably, the internal gear ring has a composite structure, comprising: The strip-shaped internal toothed ring has a thin-walled annular structure and meshing teeth formed on its inner circumferential surface. The internal gear ring base can be made of non-metallic material and is combined with the strip-shaped internal gear ring to form a whole; Therefore, the internal gear ring has radial elasticity, which allows for controlled deformation during transmission of meshing force to distribute the load evenly.

[0016] Preferably, the meshing tooth profile includes arc teeth and trapezoidal teeth.

[0017] Preferably, the wave number of the shock unit is an integer greater than or equal to 1. When the wave number is 1, the shock unit includes a dynamic balancing structure (removing a portion of the material inside the eccentric shaft or adding a portion of the balancing weight on the outside). When the wave number is ≥2, the outer ring of the shock bearing, which is located on the outer periphery of the shock bearing roller, is configured as a deformable flexible structure.

[0018] A resilient movable gear assembly for a movable gear reducer, comprising: The live tooth body (push rod) is made of a low elastic modulus material and is used to bear working stress and generate elastic deformation to compensate for manufacturing errors. At least one contact element is installed in the contact area of ​​the movable tooth body in a surface contact manner, for transmitting force from the movable tooth body to an external transmission component.

[0019] Preferably, the main body of the movable tooth is a push rod with grooves at both ends; The contact element is a needle roller disposed in the groove, and the needle roller and the groove form a sliding pair with surface contact.

[0020] An elastic composite internal gear ring for a live gear reducer, comprising: The thickness of the metal bearing layer, which serves as the profile of the meshing teeth, is set to allow it to bend and deform with the meshing force. An elastic support matrix integrated with the metal load-bearing layer; The elastic support matrix makes the bending deformation of the metal bearing layer controllable.

[0021] Compared with the prior art, the advantages of the present invention are: (1) The transmission efficiency of the reducer is improved by replacing the line contact sliding pair with a surface contact sliding pair. The live tooth push rod of the present invention has two semi-circular grooves, which can form a complete double arc surface contact sliding state with the top and bottom needle rollers of the live tooth, resulting in low contact stress and avoiding the high pressure stress of traditional point / line contact. At the same time, a planar surface contact sliding pair is established between the live tooth push rod and the live tooth frame; in addition, the needle rollers and the shock wave assembly and the internal gear ring are all cylindrical roller rolling pairs. This effectively solves the problem of line contact friction and wear caused by different radii of curvature at the contact point in other sliding live tooth schemes, achieving a balance between efficiency and lifespan. (2) Reduce manufacturing difficulty and cost through double load sharing. The present invention decomposes the live tooth into a combination of live tooth push rod and two standard needle rollers. The live tooth push rod is made of wear-resistant material with low elastic modulus and low friction coefficient. By controlling its radial deformation, the first load sharing of multiple live teeth is achieved. The invention adopts a composite structure of non-metallic gear matrix and metallic gear part. The elastic deformation of the internal gear further reduces the machining accuracy requirements and ensures the uniformity of load between different live teeth, thus achieving the second load sharing. This dual load-sharing mechanism allows the machining accuracy of key components such as live tooth push rods and internal gear rings to be relaxed from the "micrometer level" to the "wire level", greatly reducing the dependence on precision processes and significantly reducing manufacturing costs; (3) It is proposed that the internal gear adopts a semi-circular arc tooth and a double straight / circular arc tooth (the two sides are oblique lines and the tooth bottom is a circular arc curve) tooth structure. This principle can simplify the tooth shape of the internal gear, improve the tooth shape manufacturing accuracy, and reduce the grinding difficulty and manufacturing cost of the reducer. (4) In terms of manufacturing process, the live tooth push rod can be mass-produced using molding processes such as injection molding, while the needle roller is a standard industrial product with simple manufacturing and assembly processes. The strip-shaped internal gear ring of the internal gear ring can be manufactured using processes such as rolling and stamping to produce its basic structure. Subsequently, necessary milling and grinding processes can be added according to different precision requirements. The internal gear ring substrate can be formed in one step through processes such as molding or overmolding, avoiding the overall grinding of the thin-walled internal gear ring and greatly reducing manufacturing costs. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the structure of a composite push rod type gear reducer with a dual load-sharing structure according to the present invention; Figure 2 This is a schematic diagram of the shock camshaft described in this invention; Figure 3 This is a cross-sectional view of a composite push rod type gear reducer with a dual load-sharing structure according to the present invention. Figure 4 This is a schematic cross-sectional view of the internal gear ring. Figure 5 A schematic diagram of a live gear reducer with a semi-circular internal gear; Figure 6 A schematic diagram of a live gear reducer with double linear / circular arc internal gear tooth profile; Figure 7 This is a schematic diagram of the structure of the movable tooth push rod according to one embodiment of the present invention; Figure 8 This is a schematic diagram of another embodiment of the movable tooth push rod described in this invention.

[0023] Wherein: Shocker assembly 1 includes: shocker bearing outer ring 101, bore spring retainer 102, shaft spring retainer 103, skeleton oil seal 104, axial limit bearing 105, radial support bearing 106, shocker camshaft 107, shocker bearing roller 108, and eccentric balance structure A. First connecting part 100, second connecting part 200, third connecting part 300; The movable gear carrier assembly 2 includes: movable gear carrier main bearing roller 201, movable gear carrier end face seal 202, and movable gear carrier body 203; The internal gear ring assembly 3 includes: an internal gear ring right end cap 301, an internal gear ring 302, an internal gear ring base 30201, a strip-shaped internal gear ring 30202, a main bearing outer ring 303, a main bearing plug pin 304, a plug 305, a plug 306, and an internal gear ring assembly screw 307. The movable tooth assembly 4 includes: movable tooth bottom roller 401, movable tooth push rod 402, movable tooth top roller 403, first semi-circular groove B, second semi-circular groove C, movable tooth baffle H; left baffle 40201, right baffle 40203, and push rod 40202. Detailed Implementation

[0024] The embodiments of this application are described in detail below, and examples of these embodiments are shown in the accompanying drawings.

[0025] like Figures 1-2 As shown, a composite push rod type gear reducer with a dual load-sharing structure includes a shock wave generator assembly 1, a gear carrier assembly 2, an internal gear ring assembly 3, and a gear assembly 4. The shock wave generator assembly 1 serves as the input component of the reducer, while the internal gear ring assembly 3 and the gear carrier assembly 2 can each serve as output components.

[0026] One of the core aspects of this application is to achieve load sharing during the transmission process; Specifically, the live gear assembly 4 is configured to generate elastic deformation when subjected to transmission load to compensate for errors between multiple transmission components and achieve uniform distribution of the first heavy load; the internal gear ring assembly 3 is configured to undergo radial elastic deformation under working load to achieve uniform distribution of the second heavy load in cooperation with the live gear assembly 2, effectively absorbing assembly gaps and errors.

[0027] The second core aspect of this application is that the live tooth assembly 2 is constructed as a composite structure, which maintains both surface sliding contact and line rolling contact of the live tooth assembly 2 during the transmission process.

[0028] The following section provides a detailed explanation of the specific structure of a composite push rod type gear reducer with a dual load-sharing structure: It should be noted that, for ease of description, the standard parts such as bearings, seals, retaining rings, screws, and pins used to provide support in the shock wave assembly 1, the gear frame assembly 2, and the internal gear ring assembly 3 of the dynamic gear reducer described in this invention are respectively listed in one of two related components, without affecting the completeness of the description of the entire device.

[0029] Reference Figure 1 As shown, the shock unit 1 includes a shock camshaft 107, a shock bearing roller 108, and a shock bearing outer ring 101. To enable the assembly of the shock unit 1 in the application scenario, the shock unit 1 also includes standard parts that provide support, sealing, and fastening between the shock unit 1 and the gear carrier assembly 2 and the internal gear ring assembly 3, such as: a spring circlip for the hole 102, a spring circlip for the shaft 103, a skeleton oil seal 104, an axial limiting bearing 105, and a radial support bearing 106.

[0030] Specifically, the shock camshaft 107 serves as the motion input component of the reducer and is used to connect with the output shaft or rotor of the motor in the application scenario. Therefore, the shock camshaft 107 is provided with connection structures such as keyways and threaded holes.

[0031] In an exemplary embodiment, reference is made to Figure 2 As shown, the shock camshaft 107 includes at least a first connecting portion 100, a second connecting portion 200 and a third connecting portion 300 distributed along the axial direction.

[0032] The second connecting part 200 is configured as a cam structure. The shock bearing roller 108 and the shock bearing outer ring 101 are both provided corresponding to the second connecting part 200. The shock bearing outer ring 101 is supported on the cam profile of the shock camshaft 107 by the shock bearing roller 108.

[0033] The cam profile of the shock camshaft 107 can be an eccentric circular curve or a non-circular curve calculated based on the tooth profile of the internal gear ring. The number of rotation cycles of the curve relative to the center of the shock assembly 1 is the equivalent gear teeth or wave number of the shock assembly 1, defined as Z1. Z1 can be 1, 2, 3 or other integers above 3, usually Z1=1 or 2.

[0034] When Z1=1, the cam structure of the second connecting part is constructed as an eccentric cam. A counterweight structure needs to be set inside the shock camshaft 107. In one embodiment, the dynamic balance of the shock assembly 1 can be achieved by removing a portion of the material in the second connecting part 200 to form a cavity. This cavity needs to be located inside the heavier side of the second connecting part 200. In other embodiments, a counterweight can be added in the opposite direction to achieve dynamic balance. This counterweight needs to be located inside the lighter side of the second connecting part 200.

[0035] When the shock wave number Z1 ≥ 2, the outer ring 101 of the shock bearing needs to have higher strength. Therefore, the outer ring 101 of the shock bearing can be made into a flexible bearing structure, that is, by reducing the wall thickness, it can generate sufficient deformation and have sufficient strength and service life. Alternatively, the outer ring 101 of the shock bearing can be configured as a structure formed by stacking multiple thin-walled rings layer by layer. This can improve its resistance to bending and breakage when driving the moving tooth assembly 4 while ensuring the strength of the outer ring 101 of the shock bearing.

[0036] The first connecting part 100 and the third connecting part 300 are configured as a rotating body structure, and the hole spring retainer 102, the shaft spring retainer 103, the skeleton oil seal 104, the axial limit bearing 105, and the radial support bearing 106 are set accordingly for the rotating body structure.

[0037] The axial limiting bearing 105 is used to limit the axial position of the shock camshaft 107 in the gear reducer to remain unchanged, and to fix the axial position of the output shaft or rotor of the motor connected thereto.

[0038] Radial support bearings 106 can be respectively provided for the first connecting part 100 and the third connecting part 300. The two radial support bearings 106 are usually needle roller bearings. When the load-bearing capacity is not large, deep groove ball bearings, sliding bearings, etc. can also be used. They are mainly used to support the shock camshaft 107 on the live gear frame assembly 2 and the internal gear ring assembly 3 to bear the radial force during the transmission process.

[0039] The spring clip 102 for holes and the spring clip 103 for shafts are fasteners used to fix the axial position of the axial limit bearing 105 and the shock camshaft 107 in the reducer, respectively.

[0040] The skeleton oil seal 104 mainly serves a sealing function. In the application scenario, the shock unit 1 and the live gear assembly 2 form an assembly relationship, and the skeleton oil seal 104 is used to achieve the sealing between the live gear assembly 2 and the shock unit 1.

[0041] Combination Figure 1 , Figure 3 As shown, the movable gear assembly 2 is coaxially arranged with the first connecting part 100 / the third connecting part 300, and is at least sleeved outside the shock bearing outer ring 101, forming a gap between it and the shock bearing outer ring 101 for the shock bearing outer ring 101 to swing.

[0042] In an exemplary embodiment, the movable gear carrier assembly 2 includes a movable gear carrier main bearing roller 201, a movable gear carrier end face seal 202, and a movable gear carrier body 203.

[0043] The movable gear carrier body 203 is a composite part formed by integrating the inner ring of the main bearing of a conventional reducer and the movable gear carrier of the movable gear reducer. Therefore, in this embodiment, the movable gear carrier body 203 not only serves to install the movable gear assembly 4, but also serves to constitute the main bearing of the reducer. Furthermore, one of its functions is that the outer raceway of the movable gear carrier body 203, together with the inner raceway of the outer ring 303 of the main bearing in the inner gear ring assembly 3, as well as the rollers 201 of the movable gear carrier main bearing and the end face seal 202 of the movable gear carrier, together form the main bearing of the reducer, realizing the axial and radial dynamic support of the movable gear carrier assembly 2 on the inner gear ring assembly 3, and together forming the main bearing structure of the reducer.

[0044] The end face seal 202 of the movable gear carrier is constructed into a ring structure and is assembled on the outer end face of the movable gear carrier body 203, which is coplanar with the outer ring 303 of the main bearing, to realize the sealing function of the main bearing to the outside.

[0045] Reference Figure 2As shown, the movable tooth assembly 4 is mounted on the movable tooth frame body 203 and is arranged in a ring-shaped even distribution. For example, in conjunction with... Figure 7 As shown, the live tooth assembly 4 forms a combination body, including a live tooth root roller 401, a live tooth push rod 402, and a live tooth tip roller 403.

[0046] Each live tooth push rod 402 has a first semi-circular groove B and a second semi-circular groove C at both ends of the live tooth frame assembly 2 in the radial direction. The live tooth top roller 403 and the live tooth bottom roller 401 are respectively arranged in the first semi-circular groove B and the second semi-circular groove C at both ends of the live tooth push rod 402 in the radial direction of the live tooth frame assembly 2.

[0047] In the assembled state, the live tooth push rod 402 is arranged radially along the live tooth frame assembly 2 and forms a planar sliding contact with the radial groove on the live tooth frame body 203; the live tooth top roller 403 and the live tooth bottom roller 401 form an arc surface sliding contact with the first semi-circular groove B and the second semi-circular groove C respectively; the live tooth top roller 403 and the live tooth bottom roller 401 form a line rolling contact with the inner tooth ring 302 and the shock wave assembly 1 respectively.

[0048] The above includes "planar sliding contact," "arc sliding contact," and "line rolling contact." Among these, the planar sliding contact and arc sliding contact, forming a surface contact sliding state, significantly improve contact stress distribution, reduce wear, and increase service life compared to the traditional line contact sliding state. The line contact rolling state achieves a good rolling friction pair between the toothed assembly 4 and the tooth surfaces of the shock wave bearing outer ring 101 and internal gear ring 302, further improving the transmission efficiency of the reducer.

[0049] For example, the movable tooth push rod 402 can be made of non-metallic materials with good elasticity and wear resistance, such as PEEK, or it can be made of composite materials, such as PEEK combined with wear-resistant bronze or cast iron. The manufacturing process can employ precision molding, machining, or other methods, making it easy to obtain a low-cost movable tooth push rod. In application scenarios, based on the suitability of the selected materials, the surface contact sliding state can significantly improve contact strength and transmission efficiency. Simultaneously, based on the suitability of the selected materials, the movable tooth push rod 402 is constructed to produce elastic deformation under load. Combined with the certain length of the movable tooth push rod 402, the amount of elastic deformation under force can be controlled using the structural dimensions of the push rod. This deformation can compensate for the multi-tooth meshing load distribution problem caused by reduced machining accuracy of the internal gear ring, achieving the first level of load uniformity distribution, i.e., the first level of load equalization.

[0050] To prevent the axial movement of the live tooth root needle roller 401 and the live tooth tip needle roller 403, the live tooth push rod 402 also includes a live tooth baffle H. According to... Figure 7As shown, the general structure of the movable tooth push rod 402 consists of a left baffle 40201, a right baffle 40203, and a push rod 40202. The left baffle 40201 and the right baffle 40203 are distributed on both sides of the axial direction of the corresponding movable tooth push rod 402 or movable tooth tip roller 403. The baffle 40201, the right baffle 40203, and the push rod 40202 are integrated by welding and gluing.

[0051] In other embodiments, refer to Figure 8 As shown, the baffle 40201, the right baffle 40203, and the push rod 40202 can also be constructed as an integrated structure.

[0052] Combination Figure 1 , Figure 3 As shown, the internal gear ring assembly 3 includes an internal gear ring right end cap 301, an internal gear ring 302, a main bearing outer ring 303, and also includes a main bearing plug pin 304, a plug 305, a plug 306, and an internal gear ring assembly screw 307 for assembly, fixation, and protection.

[0053] The internal gear ring assembly 3 consists of the right end cap 301, the internal gear ring 302, and the outer ring of the main bearing 303, forming the main structure and core framework for bearing torque and supporting loads. In an exemplary embodiment, at least a portion of the internal gear ring 302 is made of a material with a low elastic modulus, enabling it to undergo radial elastic deformation and achieve a second load uniformity distribution in conjunction with the live gear assembly, i.e., a second load equalization.

[0054] For example, the internal gear ring 302 is constructed as a composite structure. (Refer to...) Figure 4 As shown, the internal gear ring 302 consists of an internal gear ring base 30201 and a strip-shaped internal gear ring 30202, which can be connected into a whole by means of bonding or other methods. The internal gear ring base 30201 is made of non-metallic materials such as elastic nylon, and the working tooth surface of the strip-shaped internal gear ring 30202 is a thin-walled annular gear ring made of strip steel rolled or stamped. The internal gear ring can also be mass-produced at extremely low cost through continuous rolling, forming, grinding, bending, welding, and other processes, significantly reducing the manufacturing cost of the internal gear ring. The internal gear ring base 30201 and the strip-shaped internal gear ring 30202 are tightly connected together by means of molding, bonding, or other methods to form a composite gear structure that can undergo slight deformation.

[0055] In the application scenario, the composite structure composed of the internal gear ring matrix 30201 and the strip-shaped internal gear ring 30202 will produce small, coordinated radial elastic deformation. This overall deformation dynamically adjusts the contact state of each meshing point, making the load distribution among the multiple simultaneously meshing teeth more uniform. The resulting second layer of load sharing can effectively absorb the assembly gaps and errors of the system.

[0056] Working principle: Since both the internal gear ring assembly 3 and the movable gear frame assembly 2 can be used as output components, the following explanation will focus on the case where the movable gear frame assembly 2 is fixed and the internal gear ring assembly 3 is the output component.

[0057] When the motor drives the shock camshaft 107 to rotate at high speed, the shock camshaft 107 pushes the contacting live tooth root roller 401 through the outer contour of the shock bearing roller 108 and the shock bearing outer ring 101. The live tooth root roller 401 transmits motion to the live tooth push rod 402, which in turn pushes the internal teeth of the internal gear ring 302 through the live tooth tip roller 403 at the other end, forcing the internal gear ring 302 to generate low-speed rotational motion, thereby achieving deceleration output. During continuous operation, multiple live tooth assemblies 4 are pushed sequentially by the shock camshaft 107, achieving continuous and smooth drive of the internal gear ring 302.

[0058] In this scenario, when the shock wave number Z1=1 and the number of teeth on the internal gear ring is Z3, the reduction ratio i 13 for: i 13 = n1 / n3 = ± Z3.

[0059] Similarly, when the internal gear ring 302 is fixed and the live gear assembly 2 is used as the output component, the shock camshaft 107 rotates at high speed, and through the transmission of the live gear assembly 4, it drives the live gear assembly 2 to rotate at low speed.

[0060] In this scenario, when the shock wave number Z1=1 and the number of teeth on the internal gear ring is Z3, the reduction ratio i 12 for: i 12 = (n1 - n3) / (n2 - n3) = -n1 / n3 + 1 = ± Z3 + 1.

[0061] Wherein, the positive and negative signs indicate the direction relationship between the input and output; n1 is the input speed; n2 and n3 are the output speeds.

[0062] In summary, based on the disclosed structure of the live gear reducer, this application achieves adjustments to the "load sharing" and "contact state" on the basis of the traditional structure, specifically manifested as follows: First, the live tooth assembly is constructed to be able to produce elastic deformation when subjected to transmission load, to compensate for structural manufacturing errors and assembly errors, and to achieve the first level of load sharing. Second, the internal gear ring is constructed to undergo radial elastic deformation under working load, thereby achieving a second load sharing in coordination with the live gear assembly; Third, the live tooth assembly is constructed as a composite structure, so that during the transmission process, the live tooth push rod and the radial groove on the live tooth frame body always form a planar sliding contact; the live tooth top roller and the live tooth bottom roller form an arc surface sliding contact with the live tooth push rod respectively; and the live tooth top roller and the live tooth bottom roller form a line rolling contact with the internal gear ring and the shock wave assembly respectively.

[0063] The above embodiments are merely illustrative of the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and therefore all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention.

Claims

1. A composite push rod type gear reducer with a dual load-sharing structure, characterized in that: It includes a shock generator assembly, a toothed frame assembly, an internal toothed ring, and a plurality of toothed assemblies disposed within the toothed frame assembly to achieve connection between the internal toothed ring and the shock generator assembly; The live tooth assembly is configured to generate elastic deformation when subjected to transmission load in order to compensate for errors between multiple transmission components and achieve uniform distribution of the first heavy load. The internal gear ring is configured to undergo radial elastic deformation under working load to achieve a uniform distribution of the second heavy load that works in conjunction with the live gear assembly.

2. The composite push rod type gear reducer with a dual load-sharing structure according to claim 1, characterized in that, The movable tooth assembly includes a movable tooth push rod, which is arranged radially along the movable tooth frame assembly and forms a planar sliding contact with a radial groove on the movable tooth frame assembly; The live tooth push rod is at least partially made of a low elastic modulus material to undergo radial compressive deformation of the live tooth frame assembly under working load.

3. A composite push rod type gear reducer with a dual load-sharing structure according to claim 2, characterized in that, The movable tooth assembly also includes movable tooth tip rollers and movable tooth root rollers, making the movable tooth assembly a composite structure; The live tooth tip roller and the live tooth bottom roller are respectively disposed at both ends of the live tooth push rod in the radial direction of the live tooth frame assembly; The two ends of the movable tooth push rod are respectively provided with a first semi-circular groove and a second semi-circular groove to accommodate the movable tooth top roller and the movable tooth bottom roller. The live tooth top roller and the live tooth bottom roller respectively form arc surface sliding contact with the first semi-circular groove and the second semi-circular groove. The live tooth top roller and the live tooth bottom roller respectively form a line rolling contact with the internal gear ring and the shock wave assembly.

4. A composite push rod type gear reducer with a dual load-sharing structure according to claim 3, characterized in that, The movable tooth push rod has movable tooth baffle structures on both sides along the axial direction of the movable tooth root roller and the movable tooth tip roller, which restrict the movement of the movable tooth root roller and the movable tooth tip roller, and are used to restrict the axial movement of the movable tooth tip roller and the movable tooth root roller.

5. A composite push rod type gear reducer with a dual load-sharing structure according to claim 1, characterized in that... The internal gear ring has a composite structure, comprising: The strip-shaped internal toothed ring has a thin-walled annular structure and meshing teeth formed on its inner circumferential surface. The internal gear ring base is made of non-metallic material and is integrally formed with the strip-shaped internal gear ring; Therefore, the internal gear ring has radial elasticity, which allows for controlled deformation during transmission of meshing force to distribute the load evenly.

6. A composite push rod type gear reducer with a dual load-sharing structure according to claim 5, characterized in that, Meshing tooth profiles include arc teeth and trapezoidal teeth.

7. A composite push rod type gear reducer with a dual load-sharing structure according to claim 6, characterized in that: The wave number of the shock wave generator assembly is an integer greater than or equal to 1. When the wave number is 1, the shock wave generator assembly includes a dynamic balance structure. When the wave number is ≥2, the outer ring of the shock bearing, which is located on the outer periphery of the shock bearing roller, is configured as a deformable flexible structure.

8. A flexible movable tooth assembly for a movable tooth reducer, characterized in that, include: The main body of the live tooth is made of a material with low elastic modulus and is used to bear working stress and generate elastic deformation to compensate for manufacturing errors. At least one contact element is installed in the contact area of ​​the movable tooth body in a surface contact manner, for transmitting force from the movable tooth body to an external transmission component.

9. The elastic movable gear assembly for a movable gear reducer according to claim 8, characterized in that, The main body of the movable tooth is a push rod with grooves at both ends; The contact element is a needle roller disposed in the groove, and the needle roller and the groove form a sliding pair with surface contact.

10. An elastic composite internal gear ring for a live gear reducer, characterized in that, include: The thickness of the metal bearing layer, which serves as the profile of the meshing teeth, is set to allow it to bend and deform with the meshing force. An elastic support matrix integrated with the metal load-bearing layer; The elastic support matrix makes the bending deformation of the metal bearing layer controllable.

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