A planetary gear reducer with detection magnet
By introducing detection magnets and encoders into the planetary gear reducer, the output position detection is realized, and the combination of limit slots and limit blocks and the setting of rotating bearings in the prior art is solved, and the reduction gears in the prior art cannot meet the requirements of high integration, torque density and power density, and the performance and maintainability of robot joints are improved.
Patent Information
- Application Number
- CN202421668931.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-15
- Publication Date
- 2025-04-01
- Estimated Expiration
- 2034-07-15
AI Technical Summary
The reducers of existing robot joints cannot meet the needs of high integration, torque density and power density, and lack position detection functions, resulting in lower cycle speeds, poor maintenance and poor load capacity.
A planetary gear reducer with detection magnet is designed, and the position detection of the output end is realized by installing a ring magnet and an encoder on the output disc; at the same time, a combination of limit slots and limit blocks is used to ensure the limit installation of the planetary wheel; and friction resistance is reduced by setting a rotating bearing.
The position detection at the output end is realized, the torque density and power density of the planetary gear reducer is improved, and the performance and maintainability of the robot joints are enhanced.
Smart Images
Figure CN222702487U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of reducers, in particular to a planetary gear reducer with a detection magnet. Background Art
[0002] Planetary reducer is a reducer with three planetary gears rotating around a sun gear. With the rapid development of the planetary reducer industry, more and more industries and different companies have applied planetary reducers. The main products are planetary gear reducers; helical gear-spiral bevel gear reducers; spiral bevel gear steering boxes; hardened helical gear reducers; parallel shaft helical gear reducers; helical gear-worm reducers; hardened industrial gearboxes; continuously variable speed machines; worm reducers and various series of non-standard reducers. It is suitable for industrial sectors such as lifting and transportation, engineering machinery, metallurgy, mining, petrochemicals, construction machinery, light industry and textiles, medical equipment, instruments and meters, automobiles, ships, weapons and aerospace. This design is a modularly designed spur gear first-stage planetary reducer. The industrial robot joints require high precision and high torque density and power density. The planetary reducer can effectively meet the joint requirements of industrial robots.
[0003] In the past, robot joints could not meet the requirements of high integration, nor provide sufficient torque density and power density to guarantee the performance of the robot because manufacturers used standard model accessories. This situation would cause the robot products of integrated manufacturers to have low cycle speeds, poor maintainability, and poor load capacity. In some complex applications, they could not provide sufficient performance. On the other hand, the existing standard reducer output disk lacks position detection function, and the motor needs to be repositioned each time it is started. Utility Model Content
[0004] The utility model aims to provide a planetary gear reduction box with a detection magnet to solve the problems in the prior art.
[0005] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is to provide a planetary gear reducer with a detection magnet, including an output disc, a connecting bearing, a planetary gear ring, multiple planetary gears, a planet carrier and a sun gear shaft, the output disc including an output end and a mounting end, the mounting end is rotatably connected to the planetary gear ring through the connecting bearing, the mounting end is provided with multiple mounting seats, each of the planetary gears is mounted on each of the mounting seats, the sun gear shaft is provided at the center position surrounded by the multiple planetary gears, each of the planetary gears is meshed with the planetary gear ring and the sun gear shaft, the planet carrier is fixed to the mounting end and limits the planetary gears, the planet carrier is reserved with a through hole for the sun gear shaft to penetrate, the output end is provided with a mounting boss, and an annular magnet is fixed on the mounting boss.
[0006] Furthermore, the mounting end is provided with a limiting groove, the planet carrier is provided with a limiting block, and the limiting block is embedded in the limiting groove and fixed by screws.
[0007] Furthermore, the limiting grooves and the limiting blocks are provided in at least two groups.
[0008] Furthermore, the planet carrier is provided with an avoidance groove for the outer edge of the planetary wheel to pass through.
[0009] Furthermore, there are three planetary gears, and the center lines of the three planetary gears form an equilateral triangle, and the axis of the sun gear shaft passes through the center of the equilateral triangle.
[0010] Furthermore, the mounting boss is an annular boss, and the outer edge of the annular magnet does not protrude beyond the outer edge of the mounting boss.
[0011] Furthermore, a bearing seat is provided at the center position of the mounting end, a rotating bearing is provided in the bearing seat, and one end of the sun gear shaft is connected to the rotating bearing.
[0012] Furthermore, the rotating bearing and the connecting bearing are arranged coaxially.
[0013] Furthermore, the reduction box also includes an end cover, which is buckled on the other end of the planetary gear ring, and a reserved hole for the sun gear shaft to pass through is provided at the center of the end cover.
[0014] Furthermore, the planet carrier is provided with an axial hole, and the axial hole is used for installing the rotating shaft of the planetary gear.
[0015] The beneficial effects of the utility model are:
[0016] 1. The output disk is connected to the motor, and an encoder is fixed in the middle of the motor back cover. A ring magnet is installed at the output end of the output disk. When the motor output shaft rotates, the ring magnet can rotate synchronously. At this time, the encoder interacts with the ring magnet and can detect the rotational angular velocity and rotation angle of the ring magnet, which can provide the controller with output angle-related information, effectively realizing the position detection of the output end.
[0017] 2. A limit slot is provided at the installation end, and a limit block is provided on the planet carrier, which is embedded in the limit slot and fixed by screws. Through the cooperation of the limit slot and the limit block, the planet carrier can limit the installation of the planetary gear.
[0018] 3. The mounting boss is an annular boss, and the outer edge of the annular magnet does not protrude from the outer edge of the mounting boss, so that the mounting boss plays a certain protective role on the annular magnet.
[0019] 4. A bearing seat is provided at the center of the mounting end, a rotating bearing is provided in the bearing seat, and one end of the sun gear shaft is connected to the rotating bearing. By providing the rotating bearing, the friction resistance of the sun gear shaft when rotating can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0021] Figure 1 A schematic diagram of the overall structure of a planetary gear reducer with a detection magnet provided in an embodiment of the utility model from a first perspective;
[0022] Figure 2 A schematic diagram of the overall structure of a planetary gear reducer with a detection magnet provided by an embodiment of the utility model from a second perspective;
[0023] Figure 3 A cross-sectional view of a planetary gear reducer with a detection magnet provided in an embodiment of the utility model;
[0024] Figure 4 A schematic diagram of the overall exploded structure of a planetary gear reducer with a detection magnet provided in an embodiment of the utility model;
[0025] Figure 5 A schematic diagram of a partial explosion structure of a planetary gear reducer with a detection magnet provided in an embodiment of the utility model;
[0026] Figure 6 A schematic diagram of the position of a bearing seat used in a planetary gear reducer with a detection magnet provided in an embodiment of the utility model.
[0027] Description of reference numerals:
[0028] 1. Output disk; 11. Output end; 12. Mounting end; 13. Mounting seat; 14. Mounting boss; 15. Ring magnet; 16. Limiting groove; 17. Bearing seat; 2. Connecting bearing; 3. Planetary ring gear; 4. Planetary gear; 5. Planet carrier; 51. Through hole; 52. Limiting block; 53. Avoiding groove; 54. Shaft hole; 6. Sun gear shaft; 7. Rotating bearing; 8. End cover; 81. Reserved hole. DETAILED DESCRIPTION
[0029] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0030] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0032] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
[0033] Reference Figures 1 to 6 A planetary gear reducer with a detection magnet provided as an embodiment of the utility model includes an output disc 1, a connecting bearing 2, a planetary gear ring 3, a plurality of planetary gears 4, a planet carrier 5 and a sun gear shaft 6. The output disc 1 includes an output end 11 and a mounting end 12. The mounting end 12 is rotatably connected to the planetary gear ring 3 through the connecting bearing 2. The mounting end 12 is provided with a plurality of mounting seats 13. Each planetary gear 4 is mounted on each mounting seat 13. A sun gear shaft 6 is provided at a center position surrounded and formed by the plurality of planetary gears 4. Each planetary gear 4 is meshed with the planetary gear ring 3 and the sun gear shaft 6. The planet carrier 5 is fixed to the mounting end 12 and limits the planetary gear 4. The planet carrier 5 is reserved with a through hole 51 for the sun gear shaft 6 to penetrate. The output end 11 is provided with a mounting boss 14, and a ring magnet 15 is fixed on the mounting boss 14.
[0034] The output disk 1 is connected to the motor, an encoder is fixedly arranged in the middle of the motor rear cover, and an annular magnet 15 is installed at the output end 11 of the output disk 1. When the motor output shaft rotates, the annular magnet 15 can rotate synchronously with it. At this time, the encoder interacts with the annular magnet 15 and can detect the rotation angular velocity and rotation angle of the annular magnet 15, and can provide the controller with output angle-related information, effectively realizing the position detection of the output end 11.
[0035] Specifically, the mounting end 12 is provided with a limiting groove 16, and the planet carrier 5 is provided with a limiting block 52, which is embedded in the limiting groove 16 and fixed by screws. Through the cooperation of the limiting groove 16 and the limiting block 52, the planet carrier 5 can limit the installation of the planetary gear 4. There are at least two groups of limiting grooves 16 and limiting blocks 52 to enhance the positioning and installation effect of the planet carrier 5. The planet carrier 5 is provided with an avoidance groove 53 for the outer edge of the planetary gear 4 to pass through. In this embodiment, there are three planetary gears 4, and the center lines of the three planetary gears 4 are connected to form an equilateral triangle, and the axis of the sun gear shaft 6 passes through the center of the equilateral triangle. There are three limiting blocks 52, and the three limiting blocks 52 are evenly distributed around the outer contour of the planet carrier 5, and the avoidance groove 53 is formed between two adjacent limiting blocks 52. The planet carrier 5 is provided with an axial hole 54, and the axial hole 54 is used to install the rotating shaft of the planetary gear 4.
[0036] Furthermore, a bearing seat 17 is provided at the center of the mounting end 12 , a rotating bearing 7 is provided in the bearing seat 17 , and one end of the sun gear shaft 6 is connected to the rotating bearing 7 .
[0037] By providing the rotating bearing 7, the friction resistance of the sun gear shaft 6 when rotating can be reduced. In this embodiment, the rotating bearing 7 is coaxially arranged with the connecting bearing 2, so that the internal structure layout of the reduction box is reasonable and the failure rate is low. The connecting bearing 2 adopts a 6707 bearing, and the rotating bearing 7 adopts an MR104 bearing. The MR104 bearing and the 6707 bearing ensure the stability of the torque output and improve the power density and torque density of the reduction box.
[0038] Furthermore, the mounting boss 14 is an annular boss, and the outer edge of the annular magnet 15 does not protrude beyond the outer edge of the mounting boss 14 , so that the mounting boss 14 plays a certain protective role on the annular magnet 15 .
[0039] Furthermore, the reduction gearbox also includes an end cover 8, which is buckled on the other end of the planetary gear ring 3. A reserved hole 81 for the sun gear shaft 6 to pass through is provided at the center of the end cover 8. The end cover 8 can shield and protect the internal planetary carrier 5, planetary gear 4 and other components.
[0040] The embodiments of this specific implementation method are all preferred embodiments of the utility model, and are not intended to limit the protection scope of the utility model. Therefore, all equivalent changes made based on the structure, shape, and principle of the utility model should be included in the protection scope of the utility model.
Claims
1. A planetary gear reducer with a detection magnet, characterized in that: The invention comprises an output disc (1), a connecting bearing (2), a planetary gear ring (3), a plurality of planetary gears (4), a planet carrier (5) and a sun gear shaft (6), wherein the output disc (1) comprises an output end (11) and a mounting end (12), wherein the mounting end (12) is rotatably connected to the planetary gear ring (3) via the connecting bearing (2), and the mounting end (12) is provided with a plurality of mounting seats (13), and each of the planetary gears (4) is mounted on each of the mounting seats (13). 4) is provided at the center position of the enclosed and formed sun gear shaft (6), each of the planetary gears (4) is meshed with the planetary gear ring (3) and the sun gear shaft (6), the planetary carrier (5) is fixed to the mounting end (12) and defines the planetary gears (4), the planetary carrier (5) is provided with a through hole (51) for the sun gear shaft (6) to pass through, the output end (11) is provided with a mounting boss (14), and an annular magnet (15) is fixed to the mounting boss (14).
2. The planetary gear reducer with a detection magnet according to claim 1, characterized in that: The mounting end (12) is provided with a limiting groove (16), and the planetary frame (5) is provided with a limiting block (52), and the limiting block (52) is embedded in the limiting groove (16) and fixed by screws.
3. The planetary gear reducer with a detection magnet according to claim 2, characterized in that: The limiting grooves (16) and the limiting blocks (52) are provided in at least two groups.
4. The planetary gear reducer with a detection magnet according to claim 3, characterized in that: The planet carrier (5) is provided with an avoidance groove (53) for the outer edge of the planetary gear (4) to pass through.
5. The planetary gear reducer with a detection magnet according to claim 1, characterized in that: There are three planetary gears (4), and the center lines of the three planetary gears (4) form an equilateral triangle. The axis of the sun gear shaft (6) passes through the center of the equilateral triangle.
6. The planetary gear reducer with a detection magnet according to claim 1, characterized in that: The mounting boss (14) is an annular boss, and the outer edge of the annular magnet (15) does not protrude from the outer edge of the mounting boss (14).
7. The planetary gear reducer with a detection magnet according to claim 1, characterized in that: A bearing seat (17) is provided at the center of the mounting end (12), a rotary bearing (7) is provided in the bearing seat (17), and one end of the sun gear shaft (6) is connected to the rotary bearing (7).
8. The planetary gear reduction box with a detection magnet according to claim 7, characterized in that: The rotating bearing (7) and the connecting bearing (2) are arranged coaxially.
9. The planetary gear reduction box with a detection magnet according to claim 1, characterized in that: It also comprises an end cover (8), the end cover (8) being buckled on the other end of the planetary gear ring (3), and a reserved hole (81) for the sun gear shaft (6) to pass through is provided at the center of the end cover (8).
10. The planetary gear reduction box with a detection magnet according to claim 1, characterized in that: The planet carrier (5) is provided with an axial hole (54), and the axial hole (54) is used for mounting the rotating shaft of the planetary gear (4).