Planetary reducer
By incorporating an elastomer and a sensor into the planetary reducer, the problem of the inability to predict and control the output torque in advance in existing technologies is solved, achieving rapid response and reduced errors, and improving the stability of the output torque.
Patent Information
- Application Number
- CN202520282945.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-21
- Publication Date
- 2025-12-09
- Estimated Expiration
- 2035-02-21
AI Technical Summary
Existing planetary reducers cannot predict system and external interference in advance, have slow response speeds, and cannot effectively control the error of output torque.
An elastomer and a sensor are installed in the planetary reducer. The sensor is located between the motor and the reducer. The torque of the gear ring is detected by measuring the bending deformation of the elastomer, thereby realizing feedforward control, fast response and reduced error.
It enables advance prediction and control of output torque, reduces errors, and improves the stability and response speed of torque output.
Smart Images
Figure CN223648514U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a planetary reducer, belonging to the field of reducer technology. Background Technology
[0002] In the field of speed reducers, planetary reducers are widely used in transmission systems for robots, motors, and other applications. They offer advantages such as small size, high load capacity, high transmission efficiency, wide reduction ratio range, and high precision. They are primarily composed of a sun gear, planet gears, an internal gear ring, and a planet carrier. A planetary reducer is a speed reduction transmission device that matches the speed and transmits torque between a prime mover and a driven machine or actuator. The accuracy and stability of the output torque are crucial. Currently, sensors for measuring reducer torque are generally located at the reducer's output end. These sensors can only measure changes in output shaft torque and ensure that the output value meets desired requirements; they cannot predict system and external interference in advance and control it accordingly, resulting in a slow response speed. Summary of the Invention
[0003] The purpose of this invention is to provide a planetary reducer. By placing the sensor between the motor and the reducer, the structure is simple and small in size. It can predict system and external interference in advance, respond quickly to changes and control them, avoid or reduce errors, and quickly detect and feedback control the output torque of the reducer.
[0004] The technical solution of this utility model is as follows: A planetary reducer includes a motor and a housing. The motor and the housing are respectively fixedly connected to one end of an elastic body inside the motor. The elastic body is disposed between a gear ring and the motor. The gear ring is disposed inside the housing. The other end of the elastic body also meshes with the internal teeth of the gear ring. A sensor is provided on the elastic body. The gear ring is provided with a motor gear, a planet carrier, planet gear I, and planet gear II. The output shaft of the motor is fixedly connected to the motor gear. The motor gear meshes with planet gear I on the planet carrier. The sun gear of the planet carrier meshes with planet gear II on the output shaft. Planet gear I and planet gear II are both meshed and connected to the gear ring. The output end of the output shaft is supported and connected to the housing through a bearing.
[0005] In the aforementioned planetary reducer, the elastic body has a structure that is large at both ends and small in the middle. One end of the elastic body is provided with an external gear, which meshes with the internal teeth of the gear ring. The other end has multiple fixing grooves and protrusions arranged alternately on its outer periphery. The fixing grooves and protrusions are provided with threaded holes. The motor and the housing are fixedly connected to the fixing grooves and protrusions on the elastic body by screws. A sensor is provided in the middle of the elastic body.
[0006] In the aforementioned planetary reducer, the input end of the gear ring is provided with a retaining ring, which is fixed inside the housing.
[0007] In the aforementioned planetary reducer, an O-ring is provided in the groove on the outer periphery of the gear ring.
[0008] The beneficial effects of this invention are as follows: Compared with the prior art, this invention, by placing an elastic body between the gear ring and the motor at the front end of the reducer, allows the sensor to measure the torque of the gear ring, which is a feedforward control mechanism. This allows for advance prediction and control, avoiding or reducing errors and improving the stability of torque output. The planetary reducer of this invention has a simple structure and small size, can predict system and external interference in advance, quickly respond to changes and control them, avoid or reduce errors, and can quickly detect and provide feedback control of the reducer's output torque. Attached Figure Description
[0009] Figure 1 This is a diagram of the internal structure of this utility model;
[0010] Figure 2 This is the outline drawing of this utility model;
[0011] Figure 3 This is a schematic diagram of the structure of an elastomer.
[0012] Reference numerals: 1-Motor, 2-Screw, 3-Elastomer, 31-External gear, 32-Fixing groove, 33-Protrusion, 4-Sensor, 5-Retaining ring, 6-Housing, 7-O-ring, 8-Gear ring, 9-Motor gear, 10-Planet gear I, 11-Planet carrier, 111-Sun gear, 12-Planet gear II, 13-Output shaft, 14-Bearing. Detailed Implementation
[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.
[0014] An embodiment of this utility model: A planetary reducer includes a motor 1, screws 2, a housing 6, an elastic body 3, a sensor 4, a gear ring 8, O-rings 7, a retaining ring 5, a motor gear 9, planetary gear I 10, a planetary carrier 11, planetary gear II 12, an output shaft 13, and a bearing 14. The elastic body 3 is disposed between the gear ring 8 and the motor 1. The motor 1 and the housing 6 are fixedly connected to the fixing groove 32 and protrusion 33 on the elastic body 3 by screws 2, respectively. The external gear 31 on the elastic body 3 meshes with the internal gear of the gear ring 8. The gear ring 8 is disposed inside the housing 6. O-rings 7 are provided at two grooves on the gear ring 8. The output end of the housing 6 is provided with an output shaft 13 and a bearing 14. The gear ring 8 is provided with a motor gear 9, a planetary carrier 11, planetary gear I 10, and planetary gear II 12. The output end of the gear ring 8 is in contact with the stop inside the housing 6. The input end of the gear ring 8 is provided with a retaining ring 5, which is fixed inside the housing 6 to prevent the gear ring 8 from axially moving inside the housing 6. The sensor 4 is provided on the elastic body 3.
[0015] The output shaft of motor 1 is fixedly connected to motor gear 9. Motor gear 9 is meshed with planet gear I 10 on planet carrier 11. Sun gear 111 of planet carrier 11 is meshed with planet gear II 12 on output shaft 13. Planet gear I 10 and planet gear II 12 are both meshed with gear ring 8. The output end of output shaft 13 is supported and connected to housing 6 through bearing 14.
[0016] During operation, the drive motor 1 causes the motor gear 9 to rotate, which in turn drives the planetary gear I 10 and the planetary carrier 11 to rotate. The sun gear 111 on the planetary carrier 11 rotates, which in turn drives the planetary gear II 12 and the output shaft 13 to rotate. The output shaft 13 outputs power and speed. At the same time, the gear ring 8, which meshes with the planetary gear I 10 and the planetary gear II 12, is also subjected to force and rotates. The external gear 31 at one end of the elastic body 3 meshes with the internal gear of the gear ring 8 and is subjected to force and rotates. However, the fixing groove 32 and the protrusion 33 on the other end of the elastic body 3 are fixedly connected to the housing 6 and the motor 1 respectively by screws 2. Therefore, the elastic body 3 is subjected to force and rotates at one end while the other end is fixed, thus causing bending deformation. The sensor 4 set on the elastic body 3 converts the bending displacement information of the elastic body 3 into an electrical signal, which can measure the real-time torque of the gear ring 8 when the reducer is working. By conversion, the output torque of the reducer can be obtained, thereby measuring, monitoring and controlling the torque of the reducer.
[0017] The rotation of the gear ring 8 causes the O-ring 7 to be squeezed and come into contact with the housing 6, generating friction, which keeps the gear ring 8 and the O-ring 7 connected to the housing 6 and prevents them from falling off.
[0018] Sensor 4, located at the front end of the reducer, operates under feedforward control. It allows for advance prediction and control, avoiding or reducing errors and improving the stability and accuracy of torque output. It can detect and provide feedback control of the reducer's output torque online, and its simple structure and small size enhance the precision and smoothness of the output torque.
Claims
1. A planetary reducer, comprising a motor (1) and a housing (6), characterized in that: The motor (1) and the housing (6) are respectively fixedly connected to one end of the elastic body (3) inside the motor (1). The elastic body (3) is located between the gear ring (8) and the motor (1). The gear ring (8) is located inside the housing (6). The other end of the elastic body (3) is also meshed with the internal teeth of the gear ring (8). The elastic body (3) is equipped with a sensor (4). The gear ring (8) is equipped with a motor gear (9), a planet carrier (11), a planet gear I (10), and a planet gear II (12). The output shaft of the motor (1) is fixedly connected to the motor gear (9). The motor gear (9) meshes with the planet gear I (10) on the planet carrier (11). The sun gear (111) of the planet carrier (11) meshes with the planet gear II (12) on the output shaft (13). Both the planet gear I (10) and the planet gear II (12) mesh with the gear ring (8). The output end of the output shaft (13) is supported and connected to the housing (6) by a bearing (14).
2. A planetary reducer according to claim 1, characterized in that: The elastic body (3) has a structure that is large at both ends and small in the middle. One end of the elastic body (3) is provided with an external gear (31), which meshes with the internal teeth of the gear ring (8). The other end has multiple fixing grooves (32) and protrusions (33) arranged alternately on its outer periphery. The fixing grooves (32) and protrusions (33) are provided with threaded holes. The motor (1) and the housing (6) are fixedly connected to the fixing grooves (32) and protrusions (33) on the elastic body (3) by screws (2). A sensor (4) is provided in the middle of the elastic body (3).
3. A planetary reducer according to claim 1, characterized in that: The gear ring (8) has a retaining ring (5) at its input end, and the retaining ring (5) is fixed inside the housing (6).
4. A planetary reducer according to claim 1, characterized in that: The toothed ring (8) has an O-ring (7) in the groove on its outer periphery.