Planetary gear-cycloid double-disc two-stage speed reducer

Abstract

The utility model relates to the technical field of speed reducers, in particular to a planetary gear-cycloid double-disc two-stage speed reducer. In order to reduce the reducer size, the reduction ratio and the stability of output torque are improved. The first-stage speed reduction is planetary speed reduction, the second-stage speed reduction is cycloid speed reduction, the first-stage speed reduction is of a planet-involute tooth structure, and the second-stage speed reduction is of a double-disc cycloid-pin structure. The reduction ratio of the whole speed reducer is large, the transmission efficiency is high, the torque can be stably output, and the speed reducer adopts shell output. The speed reducer is suitable for large-torque application scenes such as mechanical arms of industrial robots and automatic door facilities.

Description

TECHNICAL FIELD

[0001] The utility model relates to a reducer technical field more specifically says a kind of planetary gear-cycloid double-disc two-stage reducer. BACKGROUND

[0002] Most reducers, limited by size, the reduction ratio is also designed smaller, even if the reducer of large reduction ratio, its transmission efficiency and the stability of load are not ideal. Although the reducer of similar single planetary transmission can also be designed to large reduction ratio, its size also increases, which is not suitable for small space application site, and the stability of transmission efficiency and output torque needs to be improved. SUMMARY

[0003] The utility model provides a kind of planetary gear-cycloid double-disc two-stage reducer, the purpose is to reduce size, improve the stability of reduction ratio and output torque.

[0004] The above-mentioned purpose is realized by the following technical solutions:

[0005] A planetary gear transmission mechanism, comprising an inner ring, a planetary carrier coaxially arranged in the inner ring, a planetary gear rotatably connected to the planetary carrier, the planetary gear being engaged with the inner ring, a first shaft coaxially arranged in the planetary carrier, a tooth formed on the outer ring of the first shaft, the outer ring of the tooth being engaged with the planetary gear, a third shaft fixedly connected to the left end of the planetary carrier, the inner ring of the third shaft being coaxially arranged with the planetary carrier, a first eccentric profile and a second eccentric profile formed on the outer ring of the third shaft, the axis of the first eccentric profile and the axis of the second eccentric profile being parallel to the axis of the inner ring of the third shaft and having a distance, the eccentric positions of the axis of the first eccentric profile and the axis of the second eccentric profile being 180° apart, one intermediate disc rotatably connected to each of the first eccentric profile and the second eccentric profile, an outer cycloid profile formed on the outer ring of each of the two intermediate discs, a left shell coaxially arranged with the axis of the inner ring of the third shaft arranged on the periphery of the intermediate disc, a plurality of arc-shaped grooves uniformly distributed on the inner ring of the left shell, one roller needle arranged in each arc-shaped groove, all the roller needles being engaged with the two outer cycloid profiles.

[0006] The inner ring of the inner ring is formed with two first flanges, the two first flanges can limit the axial freedom degree of the planetary gear, the outer ring of the first shaft is formed with two second flanges, and the two second flanges can limit the axial freedom degree of the planetary gear.

[0007] One roller needle retainer is arranged in the left shell and located at the left and right ends of the arc-shaped groove, which limits the axial displacement of the roller needle.

[0008] The planet carrier comprises a first planet carrier ring and a second planet carrier ring arranged on the left side of the first planet carrier ring, the right end of the second planet carrier ring is uniformly provided with a plurality of integrally formed columns, any two adjacent columns have a spacing, the right end of the column is fixedly connected to the left end of the first planet carrier ring, the left end of the first planet carrier ring is provided with four first pin holes uniformly distributed in a circle, the second planet carrier ring is provided with four second pin holes uniformly distributed in a circle, the four first pin holes and the four second pin holes are one-to-one corresponding in position, that is, the axes coincide, the first pin hole and the second pin hole with the coinciding axes are a pair of pin holes, one cylindrical pin is inserted into each pair of pin holes, one pin sleeve is sleeved on each cylindrical pin, one planetary gear is sleeved on the outer circumferential surface of each pin sleeve, the spacing between the two adjacent columns provides a placement position for the planetary gear, the left end of the second planet carrier ring is fixedly connected with a planet carrier output shaft, and the third shaft is a hollow structure and is sleeved on the planet carrier output shaft.

[0009] The planet carrier comprises a first planet carrier ring and a planet carrier ring arranged on the left side of the first planet carrier ring, the right end of the second planet carrier ring is uniformly provided with a plurality of integrally formed columns, any two adjacent columns have a spacing, the right end of the column is fixedly connected to the left end of the first planet carrier ring, the left end of the first planet carrier ring is provided with four first pin holes uniformly distributed in a circle, the second planet carrier ring is provided with four second pin holes uniformly distributed in a circle, the four first pin holes and the four second pin holes are one-to-one corresponding in position, that is, the axes coincide, the first pin hole and the second pin hole with the coinciding axes are a pair of pin holes, one cylindrical pin is inserted into each pair of pin holes, one pin sleeve is sleeved on each cylindrical pin, one planetary gear is sleeved on the outer circumferential surface of each pin sleeve, the spacing between the two adjacent columns provides a placement position for the planetary gear, the left end of the second planet carrier ring is fixedly connected with a planet carrier output shaft, and the third shaft is a hollow structure and is sleeved on the planet carrier output shaft.

[0010] The right end of the first shaft is tightly matched with the fourth shaft, the outer circle of the fourth shaft can be uniformly provided with a circular groove, and the circular groove is matched with a cylindrical pin.

[0011] The inner circle of the right shell body is fixedly connected with the outer circle of the first bearing, the inner circle of the first bearing is fixedly connected to the outer circle of the first planet carrier ring, the outer circle of the planet carrier is fixedly connected with the inner circle of the second bearing, the outer circle of the second bearing is fixedly connected to the inner circle of the right disc, the outer circle of the right disc is fixedly connected with the inner circle of the third bearing, the outer circle of the third bearing is fixedly connected to the inner circle of the left shell body, the outer circle of the third shaft is fixedly connected with the inner circle of the fourth bearing, the outer circle of the fourth bearing is fixedly connected to the inner circle of the left disc, the outer circle of the left disc is fixedly connected with the inner circle of the fifth bearing, and the outer circle of the fifth bearing is fixedly connected to the inner circle of the shell body.

[0012] The outer ring of the first planetary carrier has a first shoulder that abuts against the left end of the inner ring of the first bearing. The inner ring of the right housing has a second shoulder that abuts against the right end of the outer ring of the first bearing. The outer ring of the planetary carrier has a third shoulder that abuts against the right end of the inner ring of the second bearing. A first needle roller retainer is provided between the outer ring of the second bearing and the right end of the needle roller. A second needle roller retainer is provided between the outer ring of the fifth bearing and the left end of the needle roller. The outer ring of the third shaft has a fourth shoulder that abuts against the right end of the inner ring of the fourth bearing. The inner ring of the left disc has a fifth shoulder that abuts against the left end of the outer ring of the fourth bearing. The outer ring of the left disc has a sixth shoulder that abuts against the left end of the inner ring of the fifth bearing.

[0013] Each of the first, second, third, fourth, and fifth bearings has a sealing ring installed at its inner and outer rings.

[0014] The second axis is fixed to the inner ring of the first axis, and the second axis is located inside the planetary carrier.

[0015] The beneficial effects of this utility model of a planetary gear-cycloidal double-disc two-stage reducer are as follows:

[0016] The first stage is a planetary reducer, and the second stage is a cycloidal reducer. The first stage reducer has a planetary-involute gear structure, while the second stage reducer has a double-disc cycloidal-pin structure. The overall reducer has a large reduction ratio, high transmission efficiency, and stable output torque. Furthermore, this reducer uses a housing output. This type of reducer is suitable for high-torque applications such as the robotic arms of industrial robots and automatic door systems. Attached Figure Description

[0017] Figure 1 A cross-sectional view of a planetary gear-cycloidal double-disc two-stage reducer;

[0018] Figure 2 and 3 This is a schematic diagram of the right shell structure;

[0019] Figure 4 and 5 This is a schematic diagram of the planetary carrier structure;

[0020] Figure 6 and 7 This is a schematic diagram of the right-hand disk structure;

[0021] Figure 8 This is a schematic diagram of the left shell structure;

[0022] Figure 9 This is a schematic diagram of the third axis.

[0023] Figure 10 This is a schematic diagram of the middle disk structure;

[0024] Figure 11 and 12 is a structural schematic diagram of the left disc;

[0025] Figure 13 and 14 is a structural schematic diagram of the fourth shaft.

[0026] In the figure: right housing 101, inner ring gear 102, first planet carrier ring 201, second planet carrier ring 202, column body 203, planet carrier output shaft 204, cylindrical pin 301, planetary gear 302, first shaft 401, second shaft 402, fourth shaft 403, right disc 501, left housing 601, arc-shaped groove 602, needle roller 603, third shaft 701, first eccentric profile 702, second eccentric profile 703, intermediate disc 801, outer cycloid profile 802, left disc 901, column pin 1001, column pin sleeve 1002, needle roller retainer 1003. DETAILED DESCRIPTION

[0027] A planetary gear-cycloid double-disc two-stage reducer comprises: a right housing 101, an inner ring gear 102 fixedly connected to the inner ring of the right housing 101, and a planet carrier arranged in the right housing 101.

[0028] The planet carrier comprises: a first planet carrier ring 201, a second planet carrier ring 202 arranged on the left side of the first planet carrier ring 201, four integrally formed column bodies 203 uniformly distributed around the right end of the second planet carrier ring 202, any two adjacent column bodies 203 having a spacing, the column bodies 203 being fixedly connected to the left end of the first planet carrier ring 201, the left end of the first planet carrier ring 201 being provided with four first pin holes uniformly distributed around the circumference, the second planet carrier ring 202 being provided with four second pin holes uniformly distributed around the circumference, the four first pin holes and the four second pin holes achieving one-to-one correspondence in position, i.e., the axes coincide, the first pin hole and the second pin hole with coinciding axes being a pair of pin holes, and the left end of the second planet carrier ring 202 being fixedly connected to a planet carrier output shaft 204.

[0029] The first planet carrier ring 201 is rotatably connected to the inner ring of the right housing 101 through a first bearing, one cylindrical pin 301 is inserted into each pair of pin holes, one pin sleeve is sleeved on each cylindrical pin 301, one planetary gear 302 is sleeved on the outer circumferential surface of each pin sleeve, the planetary gears 302 are engaged with the inner ring gear 102, the spacing between the two adjacent column bodies 203 provides a placement position for the planetary gears 302, and the planetary gears 302 are involute toothed.

[0030] A first shaft 401 is arranged between the first planet carrier ring 201 and the second planet carrier ring 202, the outer ring of the first shaft 401 is toothed, and the tooth shape is involute tooth shape and engages with all the planetary gears 302.

[0031] The first shaft 401 is a hollow structure, and the inner ring of the first shaft 401 is tightly fitted with the second shaft 402 to realize the fixation of the two, and the first shaft 401, the second shaft 402, the planetary carrier, the right shell 101 and the inner ring gear 102 are coaxially arranged.

[0032] Further, the planetary gear-cycloid double-disc two-stage reducer further comprises a right disc 501 detachably connected to the left end of the right shell 101, and the right disc 501 is coaxially arranged with the right shell 101. The right disc 501 can be provided with a counterbore, and the right shell 101 is provided with a threaded hole communicated with the counterbore, so that the right disc 501 and the right shell 101 are fixed by bolts. The right disc 501 is rotatably connected to the planetary carrier output shaft 204 by a rear bearing.

[0033] The third shaft 701 is also a hollow structure, and the outer ring end face of the planetary carrier output shaft 204 is tightly fitted with the third shaft 701 to realize the fixation of the planetary carrier output shaft 204 and the third shaft 701. The axis of the inner ring of the third shaft 701, i.e. the axis of the concentric rotation, coincides with the axis of the planetary carrier output shaft 204. The outer ring end face of the third shaft 701 is integrally formed from right to left with a first eccentric profile 702 and a second eccentric profile 703. The axis of the first eccentric profile 702 is parallel to the axis of the concentric rotation and has a distance, and the axis of the second eccentric profile 703 is also parallel to the axis of the concentric rotation and has a distance. The eccentric position of the first eccentric profile 702 and the eccentric position of the second eccentric profile 703 are 180° apart. The third shaft 701 is provided with protrusions on the left and right sides of the first eccentric profile 702 and the second eccentric profile 703, which are used to limit the axial degree of freedom of the two intermediate discs 801.

[0034] Among them, the second shaft 402 plays a role in supporting the first shaft 401 and the planetary carrier output shaft 204, increasing stability.

[0035] The left end of the right disc 501 is detachably connected to the left shell 601, and the right part of the inner ring of the left shell 601 is rotatably connected to the right disc 501 by a bearing. The inner ring of the left shell 601 is uniformly distributed with circular-arc-shaped grooves 602, and the circular-arc-shaped grooves 602 are provided with rolling needles 603. Each of the left and right ends of the circular-arc-shaped grooves 602 is provided with a rolling needle retainer 1003, which is used to limit the axial displacement of the rolling needle 603.

[0036] Each of the first eccentric profile 702 and the second eccentric profile 703 is rotatably connected to an intermediate disc 801 by a bearing. The outer ring of each intermediate disc 801 is uniformly distributed with outer cycloid profiles 802, and the two outer cycloid profiles 802 are engaged with the rolling needles 603. The bearings on the first eccentric profile 702 and the second eccentric profile 703 are preferably roller exposed bearing frames, so that the rollers directly contact the intermediate disc.

[0037] The left part of the outer ring of the third shaft 701 is rotatably connected with the left disc 901 through a bearing, and the outer ring of the left disc 901 is rotatably connected with the left part of the inner ring of the left shell 601 through a bearing.

[0038] Further, the left end surface of the right disc 501 is provided with circumferentially distributed threaded pin holes and non-through third pin holes; the end surface of the middle disc 801 is provided with circumferentially distributed fourth pin holes; and the left end of the left disc 901 is circumferentially provided with a plurality of fifth pin holes, pin holes and non-through threaded holes.

[0039] The number of the fifth pin holes of the left disc 901 is the same as that of the third pin holes of the right disc 501, and the number of the pin holes of the left disc 901 is the same as that of the threaded pin holes of the right disc 501. The sum of the number of the circumferentially distributed threaded pin holes and non-through third pin holes of the left end surface of the right disc 501 is the same as that of the fourth pin holes of the middle disc 801. The sum of the number of the fifth pin holes and the pin holes of the left disc 901 is the same as that of the fourth pin holes of the middle disc 801.

[0040] During assembly, the pin 1001 passes through the fifth pin holes of the left disc 901 and the fourth pin holes of the middle disc 801, and is finally assembled in the third pin holes of the right disc 501; the outer ring of the pin 1001 is sleeved with the pin sleeve 1002, which passes through the fourth pin holes of the middle disc 801. The pin passes through the pin holes of the left disc 901 and the fourth pin holes, and is finally connected to the threaded pin holes of the right disc 501 through threaded cooperation.

[0041] Preferably, the right end of the first shaft 401 is tightly fitted with the fourth shaft 403, and the outer ring of the fourth shaft 403 can be circumferentially provided with a circular groove, in which a cylindrical pin is fitted, which is not shown in the figure. The power end can be tightly fitted with the circular groove through the second cylindrical pin to transmit the rotational speed and torque.

[0042] Preferably, the axial freedom of each bearing is limited by the shoulder formed by the adjacent parts. In order to prevent the leakage of lubricating oil and the penetration of dirt, O-rings and annular sealing rings can be arranged at the positions where rotation occurs. Figure 1 The small circles shown at the positions of the outer rings of the bearings are schematic representations of the positions of the sealing rings.

[0043] The output shaft of the power end, such as the motor, can drive the first shaft 401 to rotate through the cylindrical pin and the fourth shaft 403 outer circle concave groove. Since the first shaft 401 outer circle tooth is engaged with the planetary gear 302, the planetary gear 302 is engaged with the fixed gear ring, the planetary gear 302 drives the planetary carrier to rotate around its axis through the cylindrical pin 301. The planetary carrier output shaft 204 outer circle is engaged with the inner circle of the third shaft 701, the planetary carrier output shaft 204 drives the third shaft 701 to rotate around the axis of the planetary carrier output shaft 204. The third shaft 701 drives the two intermediate discs to swing up and down through the roller of the bearing at the intermediate disc. Since the two intermediate discs 801 are engaged with the roller pin 603 installed in the middle part of the left shell 601 inner circle concave groove, the two intermediate discs 801 drive the left shell 601 to rotate under the engagement, and the left shell 601 outputs the torque. Preferably, the left shell 601 rotates one roller pin 603 every time the third shaft 701 rotates one circle.

Claims

1. A planetary-cycloid-dual-disc two-stage speed reducer, characterized in that, The planetary gear mechanism comprises an inner ring gear (102), a planet carrier coaxially arranged in the inner ring gear (102), a planet gear (302) rotationally connected to the planet carrier, the planet gear (302) being engaged with the inner ring gear (102), a first shaft (401) coaxially arranged in the planet carrier, the outer circle of the first shaft (401) being formed with teeth, and the teeth being engaged with the planet gear (302), a third shaft (701) fixedly connected to the left end of the planet carrier, the inner circle of the third shaft (701) being coaxially arranged with the planet carrier, the outer circle of the third shaft (701) being formed with a first eccentric profile (702) and a second eccentric profile (703), the axis of the first eccentric profile (702) and the axis of the second eccentric profile (703) being parallel to the axis of the inner circle of the third shaft (701) and being at a distance, the eccentric positions of the axis of the first eccentric profile (702) and the axis of the second eccentric profile (703) being 180° apart, one intermediate disc (801) being rotationally connected to the first eccentric profile (702) and the second eccentric profile (703), the outer circles of the two intermediate discs (801) being formed with outer cycloid profiles (802), a left shell (601) coaxially arranged with the inner circle of the third shaft (701) being arranged at the periphery of the intermediate disc (801), a plurality of circular-arc-shaped grooves (602) being uniformly distributed in the inner circle of the left shell (601), one roller pin (603) being arranged in each circular-arc-shaped groove (602), and all the roller pins (603) being engaged with the two outer cycloid profiles (802).

2. The planetary-trochoid two-stage reducer according to claim 1, characterized in that, The inner circle of the inner ring gear (102) is formed with two first flanges, the two first flanges being capable of limiting the axial freedom degree of the planet gear (302), the outer circle of the first shaft (401) is formed with two second flanges, and the two second flanges are capable of limiting the axial freedom degree of the planet gear (302).

3. The planetary-trochoid two-stage speed reducer according to claim 1, characterized in that, in One roller pin retainer (1003) is arranged in the left shell (601) and at the left and right ends of the circular-arc-shaped groove (602), and the function of the roller pin retainer (1003) is to limit the axial displacement of the roller pin (603).

4. The planetary-trochoid two-stage reducer according to claim 1, characterized in that, The planet carrier comprises The first planet carrier ring (201) and the second planet carrier ring (202) arranged on the left side of the first planet carrier ring (201) are provided with a plurality of integrally formed columns (203) on the right end circumference of the second planet carrier ring (202), any two adjacent columns (203) have a spacing, the right end of the column (203) is fixedly connected to the left end of the first planet carrier ring (201), the left end of the first planet carrier ring (201) is provided with four first pin holes arranged at equal intervals on the circumference, the second planet carrier ring (202) is provided with four second pin holes arranged at equal intervals on the circumference, the four first pin holes and the four second pin holes are one-to-one corresponding in position, that is, the axes coincide, the first pin hole and the second pin hole with the coinciding axes are a pair of pin holes, a cylindrical pin (301) is inserted into each pair of pin holes, a pin sleeve is sleeved on each cylindrical pin (301), a planetary gear (302) is sleeved on the outer circumferential surface of each pin sleeve, the spacing between the two adjacent columns (203) provides a placement position for the planetary gear (302), the left end of the second planet carrier ring (202) is fixedly connected with a planet carrier output shaft (204), and the third shaft (701) is a hollow structure and is sleeved on the planet carrier output shaft (204).

5. The planetary gear-cycloid double-disk two-stage reducer according to any one of claims 1 to 4, further comprising a right housing (101), wherein the planet carrier is rotatably connected in the right housing (101), the inner ring gear (102) is fixedly connected in the right housing (101), the right end of the right housing (101) is fixedly connected with the right disk (501), the third shaft (701) is rotatably connected with the left disk (901), the left disk (901) is coaxially arranged with the inner ring of the third shaft (701), and the transmission of the left disk (901), the right disk (501) and the intermediate disk (801) is realized by inserting the connecting piece into the left disk (901), the right disk (501) and the intermediate disk (801).

6. The planetary - cycloidal two-stage reducer according to claim 5, characterized in that The right end of the first shaft (401) is tightly fitted with the fourth shaft (403), the outer ring of the fourth shaft (403) can be uniformly fitted with a circular groove, and the second cylindrical pin is fitted in the circular groove.

7. The planetary - cycloidal two-stage reducer according to claim 5, characterized in that The inner ring of the first bearing is fixedly connected with the outer ring of the right housing (101), the inner ring of the first bearing is fixedly connected with the outer ring of the first planet carrier ring (201), the outer ring of the planet carrier is fixedly connected with the inner ring of the second bearing, the outer ring of the second bearing is fixedly connected with the inner ring of the right disk (501), the outer ring of the right disk (501) is fixedly connected with the inner ring of the third bearing, the outer ring of the third bearing is fixedly connected with the inner ring of the left housing (601), the outer ring of the third shaft (701) is fixedly connected with the inner ring of the fourth bearing, the outer ring of the fourth bearing is fixedly connected with the inner ring of the left disk (901), the outer ring of the left disk (901) is fixedly connected with the inner ring of the fifth bearing, and the outer ring of the fifth bearing is fixedly connected with the inner ring of the housing (601).

8. The planetary - cycloidal two-stage reducer according to claim 7, characterized in that The outer ring of the first planet carrier ring (201) is formed with a first shoulder, the first shoulder abuts against the left end of the inner ring of the first bearing, the inner ring of the right housing (101) is formed with a second shoulder, the second shoulder abuts against the right end of the outer ring of the first bearing, the outer ring of the planet carrier is formed with a third shoulder, the third shoulder abuts against the right end of the inner ring of the second bearing, a first needle roller retainer (1003) is arranged between the outer ring of the second bearing and the right end of the needle roller (603), a second needle roller retainer (1003) is arranged between the outer ring of the fifth bearing and the left end of the needle roller (603), the outer ring of the third shaft (701) is formed with a fourth shoulder, the fourth shoulder abuts against the right end of the inner ring of the fourth bearing, the inner ring of the left disc (901) is formed with a fifth shoulder, the fifth shoulder abuts against the left end of the outer ring of the fourth bearing, the outer ring of the left disc (901) is formed with a sixth shoulder, the sixth shoulder abuts against the left end of the inner ring of the fifth bearing.

9. The planetary - cycloidal dual stage reducer of claim 5, wherein, A sealing ring is arranged at each of the inner and outer rings of the first bearing, the second bearing, the third bearing, the fourth bearing and the fifth bearing.

10. The planetary - cycloidal dual stage reducer of claim 5, wherein, The inner ring of the first shaft (401) is fixedly connected with a second shaft (402), and the second shaft (402) is located in the planet carrier.

Images