Planetary gear reducer

Abstract

The utility model relates to a planetary gear reducer which comprises a reduction gear set, the reduction gear set comprises a sun gear fixedly connected with the output end of a motor, a planetary gear carrier and a shell sleeve fixed on the motor, and the shell sleeve is of an annular inner gear ring structure. The reduction gear set further comprises a plurality of planetary gears fixedly arranged on the planetary gear carrier, the planetary gears are evenly distributed in the circumferential direction of the center gear, each planetary gear is meshed with the center gear and the inner gear ring structure of the outer shell sleeve, and the planetary gear carrier is connected with the outer shell sleeve in a relative rotating mode through a bearing. By the adoption of the technical scheme, the output shaft of the motor is directly and fixedly connected with the center gear, a traditional coupling structure is omitted, axial space is reserved for series connection of follow-up multi-stage speed reduction sets, the problem that the transmission stage number is limited is solved, the annular inner gear ring structure is integrated on the outer shell sleeve, assembly errors of a traditional split type gear ring are avoided, and the service life of the gear ring is prolonged. And the structural strength and meshing precision of the gear ring are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of speed reducer especially relates to a planetary gear speed reducer. BACKGROUND

[0002] The planetary gear speed reducer is a kind of precision speed reducer widely used in industrial transmission field, and its core structure is composed of sun gear, planetary gear, planet carrier and gear ring, and high reduction ratio, large torque output and compact space layout are realized by the meshing of multiple gears.The traditional planetary gear speed reducer usually adopts single-stage or two-stage reduction structure, but in the occasion needing higher reduction ratio or more complex power distribution, such as robot joint, electric vehicle driving system, the existing speed reducer often has problems such as complex structure, insufficient transmission efficiency or excessive axial size.

[0003] The single-stage or two-stage planetary gear speed reducer has limited reduction ratio, which is difficult to meet the wide-range speed regulation demand, and in the multi-stage speed reducer, the centering of each gear set and bearing support are strictly required, and the existing structure often relies on high-precision machining, which increases the manufacturing cost. SUMMARY

[0004] The utility model discloses a planetary gear speed reducer, which connects multiple driven gear sets in series to realize rapid expansion through tooth key groove connection, meets different reduction ratio requirements and solves the problem of limited reduction ratio of single-stage or two-stage planetary gear speed reducer.

[0005] The utility model discloses a planetary gear speed reducer, which connects multiple driven gear sets in series to realize rapid expansion through tooth key groove connection, meets different reduction ratio requirements and solves the problem of limited reduction ratio of single-stage or two-stage planetary gear speed reducer.

[0006] The utility model discloses a planetary gear speed reducer, which connects multiple driven gear sets in series to realize rapid expansion through tooth key groove connection, meets different reduction ratio requirements and solves the problem of limited reduction ratio of single-stage or two-stage planetary gear speed reducer.

[0007] The utility model discloses further set up: still include driven gear set, each driven gear set all includes driven center gear, driven gear frame and a plurality of fixed setting on driven gear frame driven planetary gear, each driven planetary gear all is engaged with driven center gear and the inner tooth ring structure of shell cover, driven planetary gear is evenly distributed on the circumference of driven center gear, driven center gear is fixedly connected with planetary gear frame, and the relative rotation of driven gear frame and shell cover is connected through bearing.

[0008] Adopt the further setting, set up driven gear set, and make driven center gear with planetary gear frame fixed and be driven, to realize motor drive center gear rotation, planetary gear frame rotation, to drive driven center gear rotation, drive driven gear frame rotation, thereby after the deceleration of deceleration gear set, further driven gear set deceleration, increase transmission level.

[0009] The utility model discloses further set up: driven gear set quantity is at least one, planetary gear frame and driven gear frame away from motor's one end all is provided with tooth key groove, and one end of driven center gear is embedded in tooth key groove and is fixed, and the other end is to driven gear frame center.

[0010] Adopt the further setting, set up a plurality of driven gear set, and the driven center gear of each driven gear set can be connected on the gear frame of last level, realize power transmission, increase transmission level, to more smooth increase deceleration ratio, directly with driven center gear as key, insert tooth key groove, do not need additional parts cooperation connection, reduce the probability of failure.

[0011] The utility model discloses further set up: planetary gear frame and driven gear frame all include base, support column and cover plate, the center of base is equipped with the central hole for the center gear or driven center gear to pass through, be equipped with a plurality of sunken groove for accommodating planetary gear or driven planetary gear on base, every sunken groove is all seted up through -hole on cover plate, and every support column is two -end diameter less than the cylindrical structure of middle part, the both ends of support column are connected in the through -hole on sunken groove and cover plate respectively, and the middle part fixed setting of support column has planetary gear or driven planetary gear.

[0012] Adopt the further setting, adopt split -type base -support column -cover plate combination structure, can guarantee strength while losing weight, can also optimize the axial excursion of gear, and the assembly mode of the ladder axle design of support column realizes lock -on insertion, can promote assembly efficiency.

[0013] The utility model discloses further set up: cover plate and base are circular structure, the cover plate fixed setting is in the end surface on base away from motor, tooth key groove sets up in the center of cover plate, and tooth key groove is through -hole structure.

[0014] With the further setting, the cover plate and the base are in a circular structure, facilitating the sleeving of the bearing.

[0015] The further setting of the utility model discloses: the shell sleeve can be segmented structure.

[0016] With the further setting, the gear rotating speeds of the speed reduction gear set and the different driven gear sets are different, the abrasion and heating are different, the segmented shell sleeve can adopt different materials to adapt to different heating conditions, can effectively increase the service life under the condition of controlling the cost, and the shorter shell sleeve is sleeved on the bearing, which is more convenient.

[0017] The further setting of the utility model discloses: the cover plate is equipped with a counterbore for connecting external equipment.

[0018] With the further setting, the cover plate is provided with a counterbore, and external equipment can be connected through a bolt or other connecting structure, so that the speed reducer can be applied.

[0019] The further setting of the utility model discloses: the motor includes a rotating shaft, a recessed embedding hole is arranged on the non-output end of the motor, an encoder is arranged in the embedding hole, and the encoder is directly or indirectly coaxially connected with the rotating shaft.

[0020] With the further setting, the embedding hole is arranged on the non-output end of the motor, which can significantly reduce the overall axial size, avoid the protrusion of the external encoder, realize the coaxial connection of the encoder and the rotating shaft, avoid the inertia delay of the intermediate transmission component, shorten the response time of the control loop corresponding to the encoder, and more accurately control the motor output.

[0021] The further setting of the utility model discloses: the embedding hole is equipped with the plug for plugging the encoder in the embedding hole, and the rear end surface of the plug is flush with the end surface of the non-output end of the motor.

[0022] With the further setting, the embedding hole is plugged by the plug, which can effectively avoid the situation of dust and water entering, prolong the service life, and the rear end surface of the plug is flush with the end surface of the non-output end of the motor, which can avoid the impact of the external protrusion. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is the overall structure schematic diagram of the embodiment of the utility model;

[0024] Figure 2 It is the overall structure schematic diagram of the embodiment of the utility model hidden shell sleeve;

[0025] Figure 3 It is the overall structure schematic diagram of the embodiment of the utility model hidden shell sleeve;

[0026] Figure 4 It is the whole structure schematic view of the driven gear set and its outer bearing in the embodiment of the utility model;

[0027] Figure 5 It is the whole structure schematic view of the motor and partial reduction gear set in the embodiment of the utility model;

[0028] Figure 6 It is the structure schematic view of hiding the outermost cover plate in the embodiment of the utility model;

[0029] Figure 7 It is the whole structure schematic view of the shell sleeve in the embodiment of the utility model;

[0030] Figure 8 It is the whole structure schematic view of the base in the embodiment of the utility model;

[0031] Figure 9 It is the whole structure schematic view of the cover plate in the embodiment of the utility model;

[0032] Figure 10 It is the whole structure schematic view of the support column in the embodiment of the utility model;

[0033] Figure 11 It is the schematic view of the plug cover in the motor position in the embodiment of the utility model;

[0034] Figure 12 It is the explosion structure schematic view in the embodiment of the utility model.

[0035] In the drawing: 1, motor;2, reduction gear set;21, center gear;22, planetary gear;23, planetary gear carrier;24, shell sleeve;3, driven gear set;31, driven center gear;32, driven planetary gear;33, driven gear carrier;4, bearing;5, tooth key groove;6, base;7, support column;8, cover plate;9, center hole;10, sink groove;11, through hole;12, rotating shaft;13, embedded hole;14, encoder;15, plug cover. Specific implementation

[0036] The technical scheme in the embodiment will be described clearly and completely in combination with the drawings, obviously, the described embodiment is only a part of the embodiment of the utility model, not all the embodiment. Based on the embodiment in the utility model, all other embodiments obtained by the ordinary skill in the art without making creative labor belong to the scope of the utility model protection.

[0037] It should be noted that in the description of this utility model, all directional indicators (such as up, down, forward, backward, etc.) are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0038] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. In the description of this utility model, "a number" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0039] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0040] like Figures 1-12 As shown, a planetary gear reducer includes a motor 1 and a reduction gear set 2. The motor 1 includes a rotating shaft 12. The reduction gear set 2 includes a central gear 21 fixedly connected to the output end of the rotating shaft 12 in the motor 1, a planetary gear carrier 23, and a housing 24 fixed to the motor 1. The housing 24 has a ring-shaped cylindrical structure with an internal gear ring structure inside. The reduction gear set 2 also includes three planetary gears 22 fixedly mounted on the planetary gear carrier 23. The planetary gears 22 are evenly distributed at equal angles around the central gear 21. Each planetary gear 22 meshes with the central gear 21 and the internal gear ring structure of the housing 24. The planetary gear carrier 23 and the housing 24 are rotatably connected by a bearing 4, which supports the planetary gear carrier 23 and controls the rotation axis to be the same as the bearing 4.

[0041] Specifically, the direct fixed connection between the output shaft of motor 1 and the central gear 21 eliminates the need for a traditional coupling structure, reserving axial space for subsequent multi-stage reduction gear sets and solving the problem of limited transmission stages. Furthermore, the integrated annular internal gear ring structure of the outer sleeve 24 avoids the assembly errors of traditional split gear rings, improves the structural strength and meshing accuracy of the gear ring, and ensures the control of the reduction ratio through the internal gear ring structure of the outer sleeve 24 and the tooth ratio of the central gear 21. In this embodiment, the internal gear ring structure of the outer sleeve 24 adopts a sixty-tooth structure and the central gear 21 adopts a twelve-tooth structure to obtain a precise reduction ratio.

[0042] The embodiment also comprises a driven gear set 3, which comprises a driven center gear 31, a driven gear carrier 33, and a plurality of driven planetary gears 32 fixedly arranged on the driven gear carrier 33. The embodiment adopts three driven planetary gears 32, which are the same in number as the planetary gears 22, and are equally angularly distributed in the circumferential direction of the driven center gear 31. Each driven planetary gear 32 is engaged with the driven center gear 31 and the inner ring gear structure of the shell sleeve 24. The driven planetary gears 32 are evenly distributed in the circumferential direction of the driven center gear 31. The driven center gear 31 is fixedly connected with the planetary gear carrier 23. The driven gear carrier 33 is relatively rotatably connected with the shell sleeve 24 through a bearing 4, and is supported by the bearing 4. The same control is realized for the rotation shaft and the bearing 4. By controlling the cylindricity of the shell sleeve 24, the coaxiality of the planetary gear carrier 23 and the driven gear carrier 33 is achieved.

[0043] Thus, by arranging the driven gear set 3 and fixing the driven center gear 31 with the planetary gear carrier 23 and driving it, when the motor 1 drives the center gear 21 to rotate, the planetary gear carrier 23 is rotated by the rotation of the planetary gear 22 on the shell sleeve 24. Since the driven center gear 31 is fixed with the planetary gear carrier 23, the driven center gear 31 is rotated. The driven gear carrier 33 is rotated by the rotation of the driven planetary gear 32 on the shell sleeve 24, thereby driving the rotation of the subsequent connected equipment. In summary, after the speed reduction of the speed reduction gear set 2, the driven gear set 3 further reduces the speed, increases the transmission stages, and ensures the control ratio of the speed reduction by the tooth number ratio of the inner ring gear structure of the shell sleeve 24 and the driven center gear 31. In the embodiment, the inner ring gear structure of the shell sleeve 24 adopts a sixty-tooth gear, and the center gear 24 adopts a twelve-tooth gear, so as to further achieve accurate speed reduction after the speed reduction of the speed reduction gear set 2.

[0044] The number of the driven gear set 3 can be set to be multiple. In the embodiment, the number of the driven gear set 3 is four. The driven center gear 31 of the next stage is fixed with the driven gear carrier 33 of the previous stage, so that the driven center gear 31 of the next stage is driven to rotate by the driven gear carrier 33 of the previous stage, and the driven gear carrier 33 of the next stage is rotated. The far end of the planetary gear carrier 23 and the driven gear carrier 33 away from the motor 1 is provided with a spline groove 5. One end of the driven center gear 31 is fixedly embedded in the spline groove 5, and the other end extends to the center of the driven gear carrier 33. The outermost driven gear set 3 can not be provided with the spline groove 5, so as to reduce the probability of foreign matter entering.

[0045] By setting multiple driven gear sets 3, the driven center gears 31 of each driven gear set 3 can be clamped on the gear frame of the previous stage, realizing power transmission, increasing the number of transmission stages, and more smoothly increasing the reduction ratio, while directly inserting the driven center gears 31 as keys into the tooth key grooves 5 without the need for additional parts to connect, reducing the probability of failure.

[0046] There is a gap between each adjacent driven center gear 31 and between the driven center gear 31 and the center gear 21, avoiding the problem of resistance and wear caused by contact when different center gears rotate.

[0047] Further, in this embodiment, the planetary gear carrier 23 and the driven gear carrier 33 are structurally identical, both including a base 6, a support column 7, and a cover plate 8, and adopting a split base-support column-cover plate combined structure, which can reduce weight while ensuring strength. The cover plate 8 and the base 6 are provided with bearings 4 on the periphery of the end away from the cover plate 8, so that the bearings 4 are on both sides of the gear carrier, which can be better and more stably supported in the housing sleeve 24. The base 6 is provided with a central hole 9 for the center gear 21 or the driven center gear 31 to pass through, and a plurality of recesses 10 for accommodating the planetary gears 22 or the driven planetary gears 32 are arranged on the base 6, so that the planetary gears 22 or the driven planetary gears 32 extend out to contact and engage with the inner ring gear of the housing sleeve 24 on the corresponding gear carrier side wall.

[0048] Each support column 7 has a cylindrical structure with smaller diameters at both ends than the middle part. Each recess 10 and cover plate 8 is provided with a through hole 11. The support column 7 is clamped in the recess 10 and the through hole 11 on the cover plate 8 at both ends, so that the support column 7 has a stepped shaft shape. By inserting the through hole 11, the assembly is achieved by one insertion and locking, improving the assembly efficiency. The planetary gears 22 or the driven planetary gears 32 are fixedly arranged in the middle part of the support column 7.

[0049] It should be noted that the planetary gears 22 and the driven planetary gears 32 are planetary gears in the planetary gear set, which are common prior art and are fixedly arranged on the support column 7 at the corresponding recess 10.

[0050] Further, the cover plate 8 is provided with a counterbore for connecting external devices. By pre-setting the counterbore, external devices can be connected by bolt connection structure, so that the reducer can be applied.

[0051] The cover plate 8 and the base 6 have a circular structure, which is convenient for sleeving the bearing 4 and facilitates installation. The cover plate 8 is fixedly arranged on the end face of the base 6 away from the motor 1. The tooth key groove 5 is arranged at the center of the cover plate 8 and can penetrate through the entire cover plate 8 to form a through hole structure.

[0052] The shell sleeve 24 can be a segmented structure, after adopting multiple groups of driven gear sets 3, the overall length is relatively long, it is more difficult to install the bearing 4 in the shell sleeve 24, it is more relaxed and simple to install, and because the rotating speeds of the gears in the reduction gear set 2 and the different driven gear sets 3 are different, the abrasion and heating are different, the segmented shell sleeve 24 can be made of different materials to adapt to different heating conditions, effectively increasing the service life under the condition of controlling the cost, and the shorter shell sleeve 24 is sleeved on the bearing 4.

[0053] In the embodiment, the motor 1 can adopt a servo motor with an encoder 14, wherein an inner recessed embedding hole 13 is arranged on the end face of the non-output end of the motor 1, the encoder 14 is arranged in the embedding hole 13, and the embedding hole 13 is arranged on the end face of the non-output end of the motor 1 to place the encoder 14. The overall axial size can be significantly reduced, and the encoder 14 is avoided to be protruded outward. The encoder 14 is coaxially connected with the rotating shaft 12, the inertia delay of the intermediate transmission component can be avoided, the response time of the control loop corresponding to the encoder 14 is shortened, the output of the motor 1 can be more accurately controlled, and it should be noted that the encoder 14 can be directly fixedly connected with the rotating shaft 12 or indirectly fixedly connected with the rotating shaft 12 through a shaft coupling. As long as the encoder 14 is placed in the embedding hole 13, the embodiment adopts the direct fixed connection of the encoder 14 and the rotating shaft 12, and the error caused by backlash, elastic deformation or installation deviation when the encoder 14 is indirectly connected through a shaft coupling or a gear can be avoided.

[0054] The encoder 14 is a mature existing technology, and can measure and feedback the position, speed and rotating direction of the motor rotor after being coaxially connected with the rotating shaft 12. The user can adjust and compensate the error of the reducer through the encoder 14 to control the output speed more accurately. Meanwhile, the encoder 14 also has a temperature control module that can monitor the temperature of the motor and give an alarm. The temperature control module is a mature technology, and the internal circuit principle is not specifically introduced.

[0055] The embedding hole 13 is provided with a plug cover 15 for plugging the encoder 14 in the embedding hole 13. The embedding hole 13 can be effectively prevented from entering dust and water through the plug cover 15, thereby prolonging the service life. The plug cover 15 can be clamped in the embedding hole 13, or a buckle structure can be arranged on the plug cover 15 or the embedding hole 13 to fix the plug cover 15 and the embedding hole 13. The rear end face of the plug cover 15 is flush with the end face of the non-output end of the motor 1, and the plug cover 15 is avoided to be impacted due to the outward protrusion.

[0056] Furthermore, the encoder 14 also has a temperature detection function, which can monitor the temperature of the motor and give an alarm. This function can monitor the operating temperature of the motor in real time. Once the temperature of the motor 1 exceeds the preset safety threshold, the system will immediately trigger the alarm mechanism to remind the user to pay attention and take corresponding measures. This design not only effectively prevents the motor 1 from being damaged due to overheating, but also ensures the continuous and stable operation of the production line, improves the production efficiency and safety.

Claims

1. A planetary gear reducer comprising an electric motor (1), characterized in that, Further comprising a reduction gear set (2), the reduction gear set (2) comprises a central gear (21) fixedly connected with the output end of the motor (1), a planetary gear carrier (23) and a shell sleeve (24) fixed on the motor (1), the shell sleeve (24) is in the form of an annular ring gear structure, the reduction gear set (2) further comprises a plurality of planetary gears (22) fixedly arranged on the planetary gear carrier (23), the planetary gears (22) are evenly distributed in the circumferential direction of the central gear (21), each planetary gear (22) is engaged with the central gear (21) and the inner ring gear structure of the shell sleeve (24), the planetary gear carrier (23) and the shell sleeve (24) are relatively rotatably connected through a bearing (4).

2. A planetary gear reducer according to claim 1, characterized in that Further comprising a driven gear set (3), each driven gear set (3) comprises a driven central gear (31), a driven gear carrier (33) and a plurality of driven planetary gears (32) fixedly arranged on the driven gear carrier (33), each driven planetary gear (32) is engaged with the driven central gear (31) and the inner ring gear structure of the shell sleeve (24), the driven planetary gears (32) are evenly distributed in the circumferential direction of the driven central gear (31), the driven central gear (31) is fixedly connected with the planetary gear carrier (23), the driven gear carrier (33) and the shell sleeve (24) are relatively rotatably connected through a bearing (4).

3. A planetary gear reducer according to claim 2, characterised in that, The number of the driven gear set (3) is at least one, one end of the planetary gear carrier (23) and the driven gear carrier (33) away from the motor (1) is provided with a spline groove (5), one end of the driven central gear (31) is embedded in the spline groove (5) for fixation, and the other end extends to the center of the driven gear carrier (33).

4. A planetary gear reducer according to claim 3, characterised in that, The planetary gear carrier (23) and the driven gear carrier (33) each comprise a base (6), a support column (7) and a cover plate (8), the base (6) is provided with a central hole (9) in the center for the central gear (21) or the driven central gear (31) to pass through, the base (6) is provided with a plurality of recesses (10) for accommodating the planetary gears (22) or the driven planetary gears (32), each recess (10) is provided with a through hole (11) in the cover plate (8), each support column (7) is in the form of a cylindrical structure with smaller diameters at both ends than in the middle, the support column (7) is clamped in the recess (10) and the through hole (11) in the cover plate (8) at both ends, and the planetary gears (22) or the driven planetary gears (32) are fixedly arranged in the middle of the support column (7).

5. A planetary gear reducer according to claim 4, characterised in that, The cover plate (8) and the base (6) are in the form of a circular structure, the cover plate (8) is fixedly arranged on the end face of the base (6) away from the motor (1), the spline groove (5) is arranged in the center of the cover plate (8), and the spline groove (5) is in the form of a through hole structure.

6. A planetary gear reducer according to claim 4, characterized in that The cover plate (8) is provided with a counterbore for connecting external devices.

7. A planetary gear reducer according to claim 2, characterized in that The shell sleeve (24) can be in a segmented structure.

8. A planetary gear reducer according to claim 1, characterized in that, The motor (1) comprises a rotating shaft (12), a recessed embedding hole (13) is arranged on the non-output end surface of the motor (1), an encoder (14) is arranged in the embedding hole (13), and the encoder (14) is coaxially connected with the rotating shaft (12).

9. A planetary gear reducer according to claim 8, characterised in that, A plug cover (15) is arranged in the embedding hole (13) and used for plugging the encoder (14) in the embedding hole (13), and the rear end surface of the plug cover (15) is flush with the non-output end surface of the motor (1).

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