Planet carrier driving double-displacement hollow speed reducer

Abstract

The utility model provides a planet carrier driving double-deflection hollow speed reducer, which relates to a speed reducer structure, and comprises a structure shell used for fixedly installing a primary inner gear ring and a motor, the driving end of the motor is in driving connection with a group of planet carriers, the planet carriers are hollow rotating bodies, a plurality of groups of planet gears are arranged in the circumferential direction of the planet carriers, and the planet gears are connected with the primary inner gear ring. The axial direction of each set of planetary gears is parallel to the axial direction of the planet carrier, the planetary gears are meshed with the first-stage inner gear ring and the second-stage inner gear ring at the same time, the second-stage inner gear ring is installed in the structural shell in a rotating connection mode through a first bearing, and the tooth number of the first-stage inner gear ring and the tooth number of the second-stage inner gear ring are different. The second-stage inner gear ring is further connected with a set of output flanges penetrating through the structural shell, the output flanges are provided with a set of hollow shaft bodies penetrating through the hollow cavity of the planet carrier, and the planetary reducer has the advantages that high speed ratio can be achieved in a small size, meanwhile, transmission strength is reserved, the structure is extremely simple, and hollow wiring can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of reducer structures, especially a kind of hollow reducer of planetary carrier drive double displacement. BACKGROUND

[0002] We find that the following defects exist generally in the pain point analysis of conventional planetary reducer:

[0003] (1) Large volume

[0004] In order to realize the specific transmission function, the conventional planetary reducer often needs more components and relatively larger internal space to arrange gear set, bearing and other components. For example, in some industrial robot joint parts with strict space requirements, the conventional planetary reducer may occupy too much space, limiting the overall design flexibility of the robot, affecting the miniaturization and lightweight development of the robot.

[0005] (2) Small speed ratio

[0006] Speed ratio is an important indicator to measure the reduction capacity of the reducer. Due to the limitations of structure design and gear parameter matching, the conventional planetary reducer is difficult to achieve a large speed ratio in a small volume. In some occasions requiring large torque output and low speed, such as the transmission system of heavy machinery equipment, the conventional planetary reducer may not meet the demand for large speed ratio, and additional reduction devices need to be added, thereby increasing the complexity and cost of the system.

[0007] (3) Complex structure

[0008] The conventional planetary reducer usually contains multiple planetary gears, sun gears, inner gear rings and related support and fixing structures. The assembly relationship between these components is complex, and the processing precision and assembly process are required to be high. For example, the meshing precision between planetary gears, sun gears and inner gear rings needs to be strictly controlled, otherwise problems such as unstable transmission and loud noise may occur. The complex structure also increases the difficulty of maintenance and repair of the reducer. Once a component fails, multiple components may need to be disassembled for repair or replacement.

[0009] (4) Difficult to realize hollow wiring

[0010] In some automated equipment, power lines, signal lines and other lines need to pass through the inside of the reducer to realize the electrical connection between the internal components of the equipment. However, the structure of the conventional planetary reducer is usually solid, without a hollow channel, which cannot meet the demand for hollow wiring. If the lines are arranged on the outside, it will not only increase the volume and weight of the equipment, but also may cause the lines to be easily disturbed and damaged by the external environment, affecting the stability and reliability of the equipment. UTILITY MODEL CONTENTS

[0011] The utility model discloses a kind of planet carrier drive double-variable position hollow speed reducer, with can be in small volume Realize high speed ratio, while retaining the characteristics of transmission strength, structure is extremely simple, and also can hollow wiring.

[0012] The utility model provides the following technical scheme:

[0013] A kind of planet carrier drive double-variable position hollow speed reducer, including the structure shell for fixed installation primary inner ring gear and motor, the drive end of the motor drives connection a group of planet carrier, the planet carrier is hollow rotator, its circumferential installation has multiple groups of planetary gears, the axial direction of each group of planetary gears is parallel with the axial direction of planet carrier, and planetary gear is simultaneously engaged with primary inner ring gear and secondary inner ring gear, the secondary inner ring gear is transferred and installed in structure shell by bearing one, and the tooth number of the primary inner ring gear and secondary inner ring gear has difference, a group of output flange passing through structure shell is further connected on the secondary inner ring gear, the output flange has a hollow shaft body passing through the hollow cavity of planet carrier;

[0014] Up to now, the speed reducer of the utility model, planet carrier is input end, secondary inner ring gear is output end, and there is no sun gear, so the overall structure can be smaller and more compact;

[0015] When installing, primary inner ring gear is fixed, planet carrier is input end, secondary inner ring gear is output end, planetary gear is simultaneously engaged with primary inner ring gear and secondary inner ring gear, and the tooth number of primary inner ring gear and secondary inner ring gear has difference, that is, by changing the variable coefficient of inner ring gear to make the meshing circle of two inner ring gears same, realize meshing with the same gear, when working, planet carrier rotates and drives planetary gear to rotate, planetary gear is engaged with primary inner ring gear, and the tooth number of rotation is same with the tooth number of planetary gear engaged with secondary inner ring gear, when planetary gear revolves around primary inner ring gear one week, simultaneously also rotates the same tooth number on secondary inner ring gear, but there is a tooth number difference z between secondary inner ring gear and primary inner ring gear, so when planet wheel revolves one week, it will drive secondary inner ring gear to rotate z tooth number angle, when the tooth number of primary inner ring gear and secondary inner ring gear is same, i.e. z=0, then secondary inner ring gear will not rotate.

[0016] Preferably, the structure shell includes shell one and shell two, the primary inner ring gear is spaced between shell one and shell two, and shell one, the primary inner ring gear and shell two are locked and connected by a plurality of circumferentially distributed bolts one, so that it is more convenient to disassemble and maintain later.

[0017] Preferably, the output flange and the secondary inner ring gear are locked and connected by a plurality of circumferentially distributed bolts two, and the bearing one is located in the spacing cavity formed by shell one, the output flange and the secondary inner ring gear, for cooperating the rotation of the secondary inner ring gear in shell one.

[0018] Preferably, the motor is installed in the housing two, the rotor of the motor is fixed outside the planet carrier and fixed with the planet carrier, when the rotor of the motor rotates, the planet carrier rotates, and then the planet carrier drives the planetary gear to rotate, because the primary inner ring gear is fixed and the primary inner ring gear is engaged with the planetary gear, so the planetary gear rotates, and the rotation of the planetary gear drives the secondary inner ring gear to rotate.

[0019] Preferably, the planet carrier is further spaced from the inner ring gear, and the planet carrier is further spaced from the convex ring at the bottom of the housing by bearing three, so that the stability of rotation can be improved.

[0020] The beneficial effects of the utility model are: the reducer of the utility model, the planet carrier is the input end, the secondary inner ring gear is the output end, and there is no sun gear, so the overall structure can be smaller and more compact, and can realize high speed ratio in small volume, while retaining the characteristics of transmission strength, the structure is extremely simple, and hollow wiring can also be realized.

[0021] When installing, the primary inner ring gear is fixed, the planet carrier is the input end, the secondary inner ring gear is the output end, the planetary gear is engaged with the primary inner ring gear and the secondary inner ring gear at the same time, the primary inner ring gear and the secondary inner ring gear have a difference in tooth number, that is, the meshing circle of the two inner ring gears is changed by changing the displacement coefficient of the inner ring gear, so as to realize meshing with the same gear, when working, the planet carrier drives the planetary gear to rotate when rotating, the planetary gear is engaged with the primary inner ring gear, and the number of teeth rotated is the same as the number of teeth rotated when the planetary gear is engaged with the secondary inner ring gear, when the planetary gear revolves around the primary inner ring gear one revolution, it also rotates the same number of teeth on the secondary inner ring gear, but the secondary inner ring gear has a difference z in tooth number with the primary inner ring gear, so when the planetary gear revolves one revolution, it drives the secondary inner ring gear to rotate an angle of z teeth, when the primary inner ring gear and the secondary inner ring gear have the same tooth number, that is, z=0, the second stage inner ring gear will not rotate. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings are used to provide a further understanding of the utility model, and constitute a part of the specification, together with the embodiments of the utility model, to explain the utility model, and do not constitute a limitation on the utility model. In the drawings:

[0023] Figure 1 is a schematic view of one side of the utility model;

[0024] Figure 2 is a schematic view of the other side of the utility model;

[0025] Figure 3 is a structural sectional view of the utility model;

[0026] Figure 4 is a structural schematic view of the output flange;

[0027] Figure 5 is a structural schematic view of a planet carrier;

[0028] Figure 6 is a structural schematic view of a planet gear combined with a primary inner ring gear, a secondary inner ring gear and an output flange;

[0029] Figure 7 is a sectional view of Figure 6 ;

[0030] Figure 8 is a structural schematic view of a planet gear meshing with a primary inner ring gear and a secondary inner ring gear;

[0031] Markings in the figure:

[0032] 1. Output flange; 2. Shell one; 3. Bearing one; 4. Shell two; 5. Planet gear; 6. Planet carrier; 7. Secondary inner ring gear; 8. Primary inner ring gear; 9. Bearing two; 10. Motor; 11. Bearing three. DETAILED DESCRIPTION

[0033] As shown in Figures 1-8 , a planet carrier 6 drives a double-variable-position hollow speed reducer, which in this embodiment includes a structural shell for fixedly mounting a primary inner ring gear 8 and a motor 10, a driving end of the motor 10 drivingly connecting a set of planet carriers 6, the planet carriers 6 being hollow rotating bodies having three sets of planet gears 5 mounted therearound, each set of planet gears 5 being axially parallel to the planet carriers 6 and simultaneously meshing with the primary inner ring gear 8 and a secondary inner ring gear 7, the secondary inner ring gear 7 being rotatably connected to the structural shell through a bearing one 3, the primary inner ring gear 8 and the secondary inner ring gear 7 having a difference in the number of teeth, and the secondary inner ring gear 7 further connecting an output flange 1 passing through the structural shell, the output flange 1 having a hollow shaft passing through a hollow cavity of the planet carrier 6;

[0034] Thus, the speed reducer of the present application has the planet carrier 6 as an input end and the secondary inner ring gear 7 as an output end, and has no sun gear, so that the overall structure can be smaller and more compact;

[0035] When installed, the first inner ring gear 8 is fixed, the planet carrier 6 is the input end, the second inner ring gear 7 is the output end, the planetary gear 5 is meshed with the first inner ring gear 8 and the second inner ring gear 7 at the same time, and the first inner ring gear 8 and the second inner ring gear 7 have a difference in the number of teeth, wherein the meshing circles of the two inner ring gears are made the same by changing the modification coefficient of the inner ring gear, that is, meshing with the same gear is realized. When working, the planet carrier 6 drives the planetary gear 5 to rotate when rotating, the planetary gear 5 is meshed with the first inner ring gear 8, and the number of teeth rotated is the same as that of the planetary gear 5 meshed with the second inner ring gear 7. When the planetary gear 5 revolves around the first inner ring gear 8 for one revolution, it also rotates the same number of teeth on the second inner ring gear 7, but the second inner ring gear 7 has a difference z in the number of teeth from the first inner ring gear 8. Therefore, when the planetary gear revolves for one revolution, it drives the second inner ring gear 7 to rotate by an angle of z teeth. When the number of teeth of the first inner ring gear 8 and the second inner ring gear 7 is the same, that is, z = 0, the second inner ring gear 7 will not rotate.

[0036] The structural shell comprises a shell one 2 and a shell two 4, the first inner ring gear 8 is spaced between the shell one 2 and the shell two 4, and the shell one 2, the first inner ring gear 8 and the shell two 4 are connected by a plurality of circumferentially distributed groups of bolts one to lock, so as to make it more convenient for later disassembly and maintenance.

[0037] The output flange 1 is connected with the second inner ring gear 7 by a plurality of circumferentially distributed groups of bolts two to lock, and the bearing one 3 is located in the spacing cavity formed by the shell one 2, the output flange 1 and the second inner ring gear 7, for cooperating with the rotation of the second inner ring gear 7 in the shell one 2.

[0038] The motor 10 is installed in the shell two 4, the rotor of the motor 10 is located outside the planet carrier 6 and is fixed with the planet carrier 6. When the rotor of the motor 10 rotates, it drives the planet carrier 6 to rotate, and then the planet carrier 6 drives the planetary gear 5 to rotate. Since the first inner ring gear 8 is fixed and the first inner ring gear is meshed with the planetary gear 5, the planetary gear 5 rotates, and the rotation of the planetary gear 5 drives the second inner ring gear 7 to rotate.

[0039] The planet carrier 6 is further spaced from the inner ring gear, and the planet carrier 6 is further spaced from the convex ring at the bottom of the shell by the bearing three 11, so as to improve the stability of rotation.

[0040] The working principle of the utility model is: when the reducer is installed, the first class inner gear ring 8 is fixed, the planet carrier 6 is the input end, the second class inner gear ring 7 is the output end, the planetary gear 5 meshes with the first class inner gear ring 8 and the second class inner gear ring 7 simultaneously, the tooth number of the first class inner gear ring 8 and the second class inner gear ring 7 has a difference, namely, by changing the displacement coefficient of the inner gear ring, the meshing circle of the two inner gear rings is same, the meshing with the same gear is realized, when working, the planet carrier 6 drives the planetary gear 5 to rotate when rotating, the planetary gear 5 meshes with the first class inner gear ring 8, the tooth number of rotating is same with the tooth number of rotating of the planetary gear 5 and the second class inner gear ring 7, when the planetary gear 5 revolves around the first class inner gear ring 8 one circle, simultaneously, the same tooth number is also rotated on the second class inner gear ring 7, but the second class inner gear ring 7 and the first class inner gear ring 8 have a tooth number difference z, so when the planetary wheel revolves one circle, the second class inner gear ring 7 is driven to rotate the angle of z tooth number, when the tooth number of the first class inner gear ring 8 and the second class inner gear ring 7 is same, namely z=0, then the second class inner gear ring 7 will not rotate;

[0041] Namely, when meshing and operating,

[0042] The first class inner gear ring (n1) is fixed, the planet carrier (h) is input, the second class inner gear ring (n2) is output,

[0043] When the planet carrier (h) revolves one circle,

[0044] The tooth number of rotating of the planetary gear (p) is z1,

[0045] The tooth number of meshing on the second class inner gear ring (n2) is also z1,

[0046] The tooth number difference of the first class inner gear ring (n1) and the second class inner gear ring (n2) is z,

[0047] So the rotating angle of the second class inner gear ring (n2) is the angle of z tooth of the second class inner gear ring (n2).

[0048] The above only for the preferred embodiment of the utility model has, and does not use for limiting the utility model, although the utility model has been described in detail with reference to the foregoing embodiment, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement to part technical feature. Any modification, equivalent replacement, improvement etc. that is made within the spirit and principle of the utility model, should be contained in the protection scope of the utility model.

Claims

1. A planetary carrier driven double variable displacement hollow speed reducer, characterized by, The application relates to a structure shell for fixing a primary inner gear ring and a motor, the driving end of the motor is drivingly connected with a set of planet carriers, the planet carrier is a hollow rotating body, a plurality of sets of planet gears are circumferentially arranged on the planet carrier, the axial direction of each set of planet gears is parallel to the axial direction of the planet carrier, the planet gears are simultaneously engaged with the primary inner gear ring and a secondary inner gear ring, the secondary inner gear ring is rotatably connected with the structure shell through a bearing, the primary inner gear ring and the secondary inner gear ring have a difference in the number of teeth, a set of output flanges penetrating through the structure shell are further connected with the secondary inner gear ring, and the output flanges have a hollow shaft body penetrating through the hollow cavity of the planet carrier.

2. The planetary carrier driven dual-vari pitch hollow reducer of claim 1, wherein, The structure shell comprises a shell one and a shell two, the primary inner gear ring is arranged between the shell one and the shell two, and the shell one, the primary inner gear ring and the shell two are fixedly connected through a plurality of circumferentially distributed sets of bolts one.

3. The planetary carrier driven dual-vari pitch hollow reducer of claim 2, wherein, The output flanges and the secondary inner gear ring are fixedly connected through a plurality of circumferentially distributed sets of bolts two, and the bearing one is arranged in a spacing cavity formed by the shell one, the output flanges and the secondary inner gear ring, and is used for matching the rotation of the secondary inner gear ring in the shell one.

4. The planetary carrier driven dual-vari pitch hollow reducer of claim 2, wherein, The motor is arranged in the shell two, the rotor of the motor is arranged outside the planet carrier and is fixed with the planet carrier.

5. The planetary carrier driven dual-vari pitch hollow reducer of claim 2, wherein, A bearing two is further arranged between the planet carrier and the primary inner gear ring, and a bearing three is further arranged between the planet carrier and a convex ring at the bottom of the shell.

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