Speed reducer assembly, multi-stage speed reducer and equipment

Abstract

The utility model relates to a speed reducer assembly, a multi-stage speed reducer and equipment, the speed reducer assembly comprises a base structure, the base structure comprises a base plate, an inner gear ring and a mounting ring, the base plate is provided with a via hole, the inner gear ring is located between the base plate and the mounting ring, and the base plate, the inner gear ring and the mounting ring form a containing groove; the first transmission shaft structure comprises a first transmission shaft and an outer gear arranged on the first transmission shaft, the first transmission shaft is arranged in the via hole in a penetrating mode, a plurality of first balls are arranged between the first transmission shaft and the inner wall of the via hole, and the outer gear is located in the containing groove; the second transmission shaft structure comprises a second transmission shaft, a transmission plate and a plurality of planetary gears, the planetary gears are arranged on the circumferential outer side of the outer gear at intervals, the transmission plate is connected with center shafts of the planetary gears, and a plurality of second balls are arranged between the transmission plate and the mounting ring. According to the technical scheme, the problem that in the prior art, the size of a speed reducer assembly is large is solved.

Description

Technical Field

[0001] This application relates to the technical field of speed reducers, and more specifically, to a speed reducer assembly, a multi-stage speed reducer, and an apparatus. Background Technology

[0002] With the continuous development of modern industry, mechanical equipment is moving towards miniaturization, lightweighting, and high performance. As a key component in mechanical transmission systems, speed reducers are widely used in robotics, aerospace, medical devices, precision instruments, and other fields.

[0003] While traditional speed reducers can meet basic transmission requirements, their size and weight limit the overall performance and design flexibility of equipment in applications with extremely high space and precision requirements. Some designers have considered the size of the speed reducer; for example, invention application number 202111096370.6, entitled "Chordial Pinwheel Speed ​​Reducer," includes an input shaft, planetary gears, deep groove ball bearings, and an output shaft. However, the aforementioned speed reducers are large in axial and radial dimensions, as well as in weight, which severely restricts their application in fields with strict space and weight constraints. Utility Model Content

[0004] This application provides a speed reducer assembly, a multi-stage speed reducer, and an apparatus to address the problem of large size in existing speed reducer assemblies.

[0005] A reducer assembly according to this application includes: a base structure comprising a base plate, an internal gear ring, and a mounting ring, the base plate having a through hole, the internal gear ring being located between the base plate and the mounting ring, the base plate, the internal gear ring, and the mounting ring forming a receiving groove; a first drive shaft structure comprising a first drive shaft and an external gear disposed on the first drive shaft, the first drive shaft passing through the through hole, a plurality of first balls being disposed between the first drive shaft and the inner wall of the through hole, the external gear being located within the receiving groove; and a second drive shaft structure comprising a second drive shaft, a drive plate, and a plurality of planetary gears, the plurality of planetary gears being disposed spaced apart on the circumferential outer side of the external gear, each planetary gear meshing with both the external gear and the internal gear ring, the drive plate being connected to the central shaft of each planetary gear, the drive plate being disposed on the second drive shaft, and a plurality of second balls being disposed between the drive plate and the mounting ring.

[0006] Furthermore, the thickness of the base structure is H, the diameter of the multiple first balls is d1, the diameter of the multiple second balls is d2, and the ratio of H:d1:d2 is 1:(4-5):(1-1.2).

[0007] Furthermore, the ratio of the diameter of the first ball to the thickness of the base plate is between 1.28 and 1.62, and the ratio of the diameter of the second ball to the thickness of the mounting ring is between 1.24 and 1.62.

[0008] Furthermore, the thickness of the base structure is between 5.5 mm and 20 mm.

[0009] Furthermore, a first ball receiving groove is formed between the first drive shaft and the base plate. The base plate includes a base body and a first pressure ring. The first pressure ring is detachably connected to the base body by fasteners to form the first ball receiving groove.

[0010] Furthermore, a second ball receiving groove is formed between the second drive shaft and the mounting ring. The mounting ring includes a mounting ring body and a second pressure ring. The second pressure ring is detachably connected to the mounting ring body by fasteners to form the second ball receiving groove.

[0011] Furthermore, the base plate includes a plate body and a boss, the boss being located on the side of the plate body away from the receiving groove, and the boss being located circumferentially outside the through hole.

[0012] Furthermore, the central axis of the through hole, the axis of the first drive shaft, and the axis of the second drive shaft are on the same straight line.

[0013] According to another aspect of this application, a multi-stage reducer is also provided, which includes a plurality of reducer assemblies connected end-to-end, the reducer assemblies being the reducer assemblies described above.

[0014] According to another aspect of this application, an apparatus is also provided, which includes aerospace equipment, medical equipment, intelligent robots, robotic arms or toys, and includes the aforementioned reducer assembly.

[0015] By applying the technical solution of this application, the reducer assembly includes a base structure, a first drive shaft structure, and a second drive shaft structure. The first drive shaft structure and the base plate are engaged by multiple first ball bearings, and the second drive shaft structure and the mounting ring are engaged by multiple second ball bearings. This eliminates the need for multiple separate sets of bearings. The inherent structure of the first drive shaft structure, the second drive shaft structure, the base plate, and the mounting ring solves the problem of the large size caused by the outer and inner ring structures of the bearings, thus significantly reducing the size of the reducer structure. The technical solution of this application effectively solves the problem of the large size of reducer assemblies in the prior art. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A three-dimensional structural schematic diagram of a reducer assembly according to an embodiment of this application is shown;

[0019] Figure 2 It shows Figure 1 A three-dimensional structural diagram of the reducer assembly from another angle;

[0020] Figure 3 It shows Figure 1 A plan view of the reducer assembly;

[0021] Figure 4 It shows Figure 1 A cross-sectional schematic diagram of the reducer assembly;

[0022] Figure 5 It shows Figure 1 A three-dimensional schematic diagram of the internal structure of the reducer assembly;

[0023] Figure 6 It shows Figure 1 A schematic diagram of the internal structure of the reducer assembly;

[0024] Figure 7 It shows Figure 1 A schematic diagram of the transmission plate of the reducer assembly.

[0025] The above figures include the following reference numerals:

[0026] 10. Base structure; 11. Base plate; 12. Internal gear ring; 13. Mounting ring; 14. Receiving groove; 20. First drive shaft structure; 21. First drive shaft; 22. External gear; 23. First ball bearing; 30. Second drive shaft structure; 31. Second drive shaft; 32. Transmission plate; 321. Plate body; 322. Connecting shaft; 33. Planetary gear; 34. Second ball bearing. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0029] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, rotated 90 degrees, or in other orientations, and the spatial relative descriptions used herein will be interpreted accordingly.

[0030] like Figures 1 to 6 As shown, a reducer assembly of this embodiment includes: a base structure 10, a first drive shaft structure 20, and a second drive shaft structure 30. The base structure 10 includes a base plate 11, an internal gear ring 12, and a mounting ring 13. The base plate 11 has a through hole, and the internal gear ring 12 is located between the base plate 11 and the mounting ring 13. The base plate 11, the internal gear ring 12, and the mounting ring 13 form a receiving groove 14. The first drive shaft structure 20 includes a first drive shaft 21 and an external gear 22 disposed on the first drive shaft 21. The first drive shaft 21 passes through the through hole, and a plurality of first balls 23 are located between the first drive shaft 21 and the inner wall of the through hole. The external gear 22 is located within the receiving groove 14. The second transmission shaft structure 30 includes a second transmission shaft 31, a transmission plate 32, and a plurality of planetary gears 33. The plurality of planetary gears 33 are spaced apart on the circumferential outer side of the external gear 22. Each planetary gear 33 meshes with both the external gear 22 and the internal gear ring 12. The transmission plate 32 is connected to the central axis of each planetary gear 33. The transmission plate 32 is mounted on the second transmission shaft 31. A plurality of second balls 34 are located between the transmission plate 32 and the mounting ring 13.

[0031] Applying the technical solution of this embodiment, the reducer assembly includes a base structure 10, a first drive shaft structure 20, and a second drive shaft structure 30. The first drive shaft structure 20 and the base plate 11 are engaged by multiple first ball bearings 23, and the second drive shaft structure 30 and the mounting ring 13 are engaged by multiple second ball bearings 34. This eliminates the need for multiple sets of separate bearings. The inherent structure of the first drive shaft structure 20, the second drive shaft structure 30, the base plate 11, and the mounting ring 13 solves the problem of the large volume caused by the outer and inner ring structures of the bearings, thus significantly reducing the size of the reducer structure. The technical solution of this embodiment effectively solves the problem of the large size of reducer assemblies in the prior art.

[0032] It should be noted that the aforementioned transmission plate 32 is mounted on the second transmission shaft 31. In this embodiment, the transmission plate 32 and the second transmission shaft 31 are integrally formed structures. Figure 7 As shown, the transmission plate 32 includes a plate body 321 and three connecting shafts 322. The multiple planetary gears 33 are three planetary gears 33. The three connecting shafts 322 are correspondingly arranged with the three planetary gears 33 to form the rotating shafts of the three planetary gears 33.

[0033] like Figures 1 to 4 As shown, in this embodiment, the thickness of the base structure 10 is H, the diameter of the plurality of first balls 23 is d1, and the diameter of the plurality of second balls 34 is d2, with H:d1:d2 being 1:4-5:1-1.2. This structure ensures both a small thickness of the base structure 10 and a relatively large diameter of the reducer assembly. It should be noted that the ratio of the thickness H of the base structure 10 to its diameter D is between 1:7 and 1:8. Both the first balls 23 and the second balls 34 are full-ball bearings, eliminating the need for a retainer. This embodiment effectively solves the problem of large axial and radial dimensions in reducer assemblies caused by the use of prefabricated bearings in existing technologies. The main body of the reducer assembly in this embodiment is made of aluminum alloy, further reducing its weight. The base plate 11 has a ball contact layer, which can be 3D printed using a relatively hard material. Similarly, other components in contact with the balls can also use a ball contact layer.

[0034] like Figures 1 to 4 As shown, in this embodiment, the ratio of the diameter of the first ball bearing 23 to the thickness of the base plate 11 is between 1.28 and 1.62, and the ratio of the diameter of the second ball bearing 34 to the thickness of the mounting ring 13 is between 1.24 and 1.62. This further reduces the thickness of the base structure 10. Such a reducer assembly can be better applied to scenarios with smaller size.

[0035] In this embodiment, the thickness of the base structure 10 is between 5.5mm and 20mm. Taking a base structure 10 with a thickness of 9mm as an example, the diameter of the first ball 23 and the second ball 34 is 2 + 0.0015mm, and the ball groove is 2 + 0.0025mm. This ultra-thin reducer assembly has high-precision and high-stability transmission with small transmission error. Furthermore, this structural design gives the reducer assembly high rigidity, effectively resisting certain external vibrations and impacts, ensuring long-term operation. This enables various application scenarios, such as aerospace, industrial robots, service robots, medical robots, and special-purpose robots.

[0036] In this embodiment, a first ball bearing receiving groove is formed between the first drive shaft 21 and the base plate 11. The base plate 11 includes a base body and a first pressure ring. The first pressure ring is detachably connected to the base body by fasteners to form the first ball bearing receiving groove. This structure facilitates the installation of the balls. When it is necessary to install the first ball bearing 23, the first pressure ring is removed from the base body. After the first ball bearing 23 is installed, the first pressure ring is then installed back onto the base body. It should be noted that the first pressure ring is annular.

[0037] In this embodiment, a second ball bearing receiving groove is formed between the second drive shaft 31 and the mounting ring 13. The mounting ring 13 includes a mounting ring body and a second pressure ring. The second pressure ring is detachably connected to the mounting ring body by fasteners to form the second ball bearing receiving groove. This structure facilitates the assembly and disassembly of the second ball bearing 34. It should be noted that the second pressure ring is annular.

[0038] like Figure 1 and Figure 2 As shown, in the technical solution of this embodiment, the base plate 11 includes a plate body and a boss. The boss is located on the side of the plate body away from the receiving groove 14, and the boss is located on the circumferential outer side of the through hole. The boss being located on the circumferential outer side of the through hole facilitates the installation of ball bearings, resulting in larger ball bearings and a lighter overall weight for the base plate 11.

[0039] like Figures 1 to 4 As shown, in the technical solution of this embodiment, the central axis of the through hole, the axis of the first transmission shaft 21, and the axis of the second transmission shaft 31 are on the same straight line. The through hole is located at the center of the base plate 11, which provides good structural symmetry.

[0040] Experiments showed that the transmission efficiency of the reducer assembly in this embodiment can reach 87%, with a high probability of falling above 90%, and the speed ratio is generally between 1:2 and 10. It performs well in applications such as robot joints.

[0041] According to another aspect of this application, a multi-stage reducer is also provided, comprising multiple reducer assemblies connected end-to-end, the reducer assemblies being the aforementioned reducer assemblies. This allows for a larger reduction ratio. Taking a two-stage reducer as an example, if the first stage reducer has a reduction ratio of 1:3 and the second stage reducer also has a reduction ratio of 1:3, then the two-stage reducer can achieve a reduction ratio of 1:9. As another example, if the first stage reducer has a reduction ratio of 1:3 and the second stage reducer also has a reduction ratio of 1:4, then the two-stage reducer can achieve a reduction ratio of 1:12. By modularizing the reducer assemblies, they can be combined as needed. It should be noted that modularizing the reducer assemblies allows for standardization of the mating parts of the first drive shaft structure 20 and the second drive shaft structure 30, for example, through standardized spline structures, allowing for direct installation and mating, saving time and effort and increasing efficiency.

[0042] According to another aspect of this application, a device is also provided, which includes aerospace equipment, medical equipment, intelligent robots, robotic arms, or toys, and includes the aforementioned reducer assembly. Aerospace equipment includes satellites, drones, etc.

[0043] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0044] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0045] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A reducer assembly characterized by, The application relates to a transmission structure, comprising: a base structure (10) comprising a base plate (11) having a through hole, an inner ring gear (12) located between the base plate (11) and a mounting ring (13), and the base plate (11), the inner ring gear (12) and the mounting ring (13) forming a containing groove (14); a first transmission shaft structure (20) comprising a first transmission shaft (21) and an outer gear (22) arranged on the first transmission shaft (21), the first transmission shaft (21) being arranged in the through hole, a plurality of first balls (23) being arranged between the first transmission shaft (21) and the inner wall of the through hole, and the outer gear (22) being located in the containing groove (14); a second transmission shaft structure (30) comprising a second transmission shaft (31), a transmission plate (32) and a plurality of planetary gears (33), the planetary gears (33) being arranged at intervals on the circumferential outer side of the outer gear (22), each planetary gear (33) being engaged with the outer gear (22) and the inner ring gear (12), the transmission plate (32) being connected with the central shaft of each planetary gear (33), the transmission plate (32) being arranged on the second transmission shaft (31), and a plurality of second balls (34) being arranged between the transmission plate (32) and the mounting ring (13).

2. The reducer assembly of claim 1, wherein, The thickness of the base structure (10) is H, the diameter of the first balls (23) is d1, and the diameter of the second balls (34) is d2, and the ratio of H:d1:d2 is 1:(4-5):(1-1.2).

3. The reducer assembly of claim 1, wherein, The ratio of the diameter of the first balls (23) to the thickness of the base plate (11) is between 1.28 and 1.62, and the ratio of the diameter of the second balls (34) to the thickness of the mounting ring (13) is between 1.24 and 1.

62.

4. The reducer assembly of claim 1, wherein, The thickness of the base structure (10) is between 5.5 mm and 20 mm.

5. The reducer assembly of claim 1, wherein, A first ball containing groove is formed between the first transmission shaft (21) and the base plate (11), the base plate (11) comprises a base body and a first pressing ring, the first pressing ring is detachably connected with the base body by a fastener to form the first ball containing groove.

6. The reducer assembly of claim 1, wherein, A second ball containing groove is formed between the second transmission shaft (31) and the mounting ring (13), the mounting ring (13) comprises a mounting ring body and a second pressing ring, the second pressing ring is detachably connected with the mounting ring body by a fastener to form the second ball containing groove.

7. The reducer assembly of claim 1, wherein, The base plate (11) comprises a plate body and a boss, the boss is located on the side of the plate body away from the containing groove (14), and the boss is located on the circumferential outer side of the through hole.

8. The reducer assembly of claim 1, wherein, The central axis of the through hole, the axis of the first transmission shaft (21) and the axis of the second transmission shaft (31) are on the same straight line.

9. A multi-stage speed reducer characterized by, The multi-stage speed reducer comprises a plurality of speed reducer assemblies connected in series, and each speed reducer assembly is the speed reducer assembly according to any one of claims 1 to 8.

10. An apparatus, comprising: The device comprises aerospace equipment, medical equipment, intelligent robots, mechanical arms or toys, and the device comprises the speed reducer assembly according to any one of claims 1 to 8.

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