Planetary harmonic reducer driven by crankshaft

Abstract

The utility model discloses a planetary harmonic reducer driven by a crankshaft, and belongs to the technical field of reducers. The speed reducer comprises a driving crankshaft, a first-stage driving wheel, a second-stage eccentric wheel, a third-stage composite wheel and an output end cover. The driving crankshaft drives the second-stage eccentric wheel to generate differential motion through the second-stage shaft neck designed in an off-axis mode, and the differential motion is sequentially transmitted to the third-stage composite wheel and the output end cover through harmonic meshing, so that multi-stage speed reduction is achieved. The outer gear ring of the first-stage driving wheel is meshed with the second-stage driven inner gear ring, the transmission path is further optimized through the double-gear structure of the third-stage composite wheel, and the output end cover completes final power output through the end cover inner gear ring. The crankshaft and harmonic drive are combined, the problems that a traditional planetary gear train is complex in structure and low in efficiency are solved, and the planetary gear train has the advantages of being compact in structure, high in transmission efficiency and high in reliability and is suitable for high-precision industrial robots and automation equipment.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of speed reducer, especially relates to a planetary harmonic speed reducer of crankshaft transmission. BACKGROUND

[0002] In the field of mechanical transmission, the speed reducer is an important mechanical component, which can reduce the speed and increase the torque to meet the needs of various mechanical equipment. For example, the patent with the announcement number CN108036036A discloses a planetary gear harmonic speed reducer, which is composed of multiple planetary gear systems to form a relatively complex harmonic transmission system, and there is certain limitation in transmission efficiency, structural compactness and reliability, so a new speed reducer is needed to solve these problems. UTILITY MODEL CONTENT

[0003] The utility model aims at the above -mentioned problems existing in the prior art, provides a planetary harmonic speed reducer of crankshaft transmission.

[0004] The utility model discloses a planetary harmonic speed reducer of crankshaft transmission, including driving crankshaft, primary driving wheel, secondary eccentric wheel, tertiary compound wheel and output end cover.

[0005] The longer end of the driving crankshaft on both sides is the input end, and the shorter end is the output end, and the secondary shaft neck and the tertiary shaft neck are connected in turn through the crank block between the two; The primary driving wheel, the secondary eccentric wheel, the tertiary compound wheel and the output end cover are sequentially sleeved on the input end, the secondary shaft neck, the tertiary shaft neck and the output end, and are cooperatively arranged with the crank block as the interval.

[0006] The outer edge of the primary driving wheel is formed with a primary driving outer gear ring; The two ends of the secondary eccentric wheel are respectively screwed with a secondary driven inner gear ring and a secondary transmission inner gear ring with the same outer diameter; The tertiary compound wheel is composed of two gears with different outer diameters arranged coaxially in front and back, wherein the gear towards the secondary eccentric wheel has a larger outer diameter, and a tertiary driven outer gear ring is formed at the outer edge; Another gear with a smaller outer diameter forms a tertiary transmission outer gear ring at the outer edge; The output end cover is screwed with an end cover inner gear ring on the side towards the tertiary compound wheel, and an output shaft is formed on the other side by extending axially.

[0007] When the reducer starts to run, the driving crankshaft connects the power source to provide initial rotary power and drives the primary driving wheel to rotate, the primary driving outer gear ring of the primary driving wheel does harmonic transmission motion in the secondary driven inner gear ring of the secondary eccentric wheel, the secondary eccentric wheel does differential motion under the drive of the primary driving wheel; then, the secondary transmission inner gear ring of the secondary eccentric wheel drives the tertiary driven outer gear ring of the tertiary compound wheel to do harmonic transmission motion inside the tertiary driven outer gear ring, thereby transmitting the differential motion of the secondary eccentric wheel to the tertiary compound wheel; finally, the tertiary transmission outer gear ring of the tertiary compound wheel does harmonic transmission motion in the end cover inner gear ring of the output end cover, driving the output shaft on the output end cover to do differential rotary motion.

[0008] In the above-mentioned crankshaft transmission planetary harmonic reducer, the input end, the tertiary shaft journal and the output end of the driving crankshaft are coaxially arranged, and the secondary shaft journal is arranged eccentrically, so that the secondary eccentric wheel follows the secondary shaft journal to do eccentric rotary motion when the reducer runs.

[0009] In the above-mentioned crankshaft transmission planetary harmonic reducer, the center of the primary driving wheel is formed with a primary shaft sleeve, which is long on the side facing the input end, and the primary driving wheel is sleeved on the input end through the primary shaft sleeve; the annular outer side of the primary shaft sleeve is coaxially arranged with a connecting shaft sleeve on the spoke surface of the primary driving wheel, which is convenient for being fixedly connected with the end surface of the power source.

[0010] In the above-mentioned crankshaft transmission planetary harmonic reducer, the center of the secondary eccentric wheel is formed with a secondary shaft sleeve, the outer side wall of the secondary shaft sleeve is outwardly protruded at the middle section to be integrated with the inner side wall of the secondary eccentric wheel, forming a support plate to strengthen the structural strength, and the secondary eccentric wheel is sleeved on the secondary shaft journal through the secondary shaft sleeve.

[0011] In the above-mentioned crankshaft transmission planetary harmonic reducer, the front and rear gears of the tertiary compound wheel are each formed with a tertiary shaft sleeve at the center, and the tertiary compound wheel is sleeved on the tertiary shaft journal through a pair of tertiary shaft sleeves; the annular outer side of the tertiary shaft sleeve is integrally formed with a connecting ring sleeve between the spokes opposite to each other of the front and rear gears, thereby combining the two gears into one whole.

[0012] In the above-mentioned crankshaft transmission planetary harmonic reducer, the output end cover is axially provided with a shaft end mounting hole on the inner side of the end cover facing the tertiary compound wheel, and the output end of the driving crankshaft is inserted into the shaft end mounting hole and correspondingly matched therewith.

[0013] In the above-mentioned crankshaft transmission planetary harmonic reducer, the output shaft of the output end cover is provided with a connecting spline at the shaft end, which is convenient for being connected with the next level of working equipment.

[0014] Compared with the prior art, the planetary harmonic reducer driven by the crankshaft provided by the utility model reduces the axial space occupation through the multi-stage transmission of the crankshaft; the transmission efficiency is effectively improved through the combination of the harmonic meshing and the planetary differential; and the anti-unbalanced load capacity of the reducer is improved through the reinforced structure design of the supporting plate, the connecting ring sleeve and the like. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 is the structural schematic view of the planetary harmonic reducer driven by the crankshaft;

[0016] Fig. 2 is the structural explosion view of the planetary harmonic reducer driven by the crankshaft;

[0017] Fig. 3 is the structural sectional view of the planetary harmonic reducer driven by the crankshaft.

[0018] In the above figure, 100, driving crankshaft; 110, input end; 120, crank block; 130, second stage journal; 140, third stage journal; 150, output end; 200, first stage driving wheel; 210, first stage driving outer gear ring; 220, first stage shaft sleeve; 230, connecting shaft sleeve; 300, second stage eccentric wheel; 311, second stage driven inner gear ring; 312, second stage transmission inner gear ring; 320, second stage shaft sleeve; 330, supporting plate; 400, third stage composite wheel; 411, third stage driven outer gear ring; 412, third stage transmission outer gear ring; 420, third stage shaft sleeve; 430, connecting ring sleeve; 500, output end cover; 510, end cover inner gear ring; 520, output shaft; 521, connecting spline; 530, shaft end mounting hole. DETAILED DESCRIPTION

[0019] The following is a specific embodiment of the utility model and further describes the technical scheme of the utility model in combination with the drawings, but the utility model is not limited to these embodiments.

[0020] As Figs. 1 to 3 shown, the planetary harmonic reducer driven by the crankshaft mainly comprises a driving crankshaft 100, a first stage driving wheel 200, a second stage eccentric wheel 300, a third stage composite wheel 400 and an output end cover 500. The components are combined in a way that the crankshaft transmission and the harmonic meshing are combined to realize multi-stage reduction.

[0021] The input end 110 of the driving crankshaft 100 is relatively long and is used for connecting an external power source (such as a motor and the like); the output end 150 is relatively short, and the two are connected with the second stage journal 130 and the third stage journal 140 in sequence through the crank block 120. Among them, the second stage journal 130 is designed to be eccentric, so that the second stage eccentric wheel 300 generates eccentric rotary motion when running, and the input end 110, the third stage journal 140 and the output end 150 are coaxially arranged.

[0022] The primary driving wheel 200 is sleeved on the input end 110 and is matched with the input end 110 through the primary shaft sleeve 220. The outer edge of the primary driving wheel 200 is provided with a primary driving outer gear ring 210, which is extended to the side of the input end 110 for a long time, so that the direction is easy to identify and correctly installed, and is fixed with the power source end face through the connecting shaft sleeve 230.

[0023] The secondary eccentric wheel 300 is sleeved on the secondary shaft neck 130 through the secondary shaft sleeve 320, and the two ends are respectively screwed with the secondary driven inner gear ring 311 and the secondary transmission inner gear ring 312. The outer side wall of the secondary shaft sleeve 320 is provided with a circumferential protruding support plate 330 for strengthening the structural strength.

[0024] The tertiary composite wheel 400 is coaxially composed of two gears with different outer diameters, the outer edge of the large gear is provided with a tertiary driven outer gear ring 411, and the outer edge of the small gear is provided with a tertiary transmission outer gear ring 412. The two are integrated through the connecting ring sleeve 430 and are sleeved on the tertiary shaft neck 140 through the tertiary shaft sleeve 420.

[0025] The inner side of the output end cover 500 is screwed with the end cover inner gear ring 510, and the outer side is extended to form an output shaft 520, and the end of the output shaft 520 is provided with a connecting spline 521. The output end 150 of the driving crankshaft 100 is inserted into the shaft end mounting hole 530 of the output end cover 500 to realize coaxial cooperation.

[0026] The working process of the utility model mainly includes three stages:

[0027] 1. The power input stage: the power source drives the driving crankshaft 100 to rotate, and the input end 110 drives the primary driving wheel 200 to rotate synchronously. The primary driving outer gear ring 210 is engaged with the secondary driven inner gear ring 311, and since the secondary shaft neck 130 is designed as a eccentric shaft, the secondary eccentric wheel 300 generates differential motion under the drive of the primary driving wheel 200.

[0028] 2. The secondary transmission stage: the secondary transmission inner gear ring 312 is engaged with the tertiary driven outer gear ring 411, and the eccentric motion is transmitted to the tertiary composite wheel 400, and at this time, the tertiary composite wheel 400 is further decelerated under the harmonic action.

[0029] 3. The tertiary output stage: the tertiary transmission outer gear ring 412 is engaged with the end cover inner gear ring 510, drives the output end cover 500 and the output shaft 520 to rotate at a lower speed, and finally transmits power to external equipment through the connecting spline 521.

[0030] The specific embodiments described in the present document are only illustrative of the spirit of the utility model. Those skilled in the art to which the utility model belongs can make various modifications or supplements to the described specific embodiments or replace them with similar ways, but will not deviate from the spirit of the utility model or exceed the scope defined by the appended claims.

[0031] Although various terms are used herein, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of the present application; it is against the spirit of the present application to interpret them as any kind of additional limitation.

Claims

1. A planetary harmonic reducer for crankshaft transmission, characterized in that, It includes a drive crankshaft (100), a first-stage drive wheel (200), a second-stage eccentric wheel (300), a third-stage compound wheel (400), and an output end cap (500); The longer end of the active crankshaft (100) is the input end (110), and the shorter end is the output end (150). The two ends are connected in sequence by a crank block (120) to a secondary journal (130) and a tertiary journal (140). The primary drive wheel (200), the secondary eccentric wheel (300), the tertiary compound wheel (400), and the output end cover (500) are sequentially fitted on the input end (110), the secondary journal (130), the tertiary journal (140), and the output end (150), and are arranged in a coordinated manner with the crank block (120) as the interval. A primary driving gear ring (210) is formed circumferentially around the outer edge of the primary driving gear (200); a secondary driven internal gear ring (311) and a secondary transmission internal gear ring (312) with the same outer diameter are screwed onto both ends of the secondary eccentric gear (300); the tertiary compound gear (400) is composed of two gears with different outer diameters arranged coaxially, with the gear facing the secondary eccentric gear (300) having a larger outer diameter and forming a tertiary driven external gear ring (411) circumferentially around its outer edge, and the other gear with a smaller outer diameter forming a tertiary transmission external gear ring (412) circumferentially around its outer edge; the output end cover (500) has an end cover internal gear ring (510) screwed onto one side facing the tertiary compound gear (400), and an output shaft (520) extending axially on the other side; When the reducer starts running, the drive crankshaft (100) is connected to the power source to provide initial rotational power and drives the first-stage drive wheel (200) to rotate. The first-stage drive external gear ring (210) of the first-stage drive wheel (200) performs harmonic transmission motion within the second-stage driven internal gear ring (311) of the second-stage eccentric wheel (300). The second-stage eccentric wheel (300) performs differential motion under the drive of the first-stage drive wheel (200). Then, the second-stage transmission internal gear of the second-stage eccentric wheel (300) The ring (312) drives the third-stage driven external gear ring (411) of the third-stage compound wheel (400) to perform harmonic transmission motion inside it, thereby transmitting the differential motion of the second-stage eccentric wheel (300) to the third-stage compound wheel (400); finally, the third-stage transmission external gear ring (412) of the third-stage compound wheel (400) performs harmonic transmission motion in the end cover internal gear ring (510) of the output end cover (500), driving the output shaft (520) on the output end cover (500) to perform differential rotation motion.

2. The planetary harmonic reducer for crankshaft transmission according to claim 1, characterized in that, The input end (110), the third-stage journal (140), and the output end (150) of the active crankshaft (100) are all coaxially arranged, while the second-stage journal (130) is off-axis arranged, so that the second-stage eccentric wheel (300) follows the second-stage journal (130) to perform off-axis rotational motion when the reducer is running.

3. A planetary harmonic reducer for crankshaft transmission according to claim 1, characterized in that, A primary drive wheel (200) has a primary bushing (220) at its center, which extends a long distance toward the input end (110). The primary drive wheel (200) is fitted onto the input end (110) through the primary bushing (220). A connecting bushing (230) is coaxially provided on the spoke surface of the primary drive wheel (200) on the outer circumferential side of the primary bushing (220) to facilitate its fixed connection with the end face of the power source.

4. A planetary harmonic reducer for crankshaft transmission according to claim 1, characterized in that, The center of the secondary eccentric wheel (300) has a secondary bushing (320). The middle section of the outer side wall of the secondary bushing (320) protrudes outward in a circumferential direction to form a support plate (330) with the inner side wall of the secondary eccentric wheel (300) to strengthen the structure. The secondary eccentric wheel (300) is sleeved on the secondary journal (130) through the secondary bushing (320).

5. A planetary harmonic reducer for crankshaft transmission according to claim 1, characterized in that, The three-stage compound wheel (400) has a three-stage bushing (420) formed at the center of both the front and rear gears. The three-stage compound wheel (400) is fitted onto the three-stage journal (140) through a pair of three-stage bushings (420). The outer circumferential side of the three-stage bushing (420) is integrally formed with a connecting ring (430) between the spokes of the front and rear gears, thereby combining the two gears into a whole.

6. A planetary harmonic reducer for crankshaft transmission according to claim 1, characterized in that, The output end cap (500) has an axially formed shaft end mounting hole (530) on the inner side of the end cap facing the three-stage compound wheel (400), and the output end (150) of the drive crankshaft (100) extends into the shaft end mounting hole (530) and cooperates with it.

7. A planetary harmonic reducer for crankshaft transmission according to claim 1, characterized in that, The output shaft (520) of the output end cover (500) is provided with a connecting spline (521) at the shaft end, which facilitates connection with the next level working equipment.

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