Single shock wave device side-arranged double-layer roller rolling oscillating tooth speed reducer

Abstract

The utility model discloses a single shock wave device side double-layer roller rolling oscillating tooth speed reducer which comprises an eccentric shaft assembly, an oscillating tooth frame assembly, an inner gear ring assembly and an oscillating tooth assembly, the oscillating tooth frame assembly, the inner gear ring assembly and the oscillating tooth assembly are all installed outside the eccentric shaft assembly, and the oscillating tooth assembly is installed inside the inner gear ring assembly. The oscillating tooth frame assemblies are installed on the two sides of the oscillating tooth assembly. Compared with a planetary reducer and a harmonic reducer, the transmission efficiency is higher, and the working temperature is lower; compared with a harmonic reducer, the gear shape is large, meanwhile, the meshing tooth number proportion is high, the transmission rigidity is high, and the tooth skipping phenomenon is avoided; the transmission efficiency is high, and the problem of grease leakage can be thoroughly solved. A flexible gear of the harmonic reducer is removed, the material requirement and the axial length of the reducer are reduced, and the overall manufacturing cost of the reducer is low after the process is properly optimized and the manufacturing cost of the oscillating tooth assembly is controlled.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of oscillating tooth speed reducer, concretely to a single shock wave ware side double -decked roller rolling oscillating tooth speed reducer. BACKGROUND

[0002] Oscillating tooth speed reducer is a kind of speed reduction transmission device, usually by input shaft, output shaft, gear, gear box etc. It works by the way of gear transmission, the rotational speed of input shaft is reduced, so as to realize the effect of speed reduction. Compared with fixed tooth speed reducer, the characteristic of oscillating tooth speed reducer is that its gear can have relative motion when working, it does not need to be fixed on the output shaft, oscillating tooth speed reducer is widely used in industrial field, commonly used in various mechanical equipment and transmission system, for adjusting the rotational speed and torque of output shaft. Its advantages include stable transmission, long service life, high efficiency and other characteristics, suitable for occasions requiring accurate transmission ratio and higher precision requirement, cycloidal speed reducer, RV speed reducer and oscillating tooth speed reducer all adopt input mechanism of double eccentric or three eccentric circles, each eccentric circle drives a cycloidal gear or shock wave ware to realize the balance of eccentric load and multiply the transmission capacity of speed reducer, but the two ends of eccentric shaft are generally supported on two bearings at the same time, so that the load on the multiple rows of shock wave ware or cycloidal gear and the supporting reaction force form an over-determined system, the actual stress of each eccentric circle section and the rigidity of each part of the system are closely related to the machining accuracy.

[0003] Torque density, transmission efficiency, transmission accuracy, working life and manufacturing cost constitute the main evaluation indexes of humanoid robot joint module. The current harmonic reducer has low transmission efficiency, poor transmission stiffness, and it is difficult to realize the reverse transmission function required by humanoid robot. The stiffness of planetary reducer is low, the transmission gap is large, and the single-stage reduction ratio is small, so multiple combinations are usually required to achieve a larger reduction ratio. The structure of RV reducer is complex, and the manufacturing difficulty and cost of small diameter RV reducer are high. It is necessary to develop a new principle of humanoid robot reducer with a reduction ratio between harmonic reducer and planetary reducer and higher torque density than harmonic reducer, and therefore a single shock wave ware side double-layer roller rolling oscillating tooth speed reducer is provided. Utility model content

[0004] (I) technical problems solved

[0005] In view of the deficiencies in the prior art, the utility model provides a single shock wave ware side double-layer roller rolling oscillating tooth speed reducer, which solves the problems of the current harmonic reducer, such as low transmission efficiency, poor transmission stiffness, and difficulty in realizing the reverse transmission function required by humanoid robot. The stiffness of planetary reducer is low, the transmission gap is large, and the single-stage reduction ratio is small, so multiple combinations are usually required to achieve a larger reduction ratio. The structure of RV reducer is complex, and the manufacturing difficulty and cost of small diameter RV reducer are high.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, this utility model is implemented through the following technical solution: a single shock generator side-mounted double-layer roller rolling gear reducer, comprising an eccentric shaft assembly, a gear carrier assembly, an internal gear ring assembly, and a gear assembly. The gear carrier assembly, the internal gear ring assembly, and the gear assembly are all installed outside the eccentric shaft assembly. The gear assembly is installed inside the internal gear ring assembly. The gear carrier assembly is installed on both sides of the gear assembly. The internal gear ring assembly, from front to back, includes a main bearing outer ring, an internal gear ring, an internal gear ring motor mounting base, and a right end cover of the internal gear ring assembly. The internal gear ring has a segmented plate-like structure.

[0008] As a further preferred embodiment of this utility model, the outer ring and the inner gear ring of the main bearing are assembled by a combination of inner gear ring connecting screws and inner gear ring connecting pins, the inner gear ring motor mounting base and the right end cover of the inner gear ring assembly are fixedly connected by inner gear ring end cover screws, and a live gear frame outer sealing ring is installed on the inner side of the inner gear ring motor mounting base.

[0009] As a further preferred embodiment of this utility model, the internal gear ring has 2-4 segments, the internal gear ring and the outer ring of the main bearing are concentric, and each segment of the internal gear ring is connected to the outer ring of the main bearing by a pin and a screw.

[0010] As a further preferred embodiment of this utility model, the eccentric shaft assembly comprises a shock wave bearing, a left eccentric shaft bearing, an eccentric shaft body, and a right eccentric shaft bearing. The left eccentric shaft bearing is installed at the left end of the eccentric shaft body, and a left eccentric shaft bearing retaining ring and a left eccentric shaft bearing retaining ring are installed on the outside of the left eccentric shaft bearing. The right eccentric shaft bearing is installed at the right end of the eccentric shaft body and is connected to the right end cover of the internal gear ring assembly.

[0011] As a further preferred embodiment of this utility model, the shock wave bearing is sleeved on the eccentric shaft body, and a left retaining ring and a right retaining ring are respectively installed on the left and right sides of the shock wave bearing. A left spring retaining ring is installed on the outside of the left retaining ring, and a right spring retaining ring is installed on the outside of the right retaining ring.

[0012] As a further preferred embodiment of this utility model, the movable gear frame assembly comprises a movable gear frame body, a movable gear frame bearing, a movable gear frame right end cover, and a movable gear frame main bearing. The movable gear frame body is installed outside the left bearing of the eccentric shaft, the movable gear frame bearing is installed on the eccentric shaft body and located between the shock wave bearing and the right bearing of the eccentric shaft, the right end cover of the movable gear frame is installed outside the movable gear frame bearing, and the movable gear frame main bearing is installed between the movable gear frame body and the outer ring of the main bearing.

[0013] As a further preferred embodiment of the present invention, the movable tooth assembly consists of a movable tooth ring, a K-type assembly, an upper mandrel, and a lower mandrel. The upper and lower mandrels are located on the outside of the shock wave bearing. Two sets of movable tooth rings are provided and are respectively placed on both sides of the upper and lower mandrels. The K-type assembly is installed on the inner side of the movable tooth ring.

[0014] (III) Beneficial Effects

[0015] This invention provides a single shock generator with a side-mounted double-layer roller rolling gear reducer. It has the following advantages:

[0016] 1) It has higher transmission efficiency than planetary reducers and harmonic reducers, lower operating temperature, and can extend the working time by more than 30% compared to harmonic reducers.

[0017] 2) Compared with harmonic reducers, it has a larger tooth profile, a higher proportion of meshing teeth, higher transmission stiffness, and will not experience tooth skipping.

[0018] 3) High transmission efficiency and complete resolution of grease leakage issues;

[0019] 4) The flexible gear of the harmonic reducer was removed, which reduced the material requirements and the axial length of the reducer. After properly optimizing the process and controlling the manufacturing cost of the live gear assembly, the overall manufacturing cost of the reducer was lower. Attached Figure Description

[0020] Figure 1 This is a diagram showing the segmented structure of the internal gear ring described in this utility model;

[0021] Figure 2 This is a cross-sectional view of the reducer described in this utility model;

[0022] Figure 3 This is a cross-sectional view of the reducer shaft of the present invention.

[0023] In the diagram: 101, right spring retainer ring; 102, right retaining ring; 103, shock wave generator bearing; 104, left retaining ring; 105, left spring retainer ring; 106, left eccentric shaft bearing; 107, eccentric shaft body; 108, right eccentric shaft bearing; 109, left eccentric shaft bearing retaining ring; 110, left eccentric shaft bearing retainer ring;

[0024] 201. Portable gear frame body; 202. Portable gear frame bearing; 203. Right end cover of the portable gear frame; 204. Main bearing of the portable gear frame;

[0025] 301. Main bearing outer ring; 302. Internal gear ring connecting screw; 303. Internal gear ring connecting pin; 304. Internal gear ring; 305. Internal gear ring motor mounting base; 306. External seal ring of the gear carrier; 307. Internal gear ring end cover screw; 308. Right end cover of the internal gear ring assembly;

[0026] 401. Live toothed ring; 402. K-type assembly; 403. Upper mandrel; 404. Lower mandrel. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Please see Figures 1-3 This utility model provides a technical solution: a single shock generator side-mounted double-layer roller rolling gear reducer, including an eccentric shaft assembly, a gear carrier assembly, an internal gear ring assembly, and a gear assembly. The gear carrier assembly, internal gear ring assembly, and gear assembly are all mounted outside the eccentric shaft assembly. The gear assembly is mounted inside the internal gear ring assembly. The gear carrier assembly is mounted on both sides of the gear assembly. The internal gear ring assembly, from front to back, includes a main bearing outer ring 301, an internal gear ring 304, an internal gear ring motor mounting base 305, and a right end cover 308 for the internal gear ring assembly. The internal gear ring has a segmented, plate-like structure. The internal gear ring is designed as a three-segment structure, and during machining, it can be connected into a single unit using a ring-shaped tool for gear grinding. The internal gear ring can be assembled with tooling, and a series of ball bearings are used to ensure the concentricity of the internal gear ring 304 and the outer ring 301 of the main bearing. Each segment of the internal gear is connected to the outer ring 301 of the main bearing via at least two pins 303 and a certain number of screws 302, ensuring that the segmented internal gear ring 304 has sufficient load-bearing capacity and that each segment of the internal gear ring 304 has a defined position even without a stop. The reducer adopts a one-tooth difference and eccentric structure with a counterweight structure or a two-tooth difference structure. The tooth profile of the internal gear can be designed as a straight line or a circular arc, and the shock wave generator can be designed according to the shape of the internal gear.

[0029] In a further improvement, the outer ring 301 and the inner gear ring 304 of the main bearing are assembled by the inner gear ring connecting screw 302 and the inner gear ring connecting pin 303. The inner gear ring motor mounting base 305 and the right end cover 308 of the inner gear ring assembly are fixedly connected by the inner gear ring end cover screw 307. The inner side of the inner gear ring motor mounting base 305 is equipped with a live gear outer sealing ring 306.

[0030] Further improvements include having 2-4 segments in the internal gear ring 304, with the internal gear ring 304 and the outer ring 301 of the main bearing being concentric. Each segment of the internal gear ring 304 is connected to the outer ring 301 of the main bearing using a pin 303 and a screw 302. This divides the internal gear ring 304 into 3-4 segments. Figure 1The middle section has 3 lobes (which can be decomposed into one of the following schemes: 2 lobes, 3 lobes, 4 lobes, etc.). The shock wave generator can use an eccentric bearing or a flexible elliptical bearing, and the main bearing adopts an offset structure. This scheme, which uses only one row of live tooth assembly and an offset main bearing, can greatly reduce the length of the reducer and effectively improve the torque density of the reducer.

[0031] In a further improvement, the eccentric shaft assembly consists of a shock wave bearing 103, a left eccentric shaft bearing 106, an eccentric shaft body 107, and a right eccentric shaft bearing 108. The left eccentric shaft bearing 106 is installed at the left end of the eccentric shaft body 107. An eccentric shaft left bearing retaining ring 109 and an eccentric shaft left bearing retaining ring 110 are installed on the outside of the left eccentric shaft bearing 106. The right eccentric shaft bearing 108 is installed at the right end of the eccentric shaft body 107 and is connected to the right end cover 308 of the internal gear ring assembly.

[0032] In a further improvement, the shock bearing 103 is sleeved on the eccentric shaft body 107, and a left retaining ring 104 and a right retaining ring 102 are respectively installed on the left and right sides of the shock bearing 103. A left spring retaining ring 105 is installed on the outside of the left retaining ring 104, and a right spring retaining ring 101 is installed on the outside of the right retaining ring 102. The left spring retaining ring 105 and the right spring retaining ring 101 limit the left retaining ring 104 and the right retaining ring 102 respectively.

[0033] In a further improvement, the movable gear frame assembly consists of a movable gear frame body 201, a movable gear frame bearing 202, a movable gear frame right end cover 203, and a movable gear frame main bearing 204. The movable gear frame body 201 is installed outside the left bearing 106 of the eccentric shaft. The movable gear frame bearing 202 is installed on the eccentric shaft body 107 and located between the shock wave bearing 103 and the right bearing 108 of the eccentric shaft. The movable gear frame right end cover 203 is installed outside the movable gear frame bearing 202. The movable gear frame main bearing 204 is installed between the movable gear frame body 201 and the outer ring 301 of the main bearing. The movable gear frame right end cover 203 and the movable gear frame body 201 are connected by resistance welding.

[0034] In a further improvement, the movable tooth assembly consists of a movable tooth ring 401, a K-type assembly 402, an upper spindle 403, and a lower spindle 404. The upper spindle 403 and the lower spindle 404 are located on the outside of the shock wave bearing 103. Two sets of movable tooth rings 401 are provided and are respectively placed on both sides of the upper spindle 403 and the lower spindle 404. The K-type assembly 402 is installed on the inner side of the movable tooth ring 401.

[0035] Working Principle: During operation, the motor stator can be installed in the internal gear ring motor mounting base 305, and the motor rotor can be installed on the right end of the eccentric shaft body 107. If the internal gear ring assembly is fixed, when the eccentric shaft assembly rotates at high speed, its shock wave bearing 103 will push the movable gear assembly to move radially. The upper spindle 403 in the movable gear assembly will move along the surface curvature of the internal teeth of the internal gear ring 304. After being constrained by the internal teeth of the internal gear ring 304, it decomposes into a tangential motion, which is then pushed by the movable gear ring 401 of the movable gear assembly to rotate at low speed, thus achieving a speed reduction effect. That is, when the theoretical number of teeth on the movable gear is Z2 and the shock wave bearing is a common bearing (currently, the number of teeth is 1 / 2 of Z2, and the strength of the movable gear is improved by tooth reduction), for every 1 revolution of the eccentric shaft assembly, the movable gear rotates 1 / Z2 revolutions, achieving a reduction ratio of Z2. When the shock wave bearing is an elliptical or similar elliptical flexible bearing, the reduction ratio is Z2 / 2.

[0036] The present invention comprises: 101, right spring retainer; 102, right retaining ring; 103, shock wave bearing; 104, left retaining ring; 105, left spring retainer; 106, left eccentric shaft bearing; 107, eccentric shaft body; 108, right eccentric shaft bearing; 109, left eccentric shaft bearing retaining ring; 110, left eccentric shaft bearing retainer; 201, movable gear frame body; 202, movable gear frame bearing; 203, right end cover of movable gear frame; 204, main bearing of movable gear frame; 301, outer ring of main bearing; 302, internal gear ring connecting screw; 303, internal gear ring connecting pin; 304, internal gear ring; 305. Internal gear ring motor mounting base; 306. External sealing ring of the movable gear frame; 307. Internal gear ring end cap screw; 308. Right end cap of the internal gear ring assembly; 401. Movable gear sleeve; 402. K-type assembly; 403. Upper mandrel; 404. Lower mandrel. All components are general standard parts or parts known to those skilled in the art. Their structure and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods. The problem solved by this utility model is that current harmonic reducers have low transmission efficiency and poor transmission stiffness, and are difficult to implement the reverse transmission function required by humanoid robots. Planetary reducers have low stiffness, large transmission clearance, and small single-stage reduction ratio, usually requiring multiple stages to achieve a larger reduction ratio. The RV reducer suffers from a complex structure, and the manufacturing of small-diameter RV reducers is difficult and costly. This invention addresses these issues through the combination of the aforementioned components. This invention achieves the following: 1) Higher transmission efficiency than planetary reducers and harmonic reducers, lower operating temperature, and extended operating time by more than 30% compared to harmonic reducers; 2) Larger tooth profile and a higher proportion of meshing teeth compared to harmonic reducers, resulting in higher transmission rigidity and eliminating tooth skipping; 3) High transmission efficiency and a complete solution to grease leakage problems; 4) Elimination of the flexible gears in harmonic reducers lowers material requirements and reduce the reducer's axial length. With proper process optimization and cost control of the live gear assembly, the overall manufacturing cost of the reducer is lower.

[0037] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0038] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A single shock generator side-mounted double-layer roller rolling gear reducer, comprising an eccentric shaft assembly, a gear carrier assembly, an internal gear ring assembly, and a gear assembly, characterized in that: The movable gear frame assembly, the internal gear ring assembly, and the movable gear assembly are all installed outside the eccentric shaft assembly. The movable gear assembly is installed inside the internal gear ring assembly. The movable gear frame assembly is installed on both sides of the movable gear assembly. The internal gear ring assembly includes, from front to back, the main bearing outer ring (301), the internal gear ring (304), the internal gear ring motor mounting base (305), and the right end cover (308) of the internal gear ring assembly. The internal gear ring (304) has a segmented plate structure.

2. The single shock generator side-mounted double-layer roller rolling gear reducer according to claim 1, characterized in that: The outer ring (301) and the inner gear ring (304) of the main bearing are assembled by the inner gear ring connecting screw (302) and the inner gear ring connecting pin (303). The inner gear ring motor mounting base (305) and the right end cover (308) of the inner gear ring assembly are fixedly connected by the inner gear ring end cover screw (307). The inner side of the inner gear ring motor mounting base (305) is equipped with a live gear outer sealing ring (306).

3. The single shock generator side-mounted double-layer roller rolling gear reducer according to claim 1, characterized in that: The internal gear ring (304) has 2-4 segments. The internal gear ring (304) and the outer ring of the main bearing (301) are concentric. Each segment of the internal gear ring (304) is connected to the outer ring of the main bearing (301) through an internal gear ring connecting pin (303) and an internal gear ring connecting screw (302).

4. A single shock generator side-mounted double-layer roller rolling gear reducer according to claim 1, characterized in that: The eccentric shaft assembly includes a shock wave bearing (103), a left eccentric shaft bearing (106), an eccentric shaft body (107), and a right eccentric shaft bearing (108). The left eccentric shaft bearing (106) is installed at the left end of the eccentric shaft body (107). An eccentric shaft left bearing retainer ring (109) and an eccentric shaft left bearing retaining ring (110) are installed on the outside of the left eccentric shaft bearing (106). The right eccentric shaft bearing (108) is installed at the right end of the eccentric shaft body (107) and is connected to the right end cap (308) of the internal gear ring assembly.

5. A single shock generator side-mounted double-layer roller rolling gear reducer according to claim 4, characterized in that: The shock wave bearing (103) is sleeved on the eccentric shaft body (107), and a left retaining ring (104) and a right retaining ring (102) are respectively installed on the left and right sides of the shock wave bearing (103). A left spring retaining ring (105) is installed on the outside of the left retaining ring (104), and a right spring retaining ring (101) is installed on the outside of the right retaining ring (102).

6. A single shock generator side-mounted double-layer roller rolling gear reducer according to claim 1, characterized in that: The movable gear frame assembly includes a movable gear frame body (201), a movable gear frame bearing (202), a movable gear frame right end cap (203), and a movable gear frame main bearing (204). The movable gear frame body (201) is installed outside the eccentric shaft left bearing (106). The movable gear frame bearing (202) is installed on the eccentric shaft body (107) and located between the shock wave bearing (103) and the eccentric shaft right bearing (108). The movable gear frame right end cap (203) is installed outside the movable gear frame bearing (202). The movable gear frame main bearing (204) is installed between the movable gear frame body (201) and the main bearing outer ring (301).

7. A single shock generator side-mounted double-layer roller rolling gear reducer according to claim 1, characterized in that: The movable tooth assembly includes a movable tooth collar (401), a K-type assembly (402), an upper mandrel (403), and a lower mandrel (404). The upper mandrel (403) and the lower mandrel (404) are located on the outside of the shock wave bearing (103). Two sets of movable tooth collars (401) are provided and are respectively located on both sides of the upper mandrel (403) and the lower mandrel (404). The K-type assembly (402) is installed on the inside of the movable tooth collar (401).

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