Planetary series harmonic composite speed reducer

Abstract

The utility model provides a planet series harmonic composite speed reducer, and relates to the technical field of speed reducers. The crossed roller bearing is connected to one side of the steel wheel; and the harmonic speed reduction structure is connected to the crossed roller bearing, and the harmonic speed reduction structure comprises a flexible gear switching block, a flexible gear pressing plate and a flexible gear. The planetary reducer has the beneficial effects that the planetary reducer structure and the harmonic reducer structure take the cam as a common element, and the cam and the inner gear ring are ingeniously combined, so that the advantages of high bearing capacity of planetary reducer and small volume and large reduction ratio of harmonic reducer are fully played, and the efficient, compact and stable reducer effect is realized; a planet carrier in the planetary speed reduction structure is connected with a flexible gear pressing plate so that the planet carrier and the flexible gear pressing plate can work cooperatively, power is transmitted to a sun gear through an input shaft to drive a planet gear to rotate and revolve around the sun gear, and after preliminary speed reduction is achieved, power is transmitted to the harmonic speed reduction structure through a cam.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, and in particular to a composite speed reducer device for planetary series harmonics. Background Technology

[0002] Currently, achieving ultra-high speed ratios in conventional speed reducer products often requires multi-stage transmission. For example, multi-stage gear reducers use multiple gears of different sizes to sequentially reduce speed and achieve the desired large reduction ratio. Alternatively, some combined speed reducers connect different types of reducers in multiple stages. However, this approach usually introduces some unavoidable limitations.

[0003] Due to their multi-stage transmission structure, conventional high-ratio reducers often result in a significant increase in the overall size and volume of the device. This is because each stage of transmission requires space to accommodate the corresponding gears, shafts, and other transmission components. The cumulative effect of multiple stages makes the reducer bulky. Furthermore, the presence of multiple stages causes errors to accumulate between each stage. These errors accumulate over time, making it difficult to guarantee the final output accuracy and achieve high-precision transmission, thus failing to meet the demands of precision machinery requiring extremely high positional accuracy. Moreover, due to their structural limitations, conventional high-ratio reducers struggle to achieve a good balance between torque capacity and size. In other words, the torque that can be carried within a limited volume is relatively limited, meaning a lower torque density. This prevents them from fully utilizing their transmission advantages in applications requiring the transmission of large torques within a small space, such as high-performance electric vehicle drive systems or the joints of heavy-duty industrial automation equipment. Utility Model Content

[0004] In view of this, embodiments of the present invention provide a composite speed reduction device for planetary series harmonics to solve the technical problem of low transmission accuracy of high speed ratio reducers in the prior art.

[0005] An embodiment of this utility model provides a composite deceleration device for planetary series harmonics, comprising:

[0006] steel wheel;

[0007] A crossed roller bearing is attached to one side of the steel wheel;

[0008] A harmonic deceleration structure is built into the steel wheel and connected to the crossed roller bearing. The harmonic deceleration structure includes a flexible wheel adapter block, a flexible wheel pressure plate, and a flexible wheel. The flexible wheel adapter block is connected to the crossed roller bearing.

[0009] A planetary reduction structure is connected to the harmonic reduction structure. The planetary reduction structure includes a planet carrier, multiple planet gears, and a sun gear. The multiple planet gears are rotatably connected to the planet carrier. The sun gear and the multiple planet gears simultaneously engage in toothed meshing. The planet carrier is connected to the flexible wheel pressure plate, so that the planet carrier and the crossed roller bearing are integrated into one unit.

[0010] A cam is connected to the flex wheel via a flexible bearing, so that the cam serves as the input of the harmonic reduction structure. An internal gear ring is provided on the inner wall of the cam, and multiple planetary gears mesh with the internal gear ring simultaneously, so that the cam serves as the output of the planetary reduction structure.

[0011] The input shaft is interference-connected to the sun gear and transmits torque to the sun gear, enabling the planetary reduction structure to reduce speed. The torque is transmitted to the harmonic reduction structure through the rotation of the output cam of the planetary reduction structure, so that the planetary reduction structure and the harmonic reduction structure work together to reduce speed.

[0012] Furthermore, a groove is provided at one end of the flexible wheel pressure plate, and a protrusion is provided at one end of the planetary carrier. The protrusion is embedded in the groove, so that the planetary carrier can transmit torque to the flexible wheel pressure plate.

[0013] Furthermore, the groove is a long rectangular groove, and the width of the two side walls of the protrusion is the same as that of the groove.

[0014] Furthermore, one end of the flexible wheel pressure plate is provided with a circular hole located at its axis, and the surface of the protrusion is provided with a cylinder, which is inserted into the circular hole to connect and center the planetary carrier and the flexible wheel pressure plate.

[0015] Furthermore, a rear flange is provided at the end of the steel wheel away from the crossed roller bearing, a first deep groove ball bearing is connected between the inner wall of one end of the cam and the outer wall of the flexible wheel pressure plate, and a first deep groove ball bearing is also connected between the outer wall of the other end of the cam and the inner wall of the rear flange.

[0016] Furthermore, the input shaft is provided with two second deep groove ball bearings on its exterior. One second deep groove ball bearing is connected to the inner wall of the rear flange, and the other second deep groove ball bearing is connected to the inner wall of one end of the cam.

[0017] Furthermore, a retaining ring is provided on the outer wall of the input shaft, one of the deep groove ball bearings abuts against the retaining ring, and a wave spring washer is provided between the other second deep groove ball bearing and the inner wall of the cam.

[0018] Furthermore, an inner spacer ring is provided between the two deep groove ball bearings, and the inner spacer ring is located outside the input shaft.

[0019] Furthermore, the flexible wheel adapter block, the flexible wheel pressure plate, and the flexible wheel are connected by hexagon socket screws.

[0020] Furthermore, the planet carrier has multiple planetary gear pins that rotate, and each planetary gear is connected to one of the planetary gear pins.

[0021] The beneficial effects of the technical solution provided by the embodiments of this utility model are as follows: The composite deceleration device of planetary series harmonic deceleration of this utility model, by using a cam as a common element for the planetary deceleration structure and the harmonic deceleration structure, and by cleverly combining the cam and the internal gear ring, fully utilizes the advantages of the high load-bearing capacity of the planetary deceleration and the small size and large reduction ratio of the harmonic deceleration, and achieves a highly efficient, compact and stable deceleration effect; the planet carrier in the planetary deceleration structure is connected to the flexible wheel pressure plate, so that the two work together. The power is transmitted to the sun gear through the input shaft, which drives the planetary gear to rotate and revolve around the sun gear, achieving initial deceleration. Then, the power is transmitted to the harmonic deceleration structure through the cam; the cam, as the input of the harmonic deceleration, is supported by a flexible bearing. The flexible wheel undergoes elastic deformation, forming a meshing pair with the rigid wheel to further reduce speed and increase torque, ultimately achieving a large overall reduction ratio to meet high torque output requirements. Simultaneously, the carefully designed connections between components, such as the grooves and protrusions of the flexible wheel pressure plate and the planetary carrier, as well as the fit between cylinders and holes, ensure precise centering and reliable torque transmission, guaranteeing smooth and accurate transmission. Furthermore, the device effectively reduces friction between rotating parts by incorporating deep groove ball bearings, retaining rings, spring washers, and bearing inner spacers, improving transmission efficiency, enhancing connection reliability and stability, and extending service life. It is suitable for the speed reduction transmission needs of various mechanical equipment, demonstrating significant practicality and broad application prospects. Attached Figure Description

[0022] Figure 1 This is an overall cross-sectional view of the composite deceleration device for planetary series harmonics of this utility model;

[0023] Figure 2 This is a cross-sectional view of the connection between the cam and the planetary reduction structure of the composite reduction device for planetary series harmonics of this utility model.

[0024] Figure 3 This is a three-dimensional view of the flexible wheel pressure plate structure of the composite deceleration device for planetary series harmonics of this utility model;

[0025] Figure 4 This is a three-dimensional view of the planetary carrier structure of the composite deceleration device for planetary series harmonics of this utility model.

[0026] In the diagram: 1. Steel wheel; 2. Crossed roller bearing; 3. Rear flange; 4. Flexible wheel adapter block; 5. Flexible wheel pressure plate; 501. Groove; 502. Round hole; 6. Flexible wheel; 7. Flexible bearing; 8. Planetary carrier; 801. Protrusion; 802. Cylindrical shaft; 9. Planetary gear pin; 10. Planetary gear; 11. Cam; 1101. Internal gear ring; 12. First deep groove ball bearing; 13. Sun gear; 14. Input shaft; 15. Second deep groove ball bearing; 16. Retaining ring; 17. Spring washer; 18. Socket head screw; 19. Inner bearing spacer. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be further described below with reference to the accompanying drawings. The following description presents a preferred embodiment of several possible embodiments of this utility model, intended to provide a basic understanding of the utility model, but not intended to identify the key or decisive elements of the utility model or to limit the scope of protection sought.

[0028] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0029] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0030] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures. Also, it should be understood that, for ease of description, the dimensions of the various parts shown in the figures are not drawn to actual scale.

[0031] In the description of this utility model, it should be noted that the circuits, electronic components and modules involved in this utility model are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated. The content protected by this utility model does not involve any improvement to the internal structure and method.

[0032] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] Please refer to Figure 1 and Figure 2 The present invention provides a composite speed reduction device for planetary series harmonics, comprising a steel wheel 1, a crossed roller bearing 2, a harmonic speed reduction structure, a planetary speed reduction structure, a cam 11, and an input shaft 14.

[0034] The crossed roller bearing 2 is connected to one side of the steel wheel 1, providing stable support and a rotational foundation for the entire device. The harmonic deceleration structure consists of a flexible wheel adapter block 4, a flexible wheel pressure plate 5, and a flexible wheel 6. The flexible wheel adapter block 4 is connected to the crossed roller bearing 2 to ensure efficient force transmission. The flexible wheel 6 and the steel wheel 1 mesh with each other.

[0035] The planetary reduction structure includes a planet carrier 8, multiple planet gears 10, and a sun gear 13. The planet gears 10 are rotatably connected to the planet carrier 8, and the sun gear 13 meshes with the multiple planet gears 10.

[0036] The planetary carrier 8 is further connected to the flexible wheel pressure plate 5, so that the planetary reduction structure and the crossed roller bearing 2 become an organic whole. The planetary carrier 8 can rotate together with the inner ring of the crossed roller bearing 2, i.e. the output end of the reducer, so that the speed difference between the planetary carrier 8 and the internal gear ring 1101 of the cam 11 can be obtained to reduce speed.

[0037] In an optional embodiment, as shown in Figures 3 and 4, a groove 501 is provided at one end of the flexible wheel pressure plate 5. The groove 501 is a long rectangular groove. A protrusion 801 is provided at one end of the planetary carrier 8. The width of its two side walls is perfectly matched with the groove 501. The protrusion 801 is precisely embedded in the groove 501, so that the planetary carrier 8 can stably transmit torque to the flexible wheel pressure plate 5.

[0038] In addition, a circular hole 502 is provided at the center of one end of the flexible wheel pressure plate 5, and a cylinder 802 is provided on the surface of the protrusion 801. The cylinder 802 is inserted into the circular hole 502 in a corresponding manner, which realizes the precise centering between the planetary carrier 8 and the flexible wheel pressure plate 5, and ensures the smoothness and accuracy of the transmission.

[0039] Cam 11 is connected to flexure 6 via flexible bearing 7, making it the input end of the harmonic reduction structure. Through the rotation of cam 11 and the transmission of force to flexure 6 via flexible bearing 7, the force can be transmitted to the harmonic reducer structure for deceleration. An internal gear ring 1101 is designed on the inner wall of cam 11, and multiple planetary gears 10 mesh with the internal gear ring 1101 at the same time. In this way, cam 11 also acts as the output end of the planetary reduction structure.

[0040] It should be noted that the input shaft 14 is interference-fitted with the sun gear 13. When the input shaft 14 receives torque from external power transmission, the torque is transmitted to the sun gear 13, and the planetary reduction structure begins to play a deceleration role. Through the rotation of the output cam 11 of the planetary reduction structure, the torque is further transmitted to the harmonic reduction structure, thereby realizing the linkage deceleration of the planetary reduction structure and the harmonic reduction structure, achieving a larger reduction ratio and a better torque output effect.

[0041] Specifically, it can transmit large torque in the range of 200 to 2000 reduction ratios, and the transmission accuracy can be controlled within 20 arcsec, with a clearance within 10 arcsec.

[0042] The formula for the speed ratio of the series-connected reducer is:

[0043] in, The number of teeth on the main body of steel wheel 1. This refers to the number of teeth in flexible bearing 7. This represents the number of teeth on the internal gear ring 1101. This refers to the number of teeth on the sun gear (13).

[0044] To further improve the performance and reliability of the device, a rear flange 3 is provided at the end of the steel wheel 1 away from the crossed roller bearing 2. A first deep groove ball bearing 12 is installed between the inner wall of one end of the cam 11 and the outer wall of the flexible wheel pressure plate 5. Similarly, a first deep groove ball bearing 12 is also installed between the outer wall of the other end of the cam 11 and the inner wall of the rear flange 3. These bearings can effectively reduce the friction between rotating parts, improve transmission efficiency, and ensure the stability of each part during operation.

[0045] In an optional embodiment, as shown in FIG1, two second deep groove ball bearings 15 are provided on the outside of the input shaft 14, one of which is tightly connected to the inner wall of the rear flange 3, and the other is connected to the inner wall of one end of the cam 11.

[0046] In addition, a retaining ring 16 is provided on the outer wall of the input shaft 14. A second deep groove ball bearing 15 abuts against the retaining ring 16. A wave spring shim 17 is provided between the other second deep groove ball bearing 15 and the inner wall of the cam 11. The wave spring shim 17 is used to pre-tighten while also eliminating the clearance of the second deep groove ball bearing 15.

[0047] An inner spacer ring 19 is also provided between the two second deep groove ball bearings 15. The inner spacer ring 19 is located outside the input shaft 14 and is used to maintain a reasonable distance between the two bearings to ensure the normal operation of the entire transmission system.

[0048] The flexible wheel adapter block 4, the flexible wheel pressure plate 5, and the flexible wheel 6 are firmly connected by hexagon socket screws 18, ensuring the integrity and stability of the harmonic deceleration structure. Multiple planetary gear pins 9 are rotatably mounted on the planetary carrier 8, and each planetary gear 10 is connected to the corresponding planetary gear pin 9, thereby enabling the flexible rotation of the planetary gear 10 and ensuring the smooth operation of the planetary deceleration process.

[0049] In actual operation, external power is input through input shaft 14, and torque is transmitted to sun gear 13. Sun gear 13 drives multiple planetary gears 10 to rotate. Planetary gears 10 simultaneously mesh with the internal gear ring 1101 on the inner wall of cam 11, causing cam 11, which serves as the output end of the planetary reduction structure, to rotate. Cam 11 also serves as the input of the harmonic reduction structure, driving flexure 6 to undergo elastic deformation through flexible bearing 7, thereby achieving harmonic reduction. The harmonic reduction structure drives the inner ring of crossed roller bearing 2 to rotate through flexure pressure plate 5 and flexure adapter block 4. This inner ring, as the output end of the reducer, rotates simultaneously, driving planetary carrier 8 to rotate synchronously, thereby increasing the speed ratio and ensuring accuracy. Throughout the process, the planetary reduction structure and the harmonic reduction structure work closely together, fully leveraging their respective advantages.

[0050] In this document, the directional terms such as front, back, top, and bottom are defined based on the position of the components in the accompanying drawings and their relative positions to each other, solely for the purpose of clarity and convenience in expressing the technical solution. It should be understood that these are relative concepts and can vary depending on different methods of use and placement; the use of these directional terms should not limit the scope of protection claimed in this application.

[0051] Where there is no conflict, the above embodiments and features described herein can be combined with each other.

[0052] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A composite deceleration device for planetary series harmonics, characterized in that, include: Steel wheel (1); A crossed roller bearing (2) is connected to one side of the steel wheel (1); The harmonic deceleration structure is built into the steel wheel (1) and connected to the cross roller bearing (2). The harmonic deceleration structure includes a flexible wheel adapter block (4), a flexible wheel pressure plate (5) and a flexible wheel (6). The flexible wheel adapter block (4) is connected to the cross roller bearing (2). A planetary reduction structure is connected to the harmonic reduction structure. The planetary reduction structure includes a planet carrier (8), multiple planetary gears (10) and a sun gear (13). The multiple planetary gears (10) are rotatably connected to the planet carrier (8). The sun gear (13) meshes with the multiple planetary gears (10) simultaneously. The planet carrier (8) is connected to the flexible wheel pressure plate (5), so that the planet carrier (8) and the crossed roller bearing (2) are integrated into one unit. Cam (11), the cam (11) is connected to the flexible wheel (6) through a flexible bearing (7), so that the cam (11) serves as the input of the harmonic reduction structure. An internal gear ring (1101) is provided on the inner wall of the cam (11), and multiple planetary gears (10) mesh with the internal gear ring (1101) at the same time, so that the cam (11) serves as the output of the planetary reduction structure. And an input shaft (14), which is interference-connected to the sun gear (13). The input shaft (14) transmits torque to the sun gear (13), so that the planetary reduction structure is used for deceleration. The torque is transmitted to the harmonic reduction structure through the rotation of the output cam (11) of the planetary reduction structure, so that the planetary reduction structure and the harmonic reduction structure decelerate together.

2. The composite deceleration device for planetary series harmonics as described in claim 1, characterized in that: The flexible wheel pressure plate (5) has a groove (501) at one end, and the planet carrier (8) has a protrusion (801) at one end. The protrusion (801) is embedded in the groove (501), so that the planet carrier (8) can transmit torque to the flexible wheel pressure plate (5).

3. The composite deceleration device for planetary series harmonics as described in claim 2, characterized in that: The groove (501) is a long rectangular groove, and the width of the two side walls of the protrusion (801) is the same as that of the groove (501).

4. The composite deceleration device for planetary series harmonics as described in claim 3, characterized in that: One end of the flexible wheel pressure plate (5) is provided with a circular hole (502) located at its axis. The surface of the protrusion (801) is provided with a cylinder (802). The cylinder (802) is inserted into the circular hole (502) in a corresponding manner, so that the planetary carrier (8) and the flexible wheel pressure plate (5) are connected and centered.

5. The composite deceleration device for planetary series harmonics as described in claim 1, characterized in that: The steel wheel (1) is provided with a rear flange (3) at the end away from the crossed roller bearing (2). A first deep groove ball bearing (12) is connected between the inner wall of one end of the cam (11) and the outer wall of the flexible wheel pressure plate (5). A first deep groove ball bearing (12) is also connected between the outer wall of the other end of the cam (11) and the inner wall of the rear flange (3).

6. The composite deceleration device for planetary series harmonics as described in claim 5, characterized in that: The input shaft (14) is provided with two second deep groove ball bearings (15) on its outside. One of the second deep groove ball bearings (15) is connected to the inner wall of the rear flange (3), and the other second deep groove ball bearing (15) is connected to the inner wall of one end of the cam (11).

7. The composite deceleration device for planetary series harmonics as described in claim 6, characterized in that: A retaining ring (16) is provided on the outer wall of the input shaft (14), a second deep groove ball bearing (15) abuts against the retaining ring (16), and a wave spring washer (17) is provided between the other second deep groove ball bearing (15) and the inner wall of the cam (11).

8. The composite deceleration device for planetary series harmonics as described in claim 7, characterized in that: An inner spacer (19) is provided between the two deep groove ball bearings (15), and the inner spacer (19) is located outside the input shaft (14).

9. The composite deceleration device for planetary series harmonics as described in claim 1, characterized in that: The flexible wheel adapter block (4), the flexible wheel pressure plate (5), and the flexible wheel (6) are connected by internal hex screws (18).

10. The composite deceleration device for planetary series harmonics as described in claim 1, characterized in that: The planet carrier (8) has multiple planetary gear pins (9) rotating on it, and each planetary gear (10) is connected to one of the planetary gear pins (9).

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