Single-shock-wave lateral three-layer roller sliding movable tooth speed reducer

Abstract

The utility model discloses a single shock wave ware side placement three layer roller sliding live tooth speed reducer, include: by shock wave ware subassembly, live tooth frame subassembly, ring gear subassembly and live tooth subassembly constitute the speed reducer, live tooth subassembly is located shock wave ware subassembly's both sides and is connected between live tooth frame subassembly and live tooth subassembly, ring gear subassembly is located the outside of speed reducer, ring gear subassembly includes ring gear body, ring gear connecting screw, ring gear connecting pin and main bearing outer ring. The utility model discloses speed reducer has more live tooth quantity than multilayer roller rolling live tooth structure, and the carrying capacity is higher, adopts the structure of split inner tooth and can simplify live tooth frame spare structure, and reduces the manufacturing cost, and the transmission efficiency is higher than harmonic speed reducer, can reduce the working temperature, and the speed reducer wear and tear is restrained, has good radial elasticity and can effectively reduce the key spare manufacturing precision requirement.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, and more specifically to a single shock generator side-mounted three-layer roller sliding tooth speed reducer. Background Technology

[0002] In existing technologies, harmonic reducers suffer from line contact sliding, resulting in low transmission efficiency and poor impact resistance. This hinders improvements in service life and load-bearing capacity, limiting the development of humanoid robots. Existing double-layer and triple-layer roller-type reciprocating gear reducers utilize needle roller bearings between the reciprocating teeth. Therefore, when the reducer diameter is small, it's difficult to achieve simultaneous operation of multiple sets of reciprocating teeth, hindering load-bearing capacity improvement and limiting the torque density of small reducers. Furthermore, the small-diameter internal gear is difficult to manufacture as a single piece, compromising manufacturing costs; the multi-shocker structure is also thicker, increasing costs. Conventional pushrod-type reciprocating gear reducers have high tooth rigidity, making radial elastic deformation and load sharing among multiple reciprocating teeth difficult, further hindering load-bearing capacity improvement. Removing the needle rollers from the reciprocating gear reducer effectively increases the number of reciprocating teeth operating simultaneously, improving torque density. Using a segmented internal gear maintains the overall structure of the reciprocating gear frame (eliminating the need for disassembly into two parts), while reducing the difficulty of internal gear manufacturing. By combining the advantages of various existing gear reducers, it is hoped that a small reducer with higher torque density and higher transmission efficiency can be developed. Utility Model Content

[0003] The purpose of this invention is to provide a single shock generator with a side-mounted three-layer roller sliding tooth reducer to improve the torque density and load-bearing capacity of the reducer and reduce manufacturing costs.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a single shock generator side-mounted three-layer roller sliding gear reducer, comprising: a reducer composed of a shock generator assembly, a gear frame assembly, an internal gear ring assembly, and a gear assembly. The gear assembly is located on both sides of the shock generator assembly and is connected to the gear frame assembly. The internal gear ring assembly is located outside the reducer. The internal gear ring assembly includes an internal gear ring body, an internal gear ring connecting screw, an internal gear ring connecting pin, and a main bearing outer ring. The shock generator assembly consists of a shock generator bearing, a shock generator body, a shock generator retaining ring, and a shock generator spring retaining ring. The gear frame assembly consists of a gear frame body and a right end cover of the gear frame. The right end cover of the gear frame and the gear frame body are typically connected by resistance welding. The gear assembly consists of an inner mandrel side ring, an inner mandrel body, an inner mandrel middle ring, a middle mandrel, an outer mandrel body, and an outer mandrel side ring, which can form rolling friction or surface contact sliding friction.

[0005] In a preferred embodiment of this utility model, the internal gear ring body adopts a two- or three-lobed structure design and uses dense beads to achieve concentricity between the internal gear ring body and the outer ring of the main bearing during assembly. Each lobe of the internal gear is connected to the outer ring of the main bearing by at least two pins and a certain number of screws.

[0006] As a preferred embodiment of this utility model, the reducer adopts a one-tooth difference or two-tooth difference structure. When a one-tooth difference structure is adopted, a necessary balancing structure needs to be added. The shock generator with a one-tooth difference structure can adopt a non-circular structure, while still adopting a flexible bearing structure with two-tooth difference. Its curved shape can be calculated by the tooth profile of the internal gear according to the meshing principle.

[0007] In a preferred embodiment of this utility model, the tooth profile of the internal gear can be designed as a straight line or an arc, and the shock generator body can be designed according to the shape of the internal gear, which can simplify the tooth profile of the internal gear and improve the manufacturing precision of the internal gear.

[0008] In a preferred embodiment of this utility model, the diameter of the collar of the movable tooth assembly is reduced, and the number of movable tooth assemblies that can be accommodated is greater than the number of movable teeth in the multi-layer roller rolling movable tooth structure.

[0009] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0010] This utility model reducer consists of a shock wave assembly, a movable gear frame assembly, an internal gear ring assembly, and a movable gear assembly. The shock wave assembly comprises a shock wave bearing, a shock wave body, a shock wave retaining ring, and a shock wave spring retaining ring. The movable gear frame assembly comprises a movable gear frame body and a right end cover, which are typically connected by resistance welding. The internal gear ring assembly comprises an internal gear ring, internal gear ring connecting screws, internal gear ring connecting pins, and a main bearing outer ring. The movable gear assembly comprises an inner mandrel side ring, an inner mandrel, an inner mandrel middle ring, a middle mandrel, an outer mandrel, and an outer mandrel side ring. The inner mandrel and the outer movable gear middle ring can be combined into a stepped outer mandrel, but separating them reduces the procurement and manufacturing costs of the outer mandrel. During operation, if the internal gear ring assembly is fixed, when the shock wave assembly rotates at high speed, its shock wave bearing... The moving gear assembly will be driven to move radially. The outer spindle in the moving gear assembly will move along the surface of the inner teeth of the inner gear ring. After being restricted by the inner teeth of the inner gear ring, it will decompose into a tangential motion. The moving gear ring of the moving gear assembly will drive the moving gear frame assembly to rotate at a low speed, thereby achieving a deceleration effect. That is, when the theoretical number of teeth of the moving gear frame is Z2 and the shock wave bearing is a common bearing, the current number of teeth is 1 / 2 of Z2. By removing teeth to increase the strength of the moving gear frame, the moving gear frame rotates 1 / Z2 revolutions for every 1 revolution of the shock wave assembly 1, 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. This reducer has more moving teeth than the multi-layer roller rolling moving gear structure, and has a higher load-bearing capacity. The use of a segmented inner tooth structure can simplify the structure of the moving gear frame parts and reduce manufacturing costs. It has higher transmission efficiency than harmonic reducers, can reduce operating temperature, and suppress reducer wear. It has good axial elasticity, which can effectively reduce the manufacturing precision requirements of key parts. Attached Figure Description

[0011] Figure 1 This is a schematic cross-sectional view of the reducer of this utility model;

[0012] Figure 2 This is a schematic diagram of the cross-sectional structure of the reducer shaft of this utility model;

[0013] Figure 3 This is a schematic diagram of the elliptical shockwave device with a flexible bearing according to the present invention.

[0014] Figure 4 This is a schematic diagram of the eccentric shaft shockwave device structure of this utility model;

[0015] Figure 5 This is a schematic diagram of the structure of the movable tooth assembly of this utility model.

[0016] In the diagram: 1. Shocker assembly; 101. Shocker bearing; 102. Shocker body; 103. Shocker retaining ring; 104. Shocker spring retaining ring; 2. Live gear assembly; 201. Live gear body; 202. Right end cap of live gear; 3. Internal gear ring assembly; 301. Internal gear ring body; 302. Internal gear ring connecting screw; 303. Internal gear ring connecting pin; 304. Outer ring of main bearing; 4. Live gear assembly; 401. Side ring of inner mandrel; 402. Inner mandrel body; 403. Middle ring of inner mandrel; 404. Middle mandrel; 405. Outer mandrel body; 406. Side ring of outer mandrel. Detailed Implementation

[0017] 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.

[0018] Please see Figure 1-5 This utility model provides a technical solution: a single shock generator side-mounted three-layer roller sliding gear reducer, comprising: a reducer composed of a shock generator assembly 1, a gear frame assembly 2, an internal gear ring assembly 3, and a gear assembly 4. The internal gear ring assembly 3 is located outside the reducer. The internal gear ring assembly 3 includes an internal gear ring body 301, an internal gear ring connecting screw 302, an internal gear ring connecting pin 303, and a main bearing outer ring 304. The shock generator assembly 1 is composed of a shock generator bearing 101, a shock generator body 102, a shock generator retaining ring 103, and a shock generator spring retaining ring 104. The movable gear assembly 2 consists of a movable gear body 201 and a right end cover 202. The right end cover 202 and the movable gear body 201 are usually connected by resistance welding. The movable gear assembly 4 consists of an inner mandrel side collar 401, an inner mandrel body 402, an inner mandrel middle collar 403, a middle mandrel 404, an outer mandrel body 405, and an outer mandrel side collar 406. The inner mandrel middle collar (403) and outer mandrel side collar (406) of the movable gear assembly (4) The middle part of the shaft body (405) maintains high-pair rolling contact with the outer surface of the body (102) and the inner gear ring body (301), respectively. The outer circles of the inner mandrel side ring (401), the middle mandrel (404) and the outer mandrel side ring (406) maintain high-pair rolling contact with the radial groove side of the live gear frame body (201), respectively. The inner and outer mandrels and the corresponding rings of the live gear assembly (4) form surface contact sliding contact to obtain higher transmission efficiency and load-bearing capacity.

[0019] During operation, if the internal gear ring assembly 3 is fixed, when the shock wave assembly 1 rotates at high speed, its shock wave bearing 101 will push the live gear assembly 4 to move radially. The outer spindle in the live gear assembly 4 will move along the surface curvature of the internal gear ring. After being restricted by the internal gear ring, it will decompose into a tangential motion. The live gear ring of the live gear assembly 4 will push the live gear frame assembly 2 to rotate at low speed, thereby achieving a deceleration effect. That is, when the theoretical number of teeth of the live gear frame is Z2 and the shock wave bearing 101 is a normal bearing, the current number of teeth is 1 / 2 of Z2. By removing teeth to increase the strength of the live gear frame, the live gear frame rotates 1 / Z2 revolutions for every 1 revolution of the shock wave assembly 11, achieving a reduction ratio of Z2. When the shock wave bearing 101 is a flexible bearing with an elliptical or similar elliptical structure, the reduction ratio is Z2 / 2. This reducer has more live teeth than the multi-layer roller rolling live gear structure and has a higher load-bearing capacity. The use of a split internal gear structure can simplify the structure of the live gear frame parts and reduce manufacturing costs. It has higher transmission efficiency than harmonic reducers, can reduce operating temperature, and suppress reducer wear; it has good axial elasticity, which can effectively reduce the manufacturing precision requirements of key components.

[0020] Further improvements, such as Figure 1 As shown: The internal gear ring body 301 adopts a two- or three-lobed structural design, and during the assembly process, dense beads are used to ensure concentricity between the internal gear ring body 301 and the outer ring of the main bearing 304. Each lobe of the internal gear is connected to the outer ring of the main bearing (304) by at least two pins and a certain number of screws. The segmented design simplifies the manufacturing and assembly process of the internal gear ring body 301, reducing processing difficulty and cost. At the same time, the concentricity between the internal gear ring body 301 and the outer ring of the main bearing 304 is achieved through dense beads, improving the smoothness and accuracy of the reducer's operation. Each lobe of the internal gear is connected to the outer ring of the main bearing 304 by at least two pins and a certain number of screws, enhancing the structural stability and reliability.

[0021] Further improvements, such as Figure 4 As shown: The eccentric shockwave structure consists of an eccentric shockwave unit 102A and a conventional bearing 101A. The main bearing adopts an offset structure. Figure 4 In the process, the shock body 102A can have a circular curve shape, the shock bearing 101A is a conventional rolling bearing, and the eccentric bearing enables the shock body 102 to generate more precise eccentric motion, thereby driving the live gear assembly 4 to perform more effective radial and tangential motion.

[0022] Further improvements, such as Figure 3 As shown: The structure of the elliptical shock wave generator consists of a shock wave generator 102B and a flexible elliptical bearing 101B. Figure 3In the process, the shock body 102B can be an elliptical structure or a non-circular single-lobed curve. The shock bearing 101B is a flexible bearing. The main bearing adopts an offset structure. The use of the flexible elliptical bearing enables the shock body 102 to generate more precise eccentric motion, thereby driving the live gear assembly 4 to perform more effective radial and tangential motion.

[0023] Further improvements, such as Figure 3 , 4 As shown: 102A and 102B are two specific structural forms of the shock body 102, and 101A and 101B are two specific structural forms of the shock bearing 101.

[0024] Further improvements, such as Figure 5 As shown: The live gear assembly (4) consists of an inner mandrel with a middle ring (403) and an outer mandrel body (405) with a drum-shaped structure in the middle to ensure a good stress state after being subjected to force. The separation structure of the inner mandrel body (402) and the inner mandrel with a middle ring (403) can simplify the mandrel structure. In actual work, they can also be combined into a whole.

[0025] In a further improvement, the reducer adopts a one-tooth difference or two-tooth difference structure. When a one-tooth difference structure is adopted, a necessary balancing structure needs to be added. The shock wave generator with a one-tooth difference structure can adopt a non-circular structure, while still adopting a flexible bearing structure with two-tooth difference. Its curved shape can be calculated by the tooth profile of the internal gear according to the meshing principle.

[0026] Further improvements include designing the internal gear tooth profile as a straight line or a circular arc, and calculating the outer contour curve of the shock generator body 102 according to the meshing principle based on the internal gear shape. The flexible design of the internal gear tooth profile enables the reducer to adapt to different transmission requirements and working environments.

[0027] Working principle: The internal gear ring assembly 3 remains stationary, while the shock generator assembly 1, driven by an external power source, begins to rotate at high speed. This rotation generates eccentric motion, providing the power source for subsequent speed reduction. The shock generator bearing 101 in the shock generator assembly 1 pushes the movable gear assembly 4 to move radially. Driven by the shock generator bearing 101, the movable gear assembly 4 begins to move along the surface curvature of the internal gear ring's internal teeth, laying the foundation for tangential motion. The outer mandrel in the movable gear assembly 4, constrained by the internal gear ring's internal teeth, decomposes into a tangential motion. Through the interaction between the outer mandrel and the internal gear ring, the movable gear assembly 4... The gear assembly 4 is pushed to rotate at a low speed. The live gear ring of the live gear assembly 4 pushes the live gear carrier assembly 2 to rotate at a low speed, thereby achieving a deceleration effect. Under the push of the live gear ring, the live gear carrier assembly 2 rotates at a lower speed, completing the deceleration process from high speed to low speed. Depending on the type of shock wave bearing 101 (ordinary bearing or flexible elliptical bearing), the reduction ratio of the reducer is different. When the shock wave bearing 101 is an ordinary bearing, the reduction ratio is half of the theoretical number of teeth of the live gear carrier; while when the shock wave bearing 101 is a flexible elliptical bearing, the reduction ratio is one-quarter of the theoretical number of teeth of the live gear carrier.

[0028] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0029] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can refer to mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc., are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0030] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A single shock generator with a side-mounted three-layer roller sliding gear reducer, characterized in that: include: A reducer composed of a shock generator assembly (1), a gear carrier assembly (2), an internal gear ring assembly (3), and a gear assembly (4), wherein the internal gear ring assembly (3) is located outside the reducer and includes an internal gear ring body (301), an internal gear ring connecting screw (302), an internal gear ring connecting pin (303), and a main bearing outer ring (304). The shock generator assembly (1) consists of a shock generator bearing (101), a shock generator body (102), a shock generator retaining ring (103), and a shock generator spring retaining ring (104). The gear carrier assembly (2) consists of a gear carrier body (201) and a gear carrier right end cap (202). The gear carrier right end cap (202) and the gear carrier body (201) are usually connected by resistance welding. The live gear assembly (4) is composed of an inner mandrel side ring (401), an inner mandrel body (402), an inner mandrel middle ring (403), a middle mandrel (404), an outer mandrel body (405), and an outer mandrel side ring (406). The middle part of the inner mandrel middle ring (403) and the outer mandrel body (405) of the live gear assembly (4) maintains high-pair rolling contact with the outer surface of the body (102) and the inner gear ring body (301), respectively. The outer circles of the inner mandrel side ring (401), the middle mandrel (404), and the outer mandrel side ring (406) maintain high-pair rolling contact with the radial groove side surface of the live gear frame body (201), respectively. The inner and outer mandrels and the corresponding rings of the live gear assembly (4) form surface contact sliding contact to obtain higher transmission efficiency and load-bearing capacity.

2. The single shock generator side-mounted three-layer roller sliding gear reducer according to claim 1, characterized in that: The internal gear ring body (301) adopts a two- or three-lobed structure design and uses dense beads to achieve concentricity between the internal gear ring body (301) and the outer ring of the main bearing (304) during assembly. Each internal gear is connected to the outer ring of the main bearing (304) by at least two pins and a certain number of screws.

3. A single shock generator side-mounted three-layer roller sliding gear reducer according to claim 1, characterized in that: The shock generator body (102) may employ an eccentric bearing or a flexible elliptical bearing, wherein the main bearing is offset to one side of the main bearing.

4. A single shock generator side-mounted three-layer roller sliding gear reducer according to claim 1, characterized in that: The reducer adopts a one-tooth difference or two-tooth difference structure. When a one-tooth difference structure is adopted, a necessary balancing structure needs to be added.

5. A single shock generator side-mounted three-layer roller sliding gear reducer according to claim 1, characterized in that: The tooth profile of the internal gear can be designed as a straight line or a circular arc, and the outer contour curve of the shock generator body (102) can be calculated according to the meshing principle based on the shape of the internal gear.

6. A single shock generator side-mounted three-layer roller sliding gear reducer according to claim 1, characterized in that: The live gear assembly (4) consists of an inner mandrel ring (403) and an outer mandrel body (405) with a drum-shaped structure in the middle to ensure a good stress state after being subjected to force. The separate structure of the inner mandrel body (402) and the inner mandrel ring (403) can simplify the mandrel structure, and they can also be combined into a whole in actual work.

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