Micro-servo reducer

Abstract

The utility model discloses a micro servo speed reducer relates to precision control micro motor technical field. Micro servo speed reducer, including high precision speed reducer base, the speed reducer base is composed by the inner tooth ring, end cover, connecting seat, the combination of speed reducer base is with the division circle of inner tooth ring as benchmark, the front end of inner tooth ring is equipped with end cover, the rear end of inner tooth ring is equipped with connecting seat, the main axis height of inner tooth ring, end cover, connecting seat three coincides. The micro servo speed reducer of the utility model cooperates with same diameter micro servo motor, can reduce the speed and increase the twist, is used for precision control instrument, intelligent equipment, humanoid robot field. Its characteristics are: the height accurate base is composed by the inner tooth ring, end cover, connecting seat combination, and the main axis height coincides; the inner tooth ring is the top cutting type of the edge is repaired, and the planet carrier is integrated, and the transmission precision is improved; the bearing axial play is eliminated with the constant pressure damper, and the national standard servo speed reducer precision standard is met.

Description

Technical Field

[0001] This utility model relates to the field of precision control micro motor technology, specifically to a micro servo reducer. Background Technology

[0002] In my country's national standards, a servo reducer is defined as a gear reducer used in precision control applications to reduce the speed and increase the torque of a servo motor. Its grade is distinguished by its transmission accuracy. Servo reducers are marketed as high-precision reducers. The main indicator for identifying a servo reducer is its no-load backlash, also known as reverse backlash or free return, which is the response error during reducer operation. When the input shaft (motor shaft) of the reducer starts rotating, the output shaft does not rotate simultaneously but lags behind by an angle. This lag angle is called backlash, or free return. Backlash manifests during forward and reverse rotation or intermittent operation, severely affecting the transmission and positioning accuracy of the servo motor.

[0003] Idle travel is caused by a combination of errors in the reducer's structural precision, gear precision, and rolling bearing clearance, making the situation complex. The manufacturing difficulty of servo reducers lies in the miniature type, specifically those with a diameter of less than 40mm. This is because their components are extremely small, making precise design difficult and lacking the equipment and processes to meet their precision requirements, thus posing a challenge to the reducer industry. my country's national standard for precision reducers covers frame sizes (diameter) of 16-180mm. Due to the aforementioned difficulties, the 16-40mm diameter range is left "vacant" in the servo reducer series, creating a "blank area."

[0004] In recent years, the rapid development of robots, unmanned equipment, and intelligent products has created a great need for these tiny servo reducers. Utility Model Content

[0005] The purpose of this invention is to provide a micro servo reducer to solve the precision problem of existing micro servo reducers, especially the manufacturing difficulties of products with a diameter of less than 40mm.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A miniature servo reducer includes a high-precision reducer base, which comprises an internal gear ring, an end cover, and a connecting seat. The reducer base is assembled based on the pitch circle of the internal gear ring. The end cover is located at the front end of the internal gear ring, and the connecting seat is located at the rear end of the internal gear ring. The main axes of the internal gear ring, the end cover, and the connecting seat are highly coincident.

[0008] The reducer housing has an output shaft at its center. Two rolling bearings are provided on the outer side of the middle part of the output shaft as supports. A constant pressure damper is provided between the rolling bearings. A third-stage planetary carrier is connected to the rear end of the output shaft. A second-stage planetary carrier is connected to the rear end of the third-stage planetary carrier. A first-stage planetary carrier is connected to the rear end of the second-stage planetary carrier. A starting gear is connected to the rear end of the first-stage planetary carrier. The third-stage planetary carrier serves as the output shaft.

[0009] Furthermore, the tooth profile of the internal gear ring is edge-trimmed by a top-cutting method. The tooth tip circle d1 and the pitch circle d0 on the internal gear ring are concentric circles. The tooth tip circle d1 can replace the pitch circle d0 as the working reference of the assembly.

[0010] Furthermore, the end cap and the internal gear ring are fixedly connected by threads, the cylindrical step at the front end of the thread of the end cap is precisely matched with the tooth tip circle of the internal gear ring, and the height of the main axis of the end cap and the internal gear ring coincides.

[0011] Furthermore, the connecting seat and the internal gear ring are fixedly connected by threads, the cylindrical step at the front end of the thread of the connecting seat is precisely matched with the tooth tip circle of the internal gear ring, and the main axis of the connecting seat and the internal gear ring are highly coincident.

[0012] Furthermore, the sun gear and flange in the first-stage planetary carrier and the second-stage planetary carrier are integrally formed structures. The flange is provided with axle holes for mounting planetary gear shafts, and the main axis of the central circle formed by the axle holes coincides with the main axis of the sun gear.

[0013] Furthermore, the constant pressure damper outputs a fixed and equal preload force to the inner rings of the rolling bearings on both sides.

[0014] Furthermore, the diameters of the micro servo reducers are 16mm, 19mm, 22mm, 24mm, 28mm, 32mm, and 38mm, respectively.

[0015] Furthermore, the starting gear coincides with the height of the reducer's main axis.

[0016] The beneficial effects of this utility model are as follows: This application, through a highly precise reducer base design, ensures perfect alignment of the main axes of the internal gear ring, end cover, and connecting seat. This innovative design significantly improves the operating accuracy of the internal gear system of the reducer, effectively reducing backlash caused by structural precision errors, thereby greatly improving the transmission and positioning accuracy of the servo motor. Simultaneously, the edge-trimmed, top-cut internal gear design of the internal gear ring, along with the integrated structure of the planetary carrier, further enhances the stability and accuracy during transmission, reducing impact and noise during gear meshing. Furthermore, the introduction of a constant-pressure damper successfully eliminates the axial clearance of the rolling bearings, avoiding the adverse effects of clearance on gear transmission accuracy and ensuring the performance stability of the reducer during long-term operation. In summary, this utility model's miniature servo reducer not only fills the market gap for miniature servo reducers with diameters below 40mm in China, but also, with its superior precision and stability, meets the urgent needs of robotics, unmanned equipment, and intelligent products for high-precision reducers, promoting technological progress and development in related industries.

[0017] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the transverse cross-sectional structure of the reducer base of this utility model;

[0019] Figure 2 This is a schematic diagram of the cross-sectional structure of components 8 and 9 of this utility model;

[0020] Figure 3 This is a schematic diagram of the cross-sectional structure of component 5 of this utility model.

[0021] Figure 4 A schematic diagram of the transverse cross-sectional structure of the micro servo reducer provided by this utility model.

[0022] Figure 5 An exploded view of the miniature servo reducer provided by this utility model.

[0023] Figure 6 This is a longitudinal cross-sectional view of component 1 of this utility model.

[0024] Explanation of reference numerals in the attached diagram: 1. Internal gear ring; 2. End cover; 3. Rolling bearing; 4. Output shaft; 5. Constant pressure damper; 6. Connecting seat; 7. Starting gear; 8. First-stage planetary carrier; 9. Second-stage planetary carrier; 10. Third-stage planetary carrier. Detailed Implementation

[0025] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0026] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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. Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0028] Example 1

[0029] like Figure 1 As shown, this is a highly precise reducer base. The base is composed of an internal gear ring 1, an end cover 2, and a connecting seat 6. The assembly of the base is based on the pitch circle of the internal gear, and through a precise connection method, the main axes of the internal gear ring, end cover, and connecting seat 6 are perfectly aligned, ensuring high-precision operation of the gears inside the reducer.

[0030] The tooth profile of the internal gear ring is modified and adopts a top-cutting form. The addendum circle and the pitch circle are concentric circles, and the addendum circle can replace the pitch circle as the secondary datum for assembly.

[0031] The connection between the end cover and the internal gear ring, and the connection between the connecting seat 6 and the internal gear ring, are all made by threaded connection. The front end of the thread has a cylindrical step that precisely matches the reference tooth tip circle of the internal gear, so that the main axis heights of the internal gear ring 1, the end cover 2, and the connecting seat 6 are coincident, enabling the gear transmission system to operate precisely within the machine base.

[0032] Example 2

[0033] like Figure 2 As shown, this is a planetary carrier with an integrated molding structure. The sun gear and flange are combined into a single planetary carrier. Since there is no longer a pressing process between the sun gear and the flange, there will be no misalignment between the main axis of the wheel shaft hole center circle on the flange and the main axis of the sun gear, thus ensuring precision transmission.

[0034] Example 3

[0035] like Figure 3 As shown, there are two parallel rolling bearings 3 in the end cover 2. The rolling bearings support the rotation of the output shaft 4. The clearance of the rolling bearings on the output shaft will directly increase the gear idle stroke.

[0036] like Figure 3 As shown, this utility model adds a specially designed constant pressure damper 3 to the end cover 2, which can output a quantitative and equal preload force to the inner ring of the rolling bearings on both sides, and can eliminate the axial clearance of the rolling bearing of the output shaft, thus eliminating the gear transmission error caused by the clearance.

[0037] Example 4

[0038] like Figure 4 The diagram shown is a structural diagram of the overall micro servo reducer. Figure 5 This is an exploded view of the overall structure, and the content described is the same as in Table 4.

[0039] like Figure 4 As shown, a new and highly precise reducer base is used to ensure that the internal gear system operates with high precision within the base.

[0040] like Figure 4 As shown, the input end is on the right side of the reducer. The connecting seat 6 is connected to the servo motor according to the standard fit. The overlap of the main axis height of the motor and the connecting seat 6 ensures high-precision operation of the gears inside the reducer.

[0041] The starting gear 7 is the sun gear of the first-stage reduction gear, mounted on the motor shaft. The starting gear, assembled according to standard, is aligned with the main axis of the reducer to ensure high-precision operation of the gears inside the reducer.

[0042] The starting gear 7 meshes with the planetary gears on the first-stage planetary carrier 8, and the planetary gears mesh with the internal teeth of the internal gear ring. The planetary gears function as bridge gears. A new and practical integrated planetary carrier is used to ensure high-precision operation of the gears inside the reducer.

[0043] The output end of the first-stage planetary carrier 8 has a sun gear, which meshes with the planet gears on the second-stage planetary carrier 9, and through the planet gears, meshes with the internal teeth of the internal gear ring. A new, practical, integrated planetary carrier is used to ensure high-precision operation of the gears inside the reducer.

[0044] The output end of the second-stage planetary carrier 9 has a sun gear, which meshes with the planet gears on the third-stage planetary carrier 10, and through the planet gears, meshes with the internal teeth of the internal gear ring. The third-stage planetary carrier 10 is the output shaft 4. The planetary carrier and the output shaft are integrated, thus completing the output of the reducer.

[0045] The product of the reduction ratios of the three stages is the overall reduction ratio of the reducer. For example: the first stage reduction ratio is 8, the second stage reduction ratio is 6, the third stage reduction ratio is 4, and the overall reduction ratio is 1:192.

[0046] The output torque of a speed reducer is related to its reduction ratio and efficiency. For example, a servo motor has a rated speed of 6000 rpm and a rated torque of 0.03 Nm; the speed reducer has a reduction ratio of 1:192 and an efficiency of 75%. This means that after reduction, the output speed is 31 rpm and the torque is 4.3 Nm. The speed reducer serves to reduce speed and increase torque for the servo motor.

[0047] The integrated planetary carrier combines the sun gear and flange into one unit, which avoids the inevitable assembly errors and ensures transmission accuracy.

[0048] Constant pressure dampers can eliminate axial clearance in the output shaft rolling bearings, thus eliminating gear transmission errors caused by clearance.

[0049] The standard for connecting the miniature servo reducer and the servo motor ensures that the height of the reducer's connector 6 coincides with that of the motor's main axis.

[0050] It also includes the standard for the connection between the starting gear and the motor shaft, ensuring that the starting gear and the main axis of the reducer are aligned at the same height. The starting gear is the sun gear of the first stage of reduction.

[0051] This invention enables transmission accuracy to meet national standards for servo reducers, resulting in a set of miniature servo reducer products. It also improves the quality of reducers, achieving low noise, low vibration, and high reliability, which has won the favor of customers.

[0052] In summary, this utility model provides a miniature servo reducer. Through a highly precise reducer base design, it ensures perfect alignment of the main axes of the internal gear ring, end cover, and connecting seat. This innovative design significantly improves the operating accuracy of the internal gear system and effectively reduces backlash caused by structural precision errors, thereby greatly improving the transmission and positioning accuracy of the servo motor. Simultaneously, the edge-trimmed, top-cut internal gear design of the internal gear ring and the integrated structure of the planetary carrier further enhance the stability and accuracy during transmission, reducing impact and noise during gear meshing. Furthermore, the introduction of a constant-pressure damper successfully eliminates the axial backlash of the rolling bearings, avoiding the adverse effects of backlash on gear transmission accuracy and ensuring the performance stability of the reducer during long-term operation. In conclusion, this utility model's miniature servo reducer not only fills the market gap for miniature servo reducers with diameters below 40mm in China, but also meets the urgent needs of robotics, unmanned equipment, and intelligent products for high-precision reducers with its superior precision and stability, promoting technological progress and development in related industries.

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A miniature servo reducer, including a high-precision reducer housing, characterized in that, The reducer base is composed of an internal gear ring (1), an end cover (2), and a connecting seat (6). The assembly of the reducer base is based on the pitch circle of the internal gear ring (1). The end cover (2) is provided at the front end of the internal gear ring (1), and the connecting seat (6) is provided at the rear end of the internal gear ring (1). The main axes of the internal gear ring (1), the end cover (2), and the connecting seat (6) are highly coincident. The reducer housing has an output shaft (4) at its center. Two rolling bearings (3) are provided on the outer side of the middle part of the output shaft (4) as supports. A constant pressure damper (5) is provided between the rolling bearings (3). The rear end of the output shaft (4) is connected to a third-stage planetary carrier (10). The rear end of the third-stage planetary carrier (10) is connected to a second-stage planetary carrier (9). The rear end of the second-stage planetary carrier (9) is connected to a first-stage planetary carrier (8). The rear end of the first-stage planetary carrier (8) is connected to a starting gear (7). The third-stage planetary carrier (10) serves as the output shaft.

2. The micro servo reducer as described in claim 1, characterized in that, The tooth profile of the internal gear ring (1) is modified by top cutting. The tooth tip circle d1 and the pitch circle d0 on the internal gear ring (1) are concentric circles. The tooth tip circle d1 can replace the pitch circle d0 as the working reference of the assembly.

3. The miniature servo reducer as described in claim 1, characterized in that, The end cap (2) is threadedly connected to the internal gear ring (1). The cylindrical step at the front end of the thread of the end cap (2) is precisely matched with the tooth tip circle of the internal gear ring (1). The height of the main axis of the end cap (2) and the internal gear ring (1) coincides.

4. The micro servo reducer as described in claim 1, characterized in that, The connecting seat (6) is threadedly connected to the internal gear ring (1). The cylindrical step at the front end of the thread of the connecting seat (6) is precisely matched with the tooth tip circle of the internal gear ring (1). The main axis of the connecting seat (6) and the internal gear ring (1) are highly coincident.

5. The miniature servo reducer as described in claim 1, characterized in that, In the first-stage planetary carrier (8) and the second-stage planetary carrier (9), the sun gear and the flange are integrally formed. The flange is provided with axle holes for installing planetary gear shafts. The main axis of the central circle formed by the axle holes coincides with the main axis of the sun gear.

6. The miniature servo reducer as described in claim 1, characterized in that, The constant pressure damper (5) outputs a fixed and equal preload force to the inner rings of the rolling bearings (3) on both sides.

7. The miniature servo reducer as described in claim 1, characterized in that, The diameters of the micro servo reducers are 16mm, 19mm, 22mm, 24mm, 28mm, 32mm, and 38mm, respectively.

8. The micro servo reducer as described in claim 1, characterized in that, The starting gear (7) is aligned with the height of the main axis of the reducer.

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